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WO2020197116A1 - Oral scanner calibration device and method therefor - Google Patents

Oral scanner calibration device and method therefor Download PDF

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Publication number
WO2020197116A1
WO2020197116A1 PCT/KR2020/003023 KR2020003023W WO2020197116A1 WO 2020197116 A1 WO2020197116 A1 WO 2020197116A1 KR 2020003023 W KR2020003023 W KR 2020003023W WO 2020197116 A1 WO2020197116 A1 WO 2020197116A1
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WO
WIPO (PCT)
Prior art keywords
scanner
calibration
oral scanner
oral
panel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2020/003023
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French (fr)
Korean (ko)
Inventor
๋ฐฐ์œค์žฌ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Osstem Implant Co Ltd
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Osstem Implant Co Ltd
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Filing date
Publication date
Application filed by Osstem Implant Co Ltd filed Critical Osstem Implant Co Ltd
Publication of WO2020197116A1 publication Critical patent/WO2020197116A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
    • A61B5/0088—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for oral or dental tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
    • A61B5/0015—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network characterised by features of the telemetry system
    • A61B5/0022—Monitoring a patient using a global network, e.g. telephone networks, internet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning

Definitions

  • the present invention relates to an oral scanner calibration technique.
  • the oral scanner is a type of 3D scanner that acquires multiple optical images of a target object through a series of scanning sequences, and generates 3D model data of the target object by using them.
  • the oral scanner refers to a device configured to be suitable for acquiring a series of optical images of a body part, particularly a structure inside an oral cavity such as teeth and gums, among these 3D scanners.
  • an apparatus and method for calibrating an oral scanner capable of performing various calibrations at once by connecting one instrument to the end of the scanner tip of the oral scanner and rotating the connected instrument are proposed.
  • An oral scanner calibration apparatus includes a scanner tip receiving portion into which a scanner tip of the oral scanner is inserted, and a dot pattern panel, a color panel, and a flat panel spaced apart from each other at a position facing the optical path of the scanner tip.
  • a main body including a calibration unit, a communication unit that communicates with the image processing device, a control unit that checks the control signals received through the communication unit, and controls the operation required for camera and projector calibration, color calibration, and plane calibration functions, and the interior of the main body It includes a first driving unit that changes the calibration panel through rotation.
  • the body may be cylindrical.
  • the main body is a triangular pillar, and the dot pattern panel, the color panel, and the flat panel may be located on the side of the triangular pillar, respectively.
  • the body may further include a second driving unit for changing the position of the dot pattern panel for calibrating the camera and the projector.
  • the steps of providing a panel for camera and projector calibration, color calibration, and flat calibration at a position that can face the optical path of the scanner tip of the oral scanner inside the oral scanner calibration device are provided.
  • a dot pattern panel is provided at a position facing the light path of the scanner tip of the oral scanner, and the dot pattern panel from the camera image data input through the oral scanner in the step of fixing the scanner tip of the oral scanner.
  • the steps of fixing the scanner tip of the oral scanner in a position where the focus is focused on, and obtaining image data the steps of obtaining image data by projecting a pattern set through the projector of the oral scanner and changing the position of the dot pattern panel to focus And repetitively acquiring image data according to projection of the pattern set at the focused position and analyzing the point coordinates of the image data acquired from the oral scanner in the step of calculating the calibration parameter, and internal parameters of the camera and the projector. And external parameters can be calculated.
  • a color panel made by combining colors with known color channel values at a position facing the light path of the scanner tip of the oral scanner is prepared, and in the step of fixing the scanner tip of the oral scanner, the oral scanner is installed.
  • the gain of the color channel value may be calculated from the camera image obtained in the step of fixing the scanner tip of the oral scanner at a position in which the focus of the color panel is correct in the camera image data input through and calculating a calibration parameter.
  • a flat panel is provided at a position facing the light path of the scanner tip of the oral scanner, and in the step of acquiring image data, a pattern of different phases is projected through the projector of the oral scanner, and then image data
  • a plane phase map may be obtained by performing an operation on the image data obtained in the step of acquiring and calculating a calibration parameter.
  • a single instrument is connected to the end of the scanner tip of the oral scanner, and various calibrations, that is, camera and projector calibration, color calibration, and plane calibration are performed through rotation of the connected device. You can do all of them with just one instrument.
  • FIG. 1 is a view showing the configuration of an oral system when an oral scanner calibration apparatus according to an embodiment of the present invention operates for flat or color calibration;
  • FIG. 2 is a view showing the configuration of the oral system when the oral scanner calibration device is operated for camera and projector calibration
  • FIG. 3 is a view showing the configuration of the oral system including a perspective view of the oral scanner calibration device
  • FIG. 4 is a view showing the configuration of an oral scanner calibration apparatus according to another embodiment of the present invention.
  • FIG. 5 is a diagram illustrating a flow of a camera-projector calibration method according to an embodiment of the present invention
  • FIG. 6 is a diagram showing a flow of a color calibration method according to an embodiment of the present invention.
  • FIG. 7 is a diagram illustrating a flow of a plane calibration method according to an embodiment of the present invention.
  • Combinations of each block of the attached block diagram and each step of the flowchart may be executed by computer program instructions (execution engine), and these computer program instructions are executed on the processor of a general purpose computer, special purpose computer or other programmable data processing device. As it may be mounted, its instructions executed by the processor of a computer or other programmable data processing device generate means for performing the functions described in each block of the block diagram or each step of the flowchart.
  • These computer program instructions may also be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing device to implement a function in a particular way, so that the computer usable or computer readable memory It is also possible to produce an article of manufacture that includes instruction means for performing the functions described in each block of the block diagram or each step of the flowchart.
  • each block or each step may represent a module, segment, or part of code containing one or more executable instructions for executing specified logical functions, and in some alternative embodiments mentioned in the blocks or steps. It should be noted that it is also possible for functions to occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially simultaneously, and the blocks or steps may be performed in the reverse order of a corresponding function as necessary.
  • FIG. 1 to 3 are diagrams showing the configuration of a scan system according to an embodiment of the present invention.
  • FIG. 1 is a diagram showing the configuration of an oral system when the oral scanner calibration device 2 is operated for flat or color calibration
  • FIG. 2 is a view showing the configuration of the oral scanner calibration device 2 for camera and projector calibration.
  • It is a diagram showing the configuration of the oral system when operating
  • FIG. 3 is a diagram showing the configuration of the oral system including the perspective view of the oral scanner calibration device 2.
  • the scanning system includes an oral scanner 2, an oral scanner calibration device 2, and an image processing device 3.
  • the oral scanner 2 scans the user's oral cavity or an oral model through a camera to obtain image data of the oral cavity or oral cavity model.
  • the oral scanner 2 may output light by driving a light source of internal illumination, and then illuminate the inside of the user's oral cavity or a model of the oral cavity through light irradiated to the outside along the optical path. Then, the light reflected from the inside of the oral cavity or the oral cavity model may again reach the image sensor of the camera along the optical path, thereby obtaining image data inside the oral cavity.
  • the optical path is formed through the scanner tip of the oral scanner 2.
  • the scan model data acquired through the oral scanner 2 is data having information on actual teeth including damaged teeth.
  • the scan model data may be obtained by scanning a gypsum-shaped oral model created after the patient's mouth with a 3D scanner. As another example, it may be obtained by scanning the inside of the patient's oral cavity using a 3D intra-oral scanner.
  • Oral scanner calibration device (2) is one instrument, three calibrations for the oral scanner (1), that is, camera and projector calibration, color calibration and plane calibration through three rotations by connecting one instrument to the end of the scanner tip of the oral scanner. You can do all of them.
  • the image processing apparatus 3 receives image data from the oral scanner 2 and processes it using a processor.
  • the image processing device 3 is an electronic device capable of executing an image processing program.
  • Electronic devices include computers, notebook computers, laptop computers, tablet PCs, smartphones, mobile phones, personal media players (PMPs), personal digital assistants (PDAs), and the like.
  • Image processing programs include scan programs, CAD programs, and guide design programs. In addition, it can be applied to programs for medical image processing, including dental implant surgery.
  • the oral scanner calibration apparatus 2 includes a main body 20, a communication unit 26, a control unit 28, and a first driving unit 29.
  • the main body 20 includes the scanner tip accommodating portion 21 and the calibration portions 22 and 24, and may further include a second driving portion 240.
  • the main body 20 of FIGS. 1 to 3 has a cylindrical shape, and all three calibrations can be achieved through the internal rotation of the main body 20 in three stages.
  • the scanner tip of the oral scanner 1 is inserted into the scanner tip receiving portion 21.
  • the communication unit 26 is responsible for communication between the oral scanner calibration device 2 and the image processing device 3, and transmits a control signal received from the image processing device 3 to the control unit 28.
  • the communication unit 26 is capable of connecting wired communication such as USB and wireless communication such as Bluetooth and Wi-fi.
  • the control unit 28 checks the control signal received from the image processing apparatus 3 and controls the execution of operations required for each calibration function.
  • the calibration functions include camera and projector calibration, color calibration, and plane calibration functions.
  • the first driving unit 29 serves to change the calibration panel through internal rotation of the main body 20.
  • the first driving unit 29 may be a motor.
  • the calibration unit 22 for color calibration or plane calibration includes a panel 222 and a support unit 220.
  • the panel for color calibration is a color panel
  • the panel for flat calibration is a flat panel.
  • the color panel and the flat panel are formed in the main body 20 to be spaced apart from each other, and may face the light path of the scanner tip through the inner rotation of the main body 20.
  • the calibration unit 24 for camera and projector calibration includes a dot pattern panel 242 and a second driving unit 240.
  • the second driving unit 240 serves to change the position of the dot pattern panel 242 in the calibration step of the camera and projector.
  • the second driving unit 240 may be a motor.
  • the dot pattern panel 242 may have an inclined surface as shown in FIG. 2.
  • each calibration function is as follows. For example, through camera-projector calibration, internal and external parameters of the camera and projector can be obtained. Through color calibration, the gain value of each color channel can be obtained. Planar phase maps can be obtained through 3D plane calibration.
  • FIG. 4 is a diagram showing a configuration of an oral scanner calibration apparatus according to another embodiment of the present invention.
  • the oral scanner calibration apparatus 2 has a triangular column shape. At this time, one dot pattern panel 34, a color panel 36, and a flat panel 38 are provided inside the three surfaces of the triangular pillar. Accordingly, if the main body 30 is rotated by 120 degrees, all of the camera and projector calibration, color calibration, and plane calibration can be performed. The scanner tip of the oral scanner 1 is inserted into the scanner tip receiving portion 32.
  • each oral scanner calibration method will be described with reference to FIGS. 5 to 7.
  • the internal rotation of the oral scanner calibration device 2 the image capture operation of the oral scanner 1, the image data reception from the oral scanner 1 of the image processing device 3, image processing and image analysis operations, etc. The process is carried out.
  • FIG. 5 is a diagram illustrating a flow of a camera-projector calibration method according to an embodiment of the present invention.
  • a dot pattern panel is provided at a position facing the optical path of the scanner tip of the oral scanner for camera-projector calibration (S510).
  • the image processing device receives the camera image data and uses the received camera image data to focus and focus on the dot pattern panel.
  • the scanner tip of the oral scanner is fixed to the position (S520).
  • the location in focus is the location where the dot pattern panel can be seen well in the camera image data.
  • the oral scanner acquires an image by projecting a pattern set such as a gray code or a binary code using a projector (S530).
  • steps S520 and S530 are repeatedly performed until a preset number of position changes (for example, at least three times) is reached (S550) while changing the position of the dot pattern panel (S540) to obtain image data. .
  • the image processing apparatus analyzes the point coordinates of the image data acquired from the oral scanner (S560), and calculates internal parameters and external parameters of the camera and projector (S570).
  • FIG. 6 is a diagram illustrating a flow of a color calibration method according to an embodiment of the present invention.
  • a color panel is provided at a position facing the optical path of the scanner tip of the oral scanner (S610). At this time, the color panel is made by combining colors with known values of RGB (or other color channels such as YUV and HSV).
  • the color panel is focused and the scanner tip of the oral scanner is fixed to the focused position (S620).
  • the position in focus is the position where the color panel is clearly visible in the camera image data.
  • the image processing apparatus acquires the camera image from the oral scanner at the focused position (S630), and then calculates the gain of the RGB (or YUV, HSV channel) value through the matrix calculation below (S640).
  • (Rt, Gt, Bt) is the correct answer value of each preset color channel
  • (Ri, Gi, Bi) is the raw data value of the color channel measured in each image
  • T is the transpose.
  • FIG. 7 is a diagram illustrating a flow of a plane calibration method according to an embodiment of the present invention.
  • a flat panel is provided at a position facing the optical path of the scanner tip of the oral scanner for flat surface calibration (S710). Subsequently, while rotating the oral scanner calibration device, the flat panel is focused and the scanner tip of the oral scanner is fixed to the focused position (S720). The position in focus is the position where the flat panel can be seen well in the camera image data.
  • the oral scanner acquires image data after projecting patterns having different phases through the projector (S730).
  • the image processing apparatus obtains a plane phase map by performing an atan() operation on the image data acquired from the oral scanner (S740).

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Abstract

An oral scanner calibration device and a method therefor are disclosed. An oral scanner calibration device according to one embodiment comprises: a scanner tip accommodation unit in which a scanner tip of an oral scanner is inserted; a main body including a calibration unit having a dot pattern panel, a color panel and a flat panel, which are formed to be spaced apart from each other at a position facing the optical path of the scanner tip; a communication unit for communicating with an image processing device; a control unit for checking a control signal received through the communication unit and controlling operation performance, which is required for the functions of a camera and projector calibration, color calibration and plane calibration; and a first driving unit for changing a calibration panel through the internal rotation of the main body.

Description

๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜ ๋ฐ ๊ทธ ๋ฐฉ๋ฒ•Oral scanner calibration apparatus and method thereof

๋ณธ ๋ฐœ๋ช…์€ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๊ธฐ์ˆ ์— ๊ด€ํ•œ ๊ฒƒ์ด๋‹ค.The present invention relates to an oral scanner calibration technique.

๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋Š” ์ผ๋ จ์˜ ์Šค์บ๋‹ ์‹œํ€€์Šค(Scanning Sequence)๋ฅผ ํ†ตํ•ด ๋Œ€์ƒ ๋ฌผ์ฒด์— ๋Œ€ํ•œ ๋‹ค์ˆ˜์˜ ๊ด‘ํ•™ ์ด๋ฏธ์ง€๋ฅผ ํš๋“ํ•˜๊ณ , ์ด๋“ค์„ ์ด์šฉํ•˜์—ฌ ๋Œ€์ƒ ๋ฌผ์ฒด์— ๋Œ€ํ•œ 3์ฐจ์› ๋ชจ๋ธ ๋ฐ์ดํ„ฐ๋ฅผ ์ƒ์„ฑํ•˜๋Š” 3์ฐจ์› ์Šค์บ๋„ˆ์˜ ์ผ์ข…์ด๋‹ค. ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋Š” ์ด๋Ÿฌํ•œ 3์ฐจ์› ์Šค์บ๋„ˆ ์ค‘์—์„œ ์‹ ์ฒด ์ผ๋ถ€, ํŠนํžˆ ์น˜์•„์™€ ์ž‡๋ชธ ๋“ฑ ๊ตฌ๊ฐ• ๋‚ด๋ถ€์˜ ๊ตฌ์กฐ๋ฌผ์— ๋Œ€ํ•œ ์ผ๋ จ์˜ ๊ด‘ํ•™ ์ด๋ฏธ์ง€๋ฅผ ํš๋“ํ•˜๊ธฐ์— ์ ํ•ฉํ•˜๋„๋ก ๊ตฌ์„ฑ๋œ ์žฅ์น˜๋ฅผ ๋งํ•œ๋‹ค.The oral scanner is a type of 3D scanner that acquires multiple optical images of a target object through a series of scanning sequences, and generates 3D model data of the target object by using them. The oral scanner refers to a device configured to be suitable for acquiring a series of optical images of a body part, particularly a structure inside an oral cavity such as teeth and gums, among these 3D scanners.

๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์ œ์กฐ ๊ณผ์ •์—์„œ๋‚˜ ์‚ฌ์šฉ ๊ณผ์ •์—์„œ 3์ฐจ์› ๋ชจ๋ธ ๋ฐ์ดํ„ฐ์— ์˜ค์ฐจ๋ฅผ ๋ฐœ์ƒ์‹œํ‚ค๋Š” ์š”์ธ์ด ์ƒ๊ธธ ์ˆ˜ ์žˆ๋‹ค. ์œ„์ƒ์ƒ์˜ ๋ชฉ์ ์œผ๋กœ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์ผ๋ถ€๋ฅผ, ์˜ˆ๋ฅผ ๋“ค์–ด ๋ฐ˜์‚ฌ๊ฒฝ ๋“ฑ์˜ ๊ด‘ํ•™ ์š”์†Œ๋ฅผ ๊ฐ–๋Š” ์Šค์บ๋„ˆ ํŒ์„ ๊ต์ฒดํ•˜์—ฌ ์‚ฌ์šฉํ•˜๋„๋ก ๊ตฌ์„ฑ๋œ ๊ฒฝ์šฐ, ๊ทธ๊ฒƒ ๋˜ํ•œ ์˜ค์ฐจ ๋ฐœ์ƒ์˜ ์š”์ธ์ด ๋  ์ˆ˜ ์žˆ๋‹ค. ๋”ฐ๋ผ์„œ, ์ •ํ™•ํ•œ 3์ฐจ์› ๋ชจ๋ธ ๋ฐ์ดํ„ฐ ํš๋“์„ ์œ„ํ•ด์„œ๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์— ๋Œ€ํ•œ ์˜ค์ฐจ ๋ณด์ • ์ž‘์—…, ์ฆ‰ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜(calibration)์ด ์ˆ˜์‹œ๋กœ ์š”๊ตฌ๋œ๋‹ค. ๊ทธ๋Ÿฐ๋ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋งˆ๋‹ค ๋‹ค๋ฅธ ๊ธฐ๊ตฌ๋ฌผ์„ ์‚ฌ์šฉํ•˜์—ฌ ์ˆ˜ํ–‰ํ•ด์•ผ ํ•˜๋Š” ๋ฒˆ๊ฑฐ๋กœ์›€์ด ์กด์žฌํ•œ๋‹ค. ์‚ฌ์šฉ์ž ์ž…์žฅ์—์„œ๋Š” ์—ฌ๋Ÿฌ ๋ฒˆ ๊ธฐ๊ตฌ๋ฌผ์„ ์ œ๊ฑฐํ•˜๊ณ  ์—ฐ๊ฒฐํ•˜์—ฌ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์ˆ˜ํ–‰ํ•ด์•ผ ํ•˜๋Š” ๋ฒˆ๊ฑฐ๋กœ์›€์ด ์žˆ๋‹ค.There may be a factor that causes errors in the 3D model data during manufacturing or use of the oral scanner. For hygienic purposes, when a part of the oral scanner is configured to be used by replacing, for example, a scanner tip having an optical element such as a reflector, it may also be a cause of error. Therefore, in order to obtain accurate 3D model data, an error correction operation, that is, calibration, is often required for the oral scanner. However, there is a hassle of having to use different instruments for each calibration. From the user's point of view, there is a hassle of removing and connecting the instrument several times to perform calibration.

์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ผ, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ ๋์— ํ•˜๋‚˜์˜ ๊ธฐ๊ตฌ๋ฅผ ์—ฐ๊ฒฐํ•˜๊ณ  ์—ฐ๊ฒฐ๋œ ๊ธฐ๊ตฌ์˜ ํšŒ์ „์„ ํ†ตํ•ด ์—ฌ๋Ÿฌ ๊ฐ€์ง€์˜ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ํ•œ ๋ฒˆ์— ๋ชจ๋‘ ์ˆ˜ํ–‰ํ•  ์ˆ˜ ์žˆ๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜ ๋ฐ ๊ทธ ๋ฐฉ๋ฒ•์„ ์ œ์•ˆํ•œ๋‹ค.According to an embodiment, an apparatus and method for calibrating an oral scanner capable of performing various calibrations at once by connecting one instrument to the end of the scanner tip of the oral scanner and rotating the connected instrument are proposed.

์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜๋Š”, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์ด ์‚ฝ์ž…๋˜๋Š” ์Šค์บ๋„ˆ ํŒ ์ˆ˜์šฉ๋ถ€์™€, ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ์  ํŒจํ„ด ํŒจ๋„, ์ƒ‰์ƒ ํŒจ๋„ ๋ฐ ํ‰๋ฉด ํŒจ๋„์ด ์„œ๋กœ ์ด๊ฒฉ๋˜์–ด ํ˜•์„ฑ๋˜๋Š” ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜๋ถ€๋ฅผ ํฌํ•จํ•˜๋Š” ๋ณธ์ฒด์™€, ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜์™€ ํ†ต์‹ ํ•˜๋Š” ํ†ต์‹ ๋ถ€์™€, ํ†ต์‹ ๋ถ€๋ฅผ ํ†ตํ•ด ์ˆ˜์‹ ๋œ ์ œ์–ด์‹ ํ˜ธ๋ฅผ ํ™•์ธํ•˜๊ณ  ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๊ธฐ๋Šฅ์— ํ•„์š”ํ•œ ๋™์ž‘ ์ˆ˜ํ–‰์„ ์ œ์–ดํ•˜๋Š” ์ œ์–ด๋ถ€์™€, ๋ณธ์ฒด์˜ ๋‚ด๋ถ€ ํšŒ์ „์„ ํ†ตํ•ด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒจ๋„์„ ๋ณ€๊ฒฝํ•˜๋Š” ์ œ1 ๊ตฌ๋™๋ถ€๋ฅผ ํฌํ•จํ•œ๋‹ค.An oral scanner calibration apparatus according to an embodiment includes a scanner tip receiving portion into which a scanner tip of the oral scanner is inserted, and a dot pattern panel, a color panel, and a flat panel spaced apart from each other at a position facing the optical path of the scanner tip. A main body including a calibration unit, a communication unit that communicates with the image processing device, a control unit that checks the control signals received through the communication unit, and controls the operation required for camera and projector calibration, color calibration, and plane calibration functions, and the interior of the main body It includes a first driving unit that changes the calibration panel through rotation.

๋ณธ์ฒด๋Š” ์›ํ†ตํ˜•์ผ ์ˆ˜ ์žˆ๋‹ค. ๋ณธ์ฒด๋Š” ์‚ผ๊ฐ๊ธฐ๋‘ฅ์ด๋ฉฐ, ์  ํŒจํ„ด ํŒจ๋„, ์ƒ‰์ƒ ํŒจ๋„ ๋ฐ ํ‰๋ฉด ํŒจ๋„์€ ์‚ผ๊ฐ๊ธฐ๋‘ฅ์˜ ์˜† ๋ฉด์— ๊ฐ๊ฐ ์œ„์น˜ํ•  ์ˆ˜ ์žˆ๋‹ค.The body may be cylindrical. The main body is a triangular pillar, and the dot pattern panel, the color panel, and the flat panel may be located on the side of the triangular pillar, respectively.

๋ณธ์ฒด๋Š” ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•œ ์  ํŒจํ„ด ํŒจ๋„์˜ ์œ„์น˜๋ฅผ ๋ณ€๊ฒฝํ•˜๋Š” ์ œ2 ๊ตฌ๋™๋ถ€๋ฅผ ๋” ํฌํ•จ ํ•  ์ˆ˜ ์žˆ๋‹ค.The body may further include a second driving unit for changing the position of the dot pattern panel for calibrating the camera and the projector.

๋‹ค๋ฅธ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์€, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜์˜ ๋‚ด๋ถ€์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉด ๊ฐ€๋Šฅํ•œ ์œ„์น˜์—, ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•œ ํŒจ๋„์„ ๊ฐ๊ฐ ๋งˆ๋ จํ•˜๋Š” ๋‹จ๊ณ„์™€, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜์— ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์ด ์ˆ˜์šฉ๋˜๋Š” ๋‹จ๊ณ„์™€, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜๋ฅผ ํšŒ์ „์‹œ์ผœ ๊ฐ€๋ฉด์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์ž…๋ ฅ๋˜๋Š” ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ์ด์šฉํ•˜์—ฌ ์†Œ์ •์˜ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์„ ๋งž์ถ”๊ณ  ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์— ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚ค๋Š” ๋‹จ๊ณ„์™€, ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๋Š” ๋‹จ๊ณ„์™€, ํš๋“๋œ ์˜์ƒ ๋ฐ์ดํ„ฐ๋กœ๋ถ€ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„๋ฅผ ํฌํ•จํ•œ๋‹ค.In the oral scanner calibration method according to another embodiment, the steps of providing a panel for camera and projector calibration, color calibration, and flat calibration at a position that can face the optical path of the scanner tip of the oral scanner inside the oral scanner calibration device. Wow, the step of accommodating the scanner tip of the oral scanner in the oral scanner calibration device, and focusing and focusing on a predetermined calibration panel using camera image data input through the oral scanner while rotating the oral scanner calibration device. It includes fixing the scanner tip of the oral scanner in a position, acquiring image data through the oral scanner at a focused position, and calculating a calibration parameter from the acquired image data.

ํŒจ๋„์„ ๊ฐ๊ฐ ๋งˆ๋ จํ•˜๋Š” ๋‹จ๊ณ„์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ์  ํŒจํ„ด ํŒจ๋„์„ ๋งˆ๋ จํ•˜๊ณ , ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚ค๋Š” ๋‹จ๊ณ„์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์ž…๋ ฅ๋œ ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ์—์„œ ์  ํŒจํ„ด ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์ด ๋งž๋Š” ์œ„์น˜์— ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚ค๊ณ , ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๋Š” ๋‹จ๊ณ„๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ํ”„๋กœ์ ํ„ฐ๋ฅผ ํ†ตํ•ด ํŒจํ„ด ์„ธํŠธ๋ฅผ ํˆฌ์‚ฌํ•˜์—ฌ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๋Š” ๋‹จ๊ณ„์™€ ์  ํŒจํ„ด ํŒจ๋„์˜ ์œ„์น˜๋ฅผ ๋ณ€๊ฒฝํ•˜๋ฉด์„œ ์ดˆ์ ์„ ๋งž์ถ”๊ณ  ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์—์„œ ํŒจํ„ด ์„ธํŠธ ํˆฌ์‚ฌ์— ๋”ฐ๋ฅธ ์˜์ƒ ๋ฐ์ดํ„ฐ ํš๋“์„ ๋ฐ˜๋ณต ์ˆ˜ํ–‰ํ•˜๋Š” ๋‹จ๊ณ„๋ฅผ ํฌํ•จํ•˜๋ฉฐ, ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋กœ๋ถ€ํ„ฐ ํš๋“ํ•œ ์˜์ƒ ๋ฐ์ดํ„ฐ์˜ ์  ์ขŒํ‘œ๋“ค์„ ๋ถ„์„ํ•˜์—ฌ ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ์˜ ๋‚ด๋ถ€ ํŒŒ๋ผ๋ฏธํ„ฐ ๋ฐ ์™ธ๋ถ€ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•  ์ˆ˜ ์žˆ๋‹ค.In the step of preparing each panel, a dot pattern panel is provided at a position facing the light path of the scanner tip of the oral scanner, and the dot pattern panel from the camera image data input through the oral scanner in the step of fixing the scanner tip of the oral scanner. In the steps of fixing the scanner tip of the oral scanner in a position where the focus is focused on, and obtaining image data, the steps of obtaining image data by projecting a pattern set through the projector of the oral scanner and changing the position of the dot pattern panel to focus And repetitively acquiring image data according to projection of the pattern set at the focused position and analyzing the point coordinates of the image data acquired from the oral scanner in the step of calculating the calibration parameter, and internal parameters of the camera and the projector. And external parameters can be calculated.

ํŒจ๋„์„ ๊ฐ๊ฐ ๋งˆ๋ จํ•˜๋Š” ๋‹จ๊ณ„์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ์ƒ‰ ์ฑ„๋„ ๊ฐ’์„ ์•Œ๊ณ  ์žˆ๋Š” ์ƒ‰๋“ค์„ ์กฐํ•ฉํ•˜์—ฌ ๋งŒ๋“  ์ƒ‰์ƒ ํŒจ๋„์„ ๋งˆ๋ จํ•˜๊ณ , ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚ค๋Š” ๋‹จ๊ณ„์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์ž…๋ ฅ๋œ ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ์—์„œ ์ƒ‰์ƒ ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์ด ๋งž๋Š” ์œ„์น˜์— ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •ํ•˜๊ณ , ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„์—์„œ ํš๋“๋œ ์นด๋ฉ”๋ผ ์˜์ƒ์œผ๋กœ๋ถ€ํ„ฐ ์ƒ‰ ์ฑ„๋„ ๊ฐ’์˜ ๊ฒŒ์ธ์„ ๊ณ„์‚ฐํ•  ์ˆ˜ ์žˆ๋‹ค. ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„์—์„œ (Rt, Gt, Bt) =

Figure PCTKR2020003023-appb-img-000001
(Ri, Gi, Bi) T ํ–‰๋ ฌ ๊ณ„์‚ฐ์„ ํ†ตํ•ด ์ƒ‰ ์ฑ„๋„ ๊ฐ’์˜ ๊ฒŒ์ธ์„ ๊ณ„์‚ฐํ•˜๋ฉฐ, ์—ฌ๊ธฐ์„œ, (Rt, Gt, Bt)๋Š” ๊ฐ ๋ฏธ๋ฆฌ ์„ค์ •ํ•œ ์ƒ‰ ์ฑ„๋„์˜ ์ •๋‹ต ๊ฐ’์ด๊ณ ,
Figure PCTKR2020003023-appb-img-000002
๋Š” ๊ฐ ์ƒ‰ ์ฑ„๋„์˜ ๊ฒŒ์ธ ๊ฐ’์ด๋ฉฐ, (Ri, Gi, Bi)๋Š” ๊ฐ ์˜์ƒ์—์„œ ์ธก์ •ํ•œ ์ƒ‰ ์ฑ„๋„์˜ ์›์‹œ ๋ฐ์ดํ„ฐ(raw data) ๊ฐ’์ผ ์ˆ˜ ์žˆ๋‹ค.In the step of preparing each panel, a color panel made by combining colors with known color channel values at a position facing the light path of the scanner tip of the oral scanner is prepared, and in the step of fixing the scanner tip of the oral scanner, the oral scanner is installed. The gain of the color channel value may be calculated from the camera image obtained in the step of fixing the scanner tip of the oral scanner at a position in which the focus of the color panel is correct in the camera image data input through and calculating a calibration parameter. In the step of calculating the calibration parameters (Rt, Gt, Bt) =
Figure PCTKR2020003023-appb-img-000001
(Ri, Gi, Bi) The gain of the color channel value is calculated through the T matrix calculation, where (Rt, Gt, Bt) is the correct answer value of each preset color channel,
Figure PCTKR2020003023-appb-img-000002
Is a gain value of each color channel, and (Ri, Gi, Bi) may be a raw data value of a color channel measured in each image.

ํŒจ๋„์„ ๊ฐ๊ฐ ๋งˆ๋ จํ•˜๋Š” ๋‹จ๊ณ„์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ํ‰๋ฉด ํŒจ๋„์„ ๋งˆ๋ จํ•˜๊ณ , ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๋Š” ๋‹จ๊ณ„์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ํ”„๋กœ์ ํ„ฐ๋ฅผ ํ†ตํ•ด ์œ„์ƒ์ด ์„œ๋กœ ๋‹ค๋ฅธ ํŒจํ„ด์„ ํˆฌ์‚ฌํ•œ ํ›„ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๊ณ , ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„์—์„œ ํš๋“๋œ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ๋Œ€์ƒ์œผ๋กœ ์—ฐ์‚ฐ์„ ์ˆ˜ํ–‰ํ•˜์—ฌ ํ‰๋ฉด ์œ„์ƒ์ง€๋„๋ฅผ ํš๋“ํ•  ์ˆ˜ ์žˆ๋‹ค.In the step of preparing each panel, a flat panel is provided at a position facing the light path of the scanner tip of the oral scanner, and in the step of acquiring image data, a pattern of different phases is projected through the projector of the oral scanner, and then image data A plane phase map may be obtained by performing an operation on the image data obtained in the step of acquiring and calculating a calibration parameter.

์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜ ๋ฐ ๊ทธ ๋ฐฉ๋ฒ•์— ๋”ฐ๋ฅด๋ฉด, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ ๋์— ํ•˜๋‚˜์˜ ๊ธฐ๊ตฌ๋ฅผ ์—ฐ๊ฒฐํ•˜๊ณ  ์—ฐ๊ฒฐ๋œ ๊ธฐ๊ตฌ์˜ ํšŒ์ „์„ ํ†ตํ•ด ์—ฌ๋Ÿฌ ๊ฐ€์ง€์˜ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ฆ‰, ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ํ•˜๋‚˜์˜ ๊ธฐ๊ตฌ๋งŒ์„ ๊ฐ€์ง€๊ณ  ๋ชจ๋‘ ์ˆ˜ํ–‰ํ•  ์ˆ˜ ์žˆ๋‹ค.According to the oral scanner calibration apparatus and method according to an embodiment, a single instrument is connected to the end of the scanner tip of the oral scanner, and various calibrations, that is, camera and projector calibration, color calibration, and plane calibration are performed through rotation of the connected device. You can do all of them with just one instrument.

๋„ 1์€ ๋ณธ ๋ฐœ๋ช…์˜ ์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜๊ฐ€ ํ‰๋ฉด ๋˜๋Š” ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•ด ๋™์ž‘ํ•  ๋•Œ์˜ ๊ตฌ๊ฐ• ์‹œ์Šคํ…œ์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด,1 is a view showing the configuration of an oral system when an oral scanner calibration apparatus according to an embodiment of the present invention operates for flat or color calibration;

๋„ 2๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜๊ฐ€ ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•ด ๋™์ž‘ํ•  ๋•Œ์˜ ๊ตฌ๊ฐ• ์‹œ์Šคํ…œ์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด,2 is a view showing the configuration of the oral system when the oral scanner calibration device is operated for camera and projector calibration,

๋„ 3์€ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜์˜ ํˆฌ์‹œ ๋ชจ์Šต์„ ํฌํ•จํ•œ ๊ตฌ๊ฐ• ์‹œ์Šคํ…œ์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด,3 is a view showing the configuration of the oral system including a perspective view of the oral scanner calibration device,

๋„ 4๋Š” ๋ณธ ๋ฐœ๋ช…์˜ ๋‹ค๋ฅธ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด,4 is a view showing the configuration of an oral scanner calibration apparatus according to another embodiment of the present invention,

๋„ 5๋Š” ๋ณธ ๋ฐœ๋ช…์˜ ์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ์นด๋ฉ”๋ผ-ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์˜ ํ๋ฆ„์„ ๋„์‹œํ•œ ๋„๋ฉด,5 is a diagram illustrating a flow of a camera-projector calibration method according to an embodiment of the present invention;

๋„ 6์€ ๋ณธ ๋ฐœ๋ช…์˜ ์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์˜ ํ๋ฆ„์„ ๋„์‹œํ•œ ๋„๋ฉด,6 is a diagram showing a flow of a color calibration method according to an embodiment of the present invention;

๋„ 7์€ ๋ณธ ๋ฐœ๋ช…์˜ ์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์˜ ํ๋ฆ„์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๋‹ค.7 is a diagram illustrating a flow of a plane calibration method according to an embodiment of the present invention.

๋ณธ ๋ฐœ๋ช…์˜ ์ด์  ๋ฐ ํŠน์ง•, ๊ทธ๋ฆฌ๊ณ  ๊ทธ๊ฒƒ๋“ค์„ ๋‹ฌ์„ฑํ•˜๋Š” ๋ฐฉ๋ฒ•์€ ์ฒจ๋ถ€๋˜๋Š” ๋„๋ฉด๊ณผ ํ•จ๊ป˜ ์ƒ์„ธํ•˜๊ฒŒ ํ›„์ˆ ๋˜์–ด ์žˆ๋Š” ์‹ค์‹œ ์˜ˆ๋“ค์„ ์ฐธ์กฐํ•˜๋ฉด ๋ช…ํ™•ํ•ด์งˆ ๊ฒƒ์ด๋‹ค.Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings.

๊ทธ๋Ÿฌ๋‚˜ ๋ณธ ๋ฐœ๋ช…์€ ์ดํ•˜์—์„œ ๊ฐœ์‹œ๋˜๋Š” ์‹ค์‹œ ์˜ˆ๋“ค์— ํ•œ์ •๋˜๋Š” ๊ฒƒ์ด ์•„๋‹ˆ๋ผ ์„œ๋กœ ๋‹ค๋ฅธ ๋‹ค์–‘ํ•œ ํ˜•ํƒœ๋กœ ๊ตฌํ˜„๋  ์ˆ˜ ์žˆ์œผ๋ฉฐ, ๋‹จ์ง€ ๋ณธ ์‹ค์‹œ ์˜ˆ๋“ค์€ ๋ณธ ๋ฐœ๋ช…์˜ ๊ฐœ์‹œ๊ฐ€ ์™„์ „ํ•˜๋„๋ก ํ•˜๊ณ , ๋ณธ ๋ฐœ๋ช…์ด ์†ํ•˜๋Š” ๊ธฐ์ˆ ๋ถ„์•ผ์—์„œ ํ†ต์ƒ์˜ ์ง€์‹์„ ๊ฐ€์ง„ ์ž์—๊ฒŒ ๋ฐœ๋ช…์˜ ๋ฒ”์ฃผ๋ฅผ ์™„์ „ํ•˜๊ฒŒ ์•Œ๋ ค์ฃผ๊ธฐ ์œ„ํ•ด ์ œ๊ณต๋˜๋Š” ๊ฒƒ์ด๋ฉฐ, ๋ณธ ๋ฐœ๋ช…์€ ์ฒญ๊ตฌํ•ญ์˜ ๋ฒ”์ฃผ์— ์˜ํ•ด ์ •์˜๋  ๋ฟ์ด๋‹ค. ๋ช…์„ธ์„œ ์ „์ฒด์— ๊ฑธ์ณ ๋™์ผ ์ฐธ์กฐ ๋ถ€ํ˜ธ๋Š” ๋™์ผ ๊ตฌ์„ฑ ์š”์†Œ๋ฅผ ์ง€์นญํ•œ๋‹ค.However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification.

๋ณธ ๋ฐœ๋ช…์˜ ์‹ค์‹œ ์˜ˆ๋“ค์„ ์„ค๋ช…ํ•จ์— ์žˆ์–ด์„œ ๊ณต์ง€ ๊ธฐ๋Šฅ ๋˜๋Š” ๊ตฌ์„ฑ์— ๋Œ€ํ•œ ๊ตฌ์ฒด์ ์ธ ์„ค๋ช…์ด ๋ณธ ๋ฐœ๋ช…์˜ ์š”์ง€๋ฅผ ๋ถˆํ•„์š”ํ•˜๊ฒŒ ํ๋ฆด ์ˆ˜ ์žˆ๋‹ค๊ณ  ํŒ๋‹จ๋˜๋Š” ๊ฒฝ์šฐ์—๋Š” ๊ทธ ์ƒ์„ธํ•œ ์„ค๋ช…์„ ์ƒ๋žตํ•  ๊ฒƒ์ด๋ฉฐ, ํ›„์ˆ ๋˜๋Š” ์šฉ์–ด๋“ค์€ ๋ณธ ๋ฐœ๋ช…์˜ ์‹ค์‹œ ์˜ˆ์—์„œ์˜ ๊ธฐ๋Šฅ์„ ๊ณ ๋ คํ•˜์—ฌ ์ •์˜๋œ ์šฉ์–ด๋“ค๋กœ์„œ ์ด๋Š” ์‚ฌ์šฉ์ž, ์šด์šฉ์ž์˜ ์˜๋„ ๋˜๋Š” ๊ด€๋ก€ ๋“ฑ์— ๋”ฐ๋ผ ๋‹ฌ๋ผ์งˆ ์ˆ˜ ์žˆ๋‹ค. ๊ทธ๋Ÿฌ๋ฏ€๋กœ ๊ทธ ์ •์˜๋Š” ๋ณธ ๋ช…์„ธ์„œ ์ „๋ฐ˜์— ๊ฑธ์นœ ๋‚ด์šฉ์„ ํ† ๋Œ€๋กœ ๋‚ด๋ ค์ ธ์•ผ ํ•  ๊ฒƒ์ด๋‹ค.In describing embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted, and terms to be described later are in the embodiments of the present invention. These terms are defined in consideration of the function of the user and may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout this specification.

์ฒจ๋ถ€๋œ ๋ธ”๋ก๋„์˜ ๊ฐ ๋ธ”๋ก๊ณผ ํ๋ฆ„๋„์˜ ๊ฐ ๋‹จ๊ณ„์˜ ์กฐํ•ฉ๋“ค์€ ์ปดํ“จํ„ฐ ํ”„๋กœ๊ทธ๋žจ ์ธ์ŠคํŠธ๋Ÿญ์…˜๋“ค(์‹คํ–‰ ์—”์ง„)์— ์˜ํ•ด ์ˆ˜ํ–‰๋  ์ˆ˜๋„ ์žˆ์œผ๋ฉฐ, ์ด๋“ค ์ปดํ“จํ„ฐ ํ”„๋กœ๊ทธ๋žจ ์ธ์ŠคํŠธ๋Ÿญ์…˜๋“ค์€ ๋ฒ”์šฉ ์ปดํ“จํ„ฐ, ํŠน์ˆ˜์šฉ ์ปดํ“จํ„ฐ ๋˜๋Š” ๊ธฐํƒ€ ํ”„๋กœ๊ทธ๋žจ ๊ฐ€๋Šฅํ•œ ๋ฐ์ดํ„ฐ ํ”„๋กœ์„ธ์‹ฑ ์žฅ์น˜์˜ ํ”„๋กœ์„ธ์„œ์— ํƒ‘์žฌ๋  ์ˆ˜ ์žˆ์œผ๋ฏ€๋กœ, ์ปดํ“จํ„ฐ ๋˜๋Š” ๊ธฐํƒ€ ํ”„๋กœ๊ทธ๋žจ ๊ฐ€๋Šฅํ•œ ๋ฐ์ดํ„ฐ ํ”„๋กœ์„ธ์‹ฑ ์žฅ์น˜์˜ ํ”„๋กœ์„ธ์„œ๋ฅผ ํ†ตํ•ด ์ˆ˜ํ–‰๋˜๋Š” ๊ทธ ์ธ์ŠคํŠธ๋Ÿญ์…˜๋“ค์ด ๋ธ”๋ก๋„์˜ ๊ฐ ๋ธ”๋ก ๋˜๋Š” ํ๋ฆ„๋„์˜ ๊ฐ ๋‹จ๊ณ„์—์„œ ์„ค๋ช…๋œ ๊ธฐ๋Šฅ๋“ค์„ ์ˆ˜ํ–‰ํ•˜๋Š” ์ˆ˜๋‹จ์„ ์ƒ์„ฑํ•˜๊ฒŒ ๋œ๋‹ค.Combinations of each block of the attached block diagram and each step of the flowchart may be executed by computer program instructions (execution engine), and these computer program instructions are executed on the processor of a general purpose computer, special purpose computer or other programmable data processing device. As it may be mounted, its instructions executed by the processor of a computer or other programmable data processing device generate means for performing the functions described in each block of the block diagram or each step of the flowchart.

์ด๋“ค ์ปดํ“จํ„ฐ ํ”„๋กœ๊ทธ๋žจ ์ธ์ŠคํŠธ๋Ÿญ์…˜๋“ค์€ ํŠน์ • ๋ฐฉ์‹์œผ๋กœ ๊ธฐ๋Šฅ์„ ๊ตฌํ˜„ํ•˜๊ธฐ ์œ„ํ•ด ์ปดํ“จํ„ฐ ๋˜๋Š” ๊ธฐํƒ€ ํ”„๋กœ๊ทธ๋žจ ๊ฐ€๋Šฅํ•œ ๋ฐ์ดํ„ฐ ํ”„๋กœ์„ธ์‹ฑ ์žฅ์น˜๋ฅผ ์ง€ํ–ฅํ•  ์ˆ˜ ์žˆ๋Š” ์ปดํ“จํ„ฐ ์ด์šฉ๊ฐ€๋Šฅ ๋˜๋Š” ์ปดํ“จํ„ฐ ํŒ๋… ๊ฐ€๋Šฅ ๋ฉ”๋ชจ๋ฆฌ์— ์ €์žฅ๋˜๋Š” ๊ฒƒ๋„ ๊ฐ€๋Šฅํ•˜๋ฏ€๋กœ, ๊ทธ ์ปดํ“จํ„ฐ ์ด์šฉ๊ฐ€๋Šฅ ๋˜๋Š” ์ปดํ“จํ„ฐ ํŒ๋… ๊ฐ€๋Šฅ ๋ฉ”๋ชจ๋ฆฌ์— ์ €์žฅ๋œ ์ธ์ŠคํŠธ๋Ÿญ์…˜๋“ค์€ ๋ธ”๋ก๋„์˜ ๊ฐ ๋ธ”๋ก ๋˜๋Š” ํ๋ฆ„๋„์˜ ๊ฐ ๋‹จ๊ณ„์—์„œ ์„ค๋ช…๋œ ๊ธฐ๋Šฅ์„ ์ˆ˜ํ–‰ํ•˜๋Š” ์ธ์ŠคํŠธ๋Ÿญ์…˜ ์ˆ˜๋‹จ์„ ๋‚ดํฌํ•˜๋Š” ์ œ์กฐ ํ’ˆ๋ชฉ์„ ์ƒ์‚ฐํ•˜๋Š” ๊ฒƒ๋„ ๊ฐ€๋Šฅํ•˜๋‹ค.These computer program instructions may also be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing device to implement a function in a particular way, so that the computer usable or computer readable memory It is also possible to produce an article of manufacture that includes instruction means for performing the functions described in each block of the block diagram or each step of the flowchart.

๊ทธ๋ฆฌ๊ณ  ์ปดํ“จํ„ฐ ํ”„๋กœ๊ทธ๋žจ ์ธ์ŠคํŠธ๋Ÿญ์…˜๋“ค์€ ์ปดํ“จํ„ฐ ๋˜๋Š” ๊ธฐํƒ€ ํ”„๋กœ๊ทธ๋žจ ๊ฐ€๋Šฅํ•œ ๋ฐ์ดํ„ฐ ํ”„๋กœ์„ธ์‹ฑ ์žฅ์น˜ ์ƒ์— ํƒ‘์žฌ๋˜๋Š” ๊ฒƒ๋„ ๊ฐ€๋Šฅํ•˜๋ฏ€๋กœ, ์ปดํ“จํ„ฐ ๋˜๋Š” ๊ธฐํƒ€ ํ”„๋กœ๊ทธ๋žจ ๊ฐ€๋Šฅํ•œ ๋ฐ์ดํ„ฐ ํ”„๋กœ์„ธ์‹ฑ ์žฅ์น˜ ์ƒ์—์„œ ์ผ๋ จ์˜ ๋™์ž‘ ๋‹จ๊ณ„๋“ค์ด ์ˆ˜ํ–‰๋˜์–ด ์ปดํ“จํ„ฐ๋กœ ์‹คํ–‰๋˜๋Š” ํ”„๋กœ์„ธ์Šค๋ฅผ ์ƒ์„ฑํ•ด์„œ ์ปดํ“จํ„ฐ ๋˜๋Š” ๊ธฐํƒ€ ํ”„๋กœ๊ทธ๋žจ ๊ฐ€๋Šฅํ•œ ๋ฐ์ดํ„ฐ ํ”„๋กœ์„ธ์‹ฑ ์žฅ์น˜๋ฅผ ์ˆ˜ํ–‰ํ•˜๋Š” ์ธ์ŠคํŠธ๋Ÿญ์…˜๋“ค์€ ๋ธ”๋ก๋„์˜ ๊ฐ ๋ธ”๋ก ๋ฐ ํ๋ฆ„๋„์˜ ๊ฐ ๋‹จ๊ณ„์—์„œ ์„ค๋ช…๋˜๋Š” ๊ธฐ๋Šฅ๋“ค์„ ์‹คํ–‰ํ•˜๊ธฐ ์œ„ํ•œ ๋‹จ๊ณ„๋“ค์„ ์ œ๊ณตํ•˜๋Š” ๊ฒƒ๋„ ๊ฐ€๋Šฅํ•˜๋‹ค.In addition, since computer program instructions can be mounted on a computer or other programmable data processing device, a series of operation steps are performed on a computer or other programmable data processing device to create a computer-executable process. It is also possible that the instructions for performing the data processing apparatus provide steps for executing the functions described in each block of the block diagram and each step of the flowchart.

๋˜ํ•œ, ๊ฐ ๋ธ”๋ก ๋˜๋Š” ๊ฐ ๋‹จ๊ณ„๋Š” ํŠน์ •๋œ ๋…ผ๋ฆฌ์  ๊ธฐ๋Šฅ๋“ค์„ ์‹คํ–‰ํ•˜๊ธฐ ์œ„ํ•œ ํ•˜๋‚˜ ์ด์ƒ์˜ ์‹คํ–‰ ๊ฐ€๋Šฅํ•œ ์ธ์ŠคํŠธ๋Ÿญ์…˜๋“ค์„ ํฌํ•จํ•˜๋Š” ๋ชจ๋“ˆ, ์„ธ๊ทธ๋จผํŠธ ๋˜๋Š” ์ฝ”๋“œ์˜ ์ผ๋ถ€๋ฅผ ๋‚˜ํƒ€๋‚ผ ์ˆ˜ ์žˆ์œผ๋ฉฐ, ๋ช‡ ๊ฐ€์ง€ ๋Œ€์ฒด ์‹ค์‹œ ์˜ˆ๋“ค์—์„œ๋Š” ๋ธ”๋ก๋“ค ๋˜๋Š” ๋‹จ๊ณ„๋“ค์—์„œ ์–ธ๊ธ‰๋œ ๊ธฐ๋Šฅ๋“ค์ด ์ˆœ์„œ๋ฅผ ๋ฒ—์–ด๋‚˜์„œ ๋ฐœ์ƒํ•˜๋Š” ๊ฒƒ๋„ ๊ฐ€๋Šฅํ•จ์„ ์ฃผ๋ชฉํ•ด์•ผ ํ•œ๋‹ค. ์˜ˆ์ปจ๋Œ€, ์ž‡๋‹ฌ์•„ ๋„์‹œ๋˜์–ด ์žˆ๋Š” ๋‘ ๊ฐœ์˜ ๋ธ”๋ก๋“ค ๋˜๋Š” ๋‹จ๊ณ„๋“ค์€ ์‚ฌ์‹ค ์‹ค์งˆ์ ์œผ๋กœ ๋™์‹œ์— ์ˆ˜ํ–‰๋˜๋Š” ๊ฒƒ๋„ ๊ฐ€๋Šฅํ•˜๋ฉฐ, ๋˜ํ•œ ๊ทธ ๋ธ”๋ก๋“ค ๋˜๋Š” ๋‹จ๊ณ„๋“ค์ด ํ•„์š”์— ๋”ฐ๋ผ ํ•ด๋‹นํ•˜๋Š” ๊ธฐ๋Šฅ์˜ ์—ญ์ˆœ์œผ๋กœ ์ˆ˜ํ–‰๋˜๋Š” ๊ฒƒ๋„ ๊ฐ€๋Šฅํ•˜๋‹ค.In addition, each block or each step may represent a module, segment, or part of code containing one or more executable instructions for executing specified logical functions, and in some alternative embodiments mentioned in the blocks or steps. It should be noted that it is also possible for functions to occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially simultaneously, and the blocks or steps may be performed in the reverse order of a corresponding function as necessary.

์ดํ•˜, ์ฒจ๋ถ€ ๋„๋ฉด์„ ์ฐธ์กฐํ•˜์—ฌ ๋ณธ ๋ฐœ๋ช…์˜ ์‹ค์‹œ ์˜ˆ๋ฅผ ์ƒ์„ธํ•˜๊ฒŒ ์„ค๋ช…ํ•œ๋‹ค. ๊ทธ๋Ÿฌ๋‚˜ ๋‹ค์Œ์— ์˜ˆ์‹œํ•˜๋Š” ๋ณธ ๋ฐœ๋ช…์˜ ์‹ค์‹œ ์˜ˆ๋Š” ์—ฌ๋Ÿฌ ๊ฐ€์ง€ ๋‹ค๋ฅธ ํ˜•ํƒœ๋กœ ๋ณ€ํ˜•๋  ์ˆ˜ ์žˆ์œผ๋ฉฐ, ๋ณธ ๋ฐœ๋ช…์˜ ๋ฒ”์œ„๊ฐ€ ๋‹ค์Œ์— ์ƒ์ˆ ํ•˜๋Š” ์‹ค์‹œ ์˜ˆ์— ํ•œ์ •๋˜๋Š” ๊ฒƒ์€ ์•„๋‹ˆ๋‹ค.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments of the present invention exemplified below may be modified in various forms, and the scope of the present invention is not limited to the embodiments described below.

๋ณธ ๋ฐœ๋ช…์˜ ์‹ค์‹œ ์˜ˆ๋Š” ์ด ๋ฐœ๋ช…์ด ์†ํ•˜๋Š” ๊ธฐ์ˆ ๋ถ„์•ผ์—์„œ ํ†ต์ƒ์˜ ์ง€์‹์„ ๊ฐ€์ง„ ์ž์—๊ฒŒ ๋ณธ ๋ฐœ๋ช…์„ ๋ณด๋‹ค ์™„์ „ํ•˜๊ฒŒ ์„ค๋ช…ํ•˜๊ธฐ ์œ„ํ•˜์—ฌ ์ œ๊ณต๋œ๋‹ค.Embodiments of the present invention are provided to more completely describe the present invention to those of ordinary skill in the art.

๋„ 1 ๋‚ด์ง€ ๋„ 3์€ ๋ณธ ๋ฐœ๋ช…์˜ ์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ์Šค์บ” ์‹œ์Šคํ…œ์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๋‹ค. ์„ธ๋ถ€์ ์œผ๋กœ ๋„ 1์€ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)๊ฐ€ ํ‰๋ฉด ๋˜๋Š” ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•ด ๋™์ž‘ํ•  ๋•Œ์˜ ๊ตฌ๊ฐ• ์‹œ์Šคํ…œ์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๊ณ , ๋„ 2๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)๊ฐ€ ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•ด ๋™์ž‘ํ•  ๋•Œ์˜ ๊ตฌ๊ฐ• ์‹œ์Šคํ…œ์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๋ฉฐ, ๋„ 3์€ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)์˜ ํˆฌ์‹œ ๋ชจ์Šต์„ ํฌํ•จํ•œ ๊ตฌ๊ฐ• ์‹œ์Šคํ…œ์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๋‹ค.1 to 3 are diagrams showing the configuration of a scan system according to an embodiment of the present invention. In detail, FIG. 1 is a diagram showing the configuration of an oral system when the oral scanner calibration device 2 is operated for flat or color calibration, and FIG. 2 is a view showing the configuration of the oral scanner calibration device 2 for camera and projector calibration. It is a diagram showing the configuration of the oral system when operating, and FIG. 3 is a diagram showing the configuration of the oral system including the perspective view of the oral scanner calibration device 2.

๋„ 1 ๋‚ด์ง€ ๋„ 3์„ ์ฐธ์กฐํ•˜๋ฉด, ์Šค์บ” ์‹œ์Šคํ…œ์€ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(2), ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2) ๋ฐ ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜(3)๋ฅผ ํฌํ•จํ•œ๋‹ค.Referring to FIGS. 1 to 3, the scanning system includes an oral scanner 2, an oral scanner calibration device 2, and an image processing device 3.

๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(2)๋Š” ์‚ฌ์šฉ์ž์˜ ๊ตฌ๊ฐ• ๋‚ด๋ถ€ ๋˜๋Š” ๊ตฌ๊ฐ• ๋ชจํ˜•์„ ์นด๋ฉ”๋ผ๋ฅผ ํ†ตํ•ด ์Šค์บ”ํ•˜์—ฌ ๊ตฌ๊ฐ• ๋‚ด๋ถ€ ๋˜๋Š” ๊ตฌ๊ฐ• ๋ชจํ˜•์˜ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•œ๋‹ค. ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(2)๋Š” ๋‚ด๋ถ€ ์กฐ๋ช…์˜ ๊ด‘์›์„ ๊ตฌ๋™ํ•˜์—ฌ ๊ด‘์„ ์ถœ๋ ฅํ•œ ํ›„, ๊ด‘ ๊ฒฝ๋กœ๋ฅผ ๋”ฐ๋ผ ์™ธ๋ถ€๋กœ ์กฐ์‚ฌ๋œ ๊ด‘์„ ํ†ตํ•ด ์‚ฌ์šฉ์ž์˜ ๊ตฌ๊ฐ• ๋‚ด๋ถ€ ๋˜๋Š” ๊ตฌ๊ฐ• ๋ชจํ˜•์„ ๋น„์ถœ ์ˆ˜ ์žˆ๋‹ค. ๊ทธ๋Ÿฌ๋ฉด, ๊ตฌ๊ฐ• ๋‚ด๋ถ€ ๋˜๋Š” ๊ตฌ๊ฐ• ๋ชจํ˜•์—์„œ ๋ฐ˜์‚ฌ๋œ ๊ด‘์€ ๋‹ค์‹œ ๊ด‘ ๊ฒฝ๋กœ๋ฅผ ๋”ฐ๋ผ ์นด๋ฉ”๋ผ์˜ ์ด๋ฏธ์ง€ ์„ผ์„œ์— ๋„๋‹ฌํ•จ์œผ๋กœ์จ ๊ตฌ๊ฐ• ๋‚ด๋ถ€์˜ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•  ์ˆ˜ ์žˆ๋‹ค. ๊ด‘ ๊ฒฝ๋กœ๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(2)์˜ ์Šค์บ๋„ˆ ํŒ(scanner tip)์„ ํ†ตํ•ด ํ˜•์„ฑ๋œ๋‹ค. ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(2)๋ฅผ ํ†ตํ•ด ํš๋“ํ•˜๋Š” ์Šค์บ” ๋ชจ๋ธ ๋ฐ์ดํ„ฐ๋Š” ์†์ƒ๋œ ์น˜์•„๋ฅผ ํฌํ•จํ•œ ์‹ค์ œ ์น˜์•„๋“ค์˜ ์ •๋ณด๋ฅผ ๊ฐ€์ง„ ๋ฐ์ดํ„ฐ์ด๋‹ค. ์Šค์บ” ๋ชจ๋ธ ๋ฐ์ดํ„ฐ๋Š” ํ™˜์ž์˜ ๊ตฌ๊ฐ•์„ ๋ณธ๋–  ์ƒ์„ฑํ•œ ์„๊ณ  ํ˜•ํƒœ์˜ ๊ตฌ๊ฐ• ๋ชจํ˜•์„ 3D ์Šค์บ๋„ˆ(3D Scanner)๋กœ ์Šค์บ๋‹ํ•˜์—ฌ ํš๋“๋  ์ˆ˜ ์žˆ๋‹ค. ๋‹ค๋ฅธ ์˜ˆ๋กœ์„œ, ๊ตฌ๊ฐ• ๋‚ด 3D ์Šค์บ๋„ˆ(3D Intra-oral scanner)๋ฅผ ์ด์šฉํ•˜์—ฌ ํ™˜์ž์˜ ๊ตฌ๊ฐ• ๋‚ด๋ถ€๋ฅผ ์Šค์บ๋‹ํ•˜์—ฌ ํš๋“๋  ์ˆ˜์žˆ๋‹ค.The oral scanner 2 scans the user's oral cavity or an oral model through a camera to obtain image data of the oral cavity or oral cavity model. The oral scanner 2 may output light by driving a light source of internal illumination, and then illuminate the inside of the user's oral cavity or a model of the oral cavity through light irradiated to the outside along the optical path. Then, the light reflected from the inside of the oral cavity or the oral cavity model may again reach the image sensor of the camera along the optical path, thereby obtaining image data inside the oral cavity. The optical path is formed through the scanner tip of the oral scanner 2. The scan model data acquired through the oral scanner 2 is data having information on actual teeth including damaged teeth. The scan model data may be obtained by scanning a gypsum-shaped oral model created after the patient's mouth with a 3D scanner. As another example, it may be obtained by scanning the inside of the patient's oral cavity using a 3D intra-oral scanner.

๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)๋Š” ๊ธฐ๊ตฌ ํ•˜๋‚˜๋กœ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(1)๋ฅผ ์œ„ํ•œ 3๊ฐ€์ง€ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ฆ‰, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ ๋์— ํ•˜๋‚˜์˜ ๊ธฐ๊ตฌ๋ฅผ ์—ฐ๊ฒฐํ•˜์—ฌ 3๋‹จ๊ณ„ ํšŒ์ „์„ ํ†ตํ•ด ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ๋ชจ๋‘ ์ˆ˜ํ–‰ํ•  ์ˆ˜ ์žˆ๋‹ค.Oral scanner calibration device (2) is one instrument, three calibrations for the oral scanner (1), that is, camera and projector calibration, color calibration and plane calibration through three rotations by connecting one instrument to the end of the scanner tip of the oral scanner. You can do all of them.

์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜(3)๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(2)๋กœ๋ถ€ํ„ฐ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ์ˆ˜์‹ ํ•˜๊ณ  ์ด๋ฅผ ํ”„๋กœ์„ธ์„œ๋ฅผ ์ด์šฉํ•˜์—ฌ ์ฒ˜๋ฆฌํ•œ๋‹ค. ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜(3)๋Š” ์˜์ƒ ์ฒ˜๋ฆฌ ํ”„๋กœ๊ทธ๋žจ์„ ์‹คํ–‰ ๊ฐ€๋Šฅํ•œ ์ „์ž์žฅ์น˜์ด๋‹ค. ์ „์ž์žฅ์น˜๋Š” ์ปดํ“จํ„ฐ, ๋…ธํŠธ๋ถ ์ปดํ“จํ„ฐ, ๋žฉํƒ‘ ์ปดํ“จํ„ฐ, ํƒœ๋ธ”๋ฆฟ(Tablet) PC, ์Šค๋งˆํŠธํฐ, ํœด๋Œ€ํฐ, PMP(Personal Media Player), PDA(Personal Digital Assistants) ๋“ฑ์ด ์žˆ๋‹ค. ์˜์ƒ ์ฒ˜๋ฆฌ ํ”„๋กœ๊ทธ๋žจ์€ ์Šค์บ” ํ”„๋กœ๊ทธ๋žจ, CAD ํ”„๋กœ๊ทธ๋žจ, ๊ฐ€์ด๋“œ ๋””์ž์ธ ํ”„๋กœ๊ทธ๋žจ ๋“ฑ์ด ์žˆ๋‹ค. ๋˜ํ•œ, ์น˜๊ณผ ์ž„ํ”Œ๋ž€ํŠธ ์ˆ˜์ˆ ์„ ํฌํ•จํ•˜์—ฌ ์˜๋ฃŒ์˜์ƒ ์ฒ˜๋ฆฌ๋ฅผ ์œ„ํ•œ ํ”„๋กœ๊ทธ๋žจ์— ์ ์šฉ๋  ์ˆ˜ ์žˆ๋‹ค.The image processing apparatus 3 receives image data from the oral scanner 2 and processes it using a processor. The image processing device 3 is an electronic device capable of executing an image processing program. Electronic devices include computers, notebook computers, laptop computers, tablet PCs, smartphones, mobile phones, personal media players (PMPs), personal digital assistants (PDAs), and the like. Image processing programs include scan programs, CAD programs, and guide design programs. In addition, it can be applied to programs for medical image processing, including dental implant surgery.

์ดํ•˜, ๋„ 1 ๋‚ด์ง€ ๋„ 3์„ ์ฐธ์กฐํ•˜์—ฌ ์ „์ˆ ํ•œ ํŠน์ง•์„ ๊ฐ€์ง€๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)์˜ ๊ตฌ์กฐ์— ๋Œ€ํ•ด ํ›„์ˆ ํ•œ๋‹ค.Hereinafter, the structure of the oral scanner calibration apparatus 2 having the above-described features will be described with reference to FIGS. 1 to 3.

๋„ 1 ๋‚ด์ง€ ๋„ 3์„ ์ฐธ์กฐํ•˜๋ฉด, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)๋Š” ๋ณธ์ฒด(20), ํ†ต์‹ ๋ถ€(26), ์ œ์–ด๋ถ€(28) ๋ฐ ์ œ1 ๊ตฌ๋™๋ถ€(29)๋ฅผ ํฌํ•จํ•œ๋‹ค. ๋ณธ์ฒด(20)๋Š” ์Šค์บ๋„ˆ ํŒ ์ˆ˜์šฉ๋ถ€(21)์™€ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜๋ถ€(22, 24)๋ฅผ ํฌํ•จํ•˜๋ฉฐ, ์ œ2 ๊ตฌ๋™๋ถ€(240)๋ฅผ ๋” ํฌํ•จํ•  ์ˆ˜ ์žˆ๋‹ค. ๋„ 1 ๋‚ด์ง€ ๋„ 3์˜ ๋ณธ์ฒด(20)๋Š” ์›ํ†ตํ˜•์œผ๋กœ์จ, 3๋‹จ๊ณ„์˜ ๋ณธ์ฒด(20) ๋‚ด๋ถ€ ํšŒ์ „์„ ํ†ตํ•ด 3๊ฐ€์ง€์˜ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ๋ชจ๋‘ ๋‹ฌ์„ฑํ•  ์ˆ˜ ์žˆ๋‹ค.Referring to FIGS. 1 to 3, the oral scanner calibration apparatus 2 includes a main body 20, a communication unit 26, a control unit 28, and a first driving unit 29. The main body 20 includes the scanner tip accommodating portion 21 and the calibration portions 22 and 24, and may further include a second driving portion 240. The main body 20 of FIGS. 1 to 3 has a cylindrical shape, and all three calibrations can be achieved through the internal rotation of the main body 20 in three stages.

์Šค์บ๋„ˆ ํŒ ์ˆ˜์šฉ๋ถ€(21)์—๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(1)์˜ ์Šค์บ๋„ˆ ํŒ์ด ์‚ฝ์ž…๋œ๋‹ค.The scanner tip of the oral scanner 1 is inserted into the scanner tip receiving portion 21.

ํ†ต์‹ ๋ถ€(26)๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)์™€ ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜(3) ๊ฐ„ ํ†ต์‹ ์„ ๋‹ด๋‹นํ•˜๋ฉฐ, ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜(3)๋กœ๋ถ€ํ„ฐ ์ˆ˜์‹ ๋˜๋Š” ์ œ์–ด์‹ ํ˜ธ๋ฅผ ์ œ์–ด๋ถ€(28)์— ์ „๋‹ฌํ•œ๋‹ค. ํ†ต์‹ ๋ถ€(26)๋Š” USB ๋“ฑ์˜ ์œ ์„ ํ†ต์‹  ์—ฐ๊ฒฐ๊ณผ, ๋ธ”๋ฃจํˆฌ์Šค(Bluetooth), ์™€์ดํŒŒ์ด(Wi-fi) ๋“ฑ๊ณผ ๊ฐ™์€ ๋ฌด์„ ํ†ต์‹  ์—ฐ๊ฒฐ์ด ๋ชจ๋‘ ๊ฐ€๋Šฅํ•˜๋‹ค.The communication unit 26 is responsible for communication between the oral scanner calibration device 2 and the image processing device 3, and transmits a control signal received from the image processing device 3 to the control unit 28. The communication unit 26 is capable of connecting wired communication such as USB and wireless communication such as Bluetooth and Wi-fi.

์ œ์–ด๋ถ€(28)๋Š” ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜(3)๋กœ๋ถ€ํ„ฐ ์ˆ˜์‹ ๋œ ์ œ์–ด์‹ ํ˜ธ๋ฅผ ํ™•์ธํ•˜๊ณ  ๊ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๊ธฐ๋Šฅ์— ํ•„์š”ํ•œ ๋™์ž‘ ์ˆ˜ํ–‰์„ ์ œ์–ดํ•œ๋‹ค. ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๊ธฐ๋Šฅ์€ ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๊ธฐ๋Šฅ์„ ํฌํ•จํ•œ๋‹ค.The control unit 28 checks the control signal received from the image processing apparatus 3 and controls the execution of operations required for each calibration function. The calibration functions include camera and projector calibration, color calibration, and plane calibration functions.

์ œ1 ๊ตฌ๋™๋ถ€(29)๋Š” ๋ณธ์ฒด(20)์˜ ๋‚ด๋ถ€ ํšŒ์ „์„ ํ†ตํ•ด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒจ๋„์„ ๋ณ€๊ฒฝํ•ด์ฃผ๋Š” ์—ญํ• ์„ ํ•œ๋‹ค. ์ œ1 ๊ตฌ๋™๋ถ€(29)๋Š” ๋ชจํ„ฐ์ผ ์ˆ˜ ์žˆ๋‹ค.The first driving unit 29 serves to change the calibration panel through internal rotation of the main body 20. The first driving unit 29 may be a motor.

์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋˜๋Š” ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•œ ์บ˜๋ฆฌ๋ฒ ์ด์…˜๋ถ€(22)๋Š” ํŒจ๋„(222)๊ณผ ์ง€์ง€๋ถ€(220)๋ฅผ ํฌํ•จํ•œ๋‹ค. ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•œ ํŒจ๋„์€ ์ƒ‰์ƒ ํŒจ๋„์ด๊ณ , ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•œ ํŒจ๋„์€ ํ‰๋ฉด ํŒจ๋„์ด๋‹ค. ์ƒ‰์ƒ ํŒจ๋„๊ณผ ํ‰๋ฉด ํŒจ๋„์€ ๋ณธ์ฒด(20) ๋‚ด์— ์„œ๋กœ ์ด๊ฒฉ๋˜์–ด ํ˜•์„ฑ๋˜๋ฉฐ, ๋ณธ์ฒด(20)์˜ ๋‚ด๋ถ€ ํšŒ์ „์„ ํ†ตํ•ด ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉด๋  ์ˆ˜ ์žˆ๋‹ค.The calibration unit 22 for color calibration or plane calibration includes a panel 222 and a support unit 220. The panel for color calibration is a color panel, and the panel for flat calibration is a flat panel. The color panel and the flat panel are formed in the main body 20 to be spaced apart from each other, and may face the light path of the scanner tip through the inner rotation of the main body 20.

์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•œ ์บ˜๋ฆฌ๋ฒ ์ด์…˜๋ถ€(24)๋Š” ์  ํŒจํ„ด ํŒจ๋„(242)๊ณผ ์ œ2 ๊ตฌ๋™๋ถ€(240)๋ฅผ ํฌํ•จํ•œ๋‹ค. ์ œ2 ๊ตฌ๋™๋ถ€(240)๋Š” ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋‹จ๊ณ„์˜ ์  ํŒจํ„ด ํŒจ๋„(242)์˜ ์œ„์น˜๋ฅผ ๋ณ€๊ฒฝํ•ด์ฃผ๋Š” ์—ญํ• ์„ ํ•œ๋‹ค. ์ œ2 ๊ตฌ๋™๋ถ€(240)๋Š” ๋ชจํ„ฐ์ผ ์ˆ˜ ์žˆ๋‹ค. ์  ํŒจํ„ด ํŒจ๋„(242)์€ ๋„ 2์— ๋„์‹œ๋œ ๋ฐ”์™€ ๊ฐ™์ด ๊ฒฝ์‚ฌ์ง„ ๋ฉด์„ ๊ฐ€์งˆ ์ˆ˜ ์žˆ๋‹ค.The calibration unit 24 for camera and projector calibration includes a dot pattern panel 242 and a second driving unit 240. The second driving unit 240 serves to change the position of the dot pattern panel 242 in the calibration step of the camera and projector. The second driving unit 240 may be a motor. The dot pattern panel 242 may have an inclined surface as shown in FIG. 2.

๊ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๊ธฐ๋Šฅ์„ ํ†ตํ•ด ์–ป์„ ์ˆ˜ ์žˆ๋Š” ๊ฒƒ์€ ๋‹ค์Œ๊ณผ ๊ฐ™๋‹ค. ์˜ˆ๋ฅผ ๋“ค์–ด, ์นด๋ฉ”๋ผ-ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ํ†ตํ•ด์„œ๋Š” ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ์˜ ๋‚ด๋ถ€ ํŒŒ๋ผ๋ฏธํ„ฐ ๋ฐ ์™ธ๋ถ€ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ์–ป์„ ์ˆ˜ ์žˆ๋‹ค. ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ํ†ตํ•ด์„œ๋Š” ๊ฐ ์ƒ‰์ƒ ์ฑ„๋„์˜ ๊ฒŒ์ธ(Gain) ๊ฐ’์„ ์–ป์„ ์ˆ˜ ์žˆ๋‹ค. 3D ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ํ†ตํ•ด์„œ๋Š” ํ‰๋ฉด ์œ„์ƒ์ง€๋„๋ฅผ ์–ป์„ ์ˆ˜ ์žˆ๋‹ค.What can be obtained through each calibration function is as follows. For example, through camera-projector calibration, internal and external parameters of the camera and projector can be obtained. Through color calibration, the gain value of each color channel can be obtained. Planar phase maps can be obtained through 3D plane calibration.

๋„ 4๋Š” ๋ณธ ๋ฐœ๋ช…์˜ ๋‹ค๋ฅธ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜์˜ ๊ตฌ์„ฑ์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๋‹ค.4 is a diagram showing a configuration of an oral scanner calibration apparatus according to another embodiment of the present invention.

๋„ 4๋ฅผ ์ฐธ์กฐํ•˜๋ฉด, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)๋Š” ์‚ผ๊ฐ๊ธฐ๋‘ฅ ๋ชจ์–‘์ด๋‹ค. ์ด๋•Œ, ์‚ผ๊ฐ๊ธฐ๋‘ฅ์˜ ์„ธ ๋ฉด ๋‚ด๋ถ€์— ์  ํŒจํ„ด ํŒจ๋„(34), ์ƒ‰์ƒ ํŒจ๋„(36) ๋ฐ ํ‰๋ฉด ํŒจ๋„(38)์ด ํ•˜๋‚˜์”ฉ ๋งˆ๋ จ๋œ๋‹ค. ์ด์— ๋”ฐ๋ผ, ๋ณธ์ฒด(30)๋ฅผ 120๋„์”ฉ ํšŒ์ „์‹œํ‚ค๋ฉด ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ๋ชจ๋‘ ์ˆ˜ํ–‰ํ•  ์ˆ˜ ์žˆ๋‹ค. ์Šค์บ๋„ˆ ํŒ ์ˆ˜์šฉ๋ถ€(32)์—๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(1)์˜ ์Šค์บ๋„ˆ ํŒ์ด ์‚ฝ์ž…๋œ๋‹ค.4, the oral scanner calibration apparatus 2 has a triangular column shape. At this time, one dot pattern panel 34, a color panel 36, and a flat panel 38 are provided inside the three surfaces of the triangular pillar. Accordingly, if the main body 30 is rotated by 120 degrees, all of the camera and projector calibration, color calibration, and plane calibration can be performed. The scanner tip of the oral scanner 1 is inserted into the scanner tip receiving portion 32.

์ดํ•˜, ๋„ 5 ๋‚ด์ง€ ๋„ 7์„ ์ฐธ์กฐ๋กœ ํ•˜์—ฌ ๊ฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์„ ํ›„์ˆ ํ•œ๋‹ค. ์ด๋ฅผ ์œ„ํ•ด, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜(2)์˜ ๋‚ด๋ถ€ ํšŒ์ „๋™์ž‘, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(1)์˜ ์˜์ƒ ์ดฌ์˜ ๋™์ž‘, ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜(3)์˜ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ(1)๋กœ๋ถ€ํ„ฐ ์˜์ƒ ๋ฐ์ดํ„ฐ ์ˆ˜์‹ , ์˜์ƒ ์ฒ˜๋ฆฌ ๋ฐ ์˜์ƒ ๋ถ„์„ ๋™์ž‘ ๋“ฑ์˜ ํ”„๋กœ์„ธ์Šค๊ฐ€ ์ˆ˜ํ–‰๋œ๋‹ค.Hereinafter, each oral scanner calibration method will be described with reference to FIGS. 5 to 7. To this end, the internal rotation of the oral scanner calibration device 2, the image capture operation of the oral scanner 1, the image data reception from the oral scanner 1 of the image processing device 3, image processing and image analysis operations, etc. The process is carried out.

๋„ 5๋Š” ๋ณธ ๋ฐœ๋ช…์˜ ์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ์นด๋ฉ”๋ผ-ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์˜ ํ๋ฆ„์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๋‹ค.5 is a diagram illustrating a flow of a camera-projector calibration method according to an embodiment of the present invention.

๋„ 5๋ฅผ ์ฐธ์กฐํ•˜๋ฉด, ์นด๋ฉ”๋ผ-ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•ด ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ์  ํŒจํ„ด ํŒจ๋„์„ ๋งˆ๋ จํ•œ๋‹ค(S510).Referring to FIG. 5, a dot pattern panel is provided at a position facing the optical path of the scanner tip of the oral scanner for camera-projector calibration (S510).

์ด์–ด์„œ, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜๋ฅผ ํšŒ์ „์‹œ์ผœ ๊ฐ€๋ฉด์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ์ƒ์„ฑํ•˜๋ฉด, ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜๊ฐ€ ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ์ˆ˜์‹ ํ•˜๊ณ  ์ˆ˜์‹ ๋œ ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ์ด์šฉํ•˜์—ฌ ์  ํŒจํ„ด ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์„ ๋งž์ถ”๊ณ  ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์— ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚จ๋‹ค(S520). ์ดˆ์ ์ด ๋งž๋Š” ์œ„์น˜๋Š” ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ์—์„œ ์  ํŒจํ„ด ํŒจ๋„์ด ์ž˜ ๋ณด์ด๋Š” ์œ„์น˜์ด๋‹ค.Subsequently, if camera image data is generated through the oral scanner while rotating the oral scanner calibration device, the image processing device receives the camera image data and uses the received camera image data to focus and focus on the dot pattern panel. The scanner tip of the oral scanner is fixed to the position (S520). The location in focus is the location where the dot pattern panel can be seen well in the camera image data.

์ด์–ด์„œ, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋Š” ํ”„๋กœ์ ํ„ฐ๋ฅผ ์ด์šฉํ•˜์—ฌ ๊ทธ๋ ˆ์ด ์ฝ”๋“œ(Gray code)๋‚˜ ์ด์ง„ ์ฝ”๋“œ(Binary code) ๋“ฑ์˜ ํŒจํ„ด ์„ธํŠธ๋ฅผ ํˆฌ์‚ฌํ•˜์—ฌ ์˜์ƒ์„ ํš๋“ํ•œ๋‹ค(S530). ์ด๋•Œ, ์  ํŒจํ„ด ํŒจ๋„์˜ ์œ„์น˜๋ฅผ ๋ณ€๊ฒฝ(S540)ํ•ด ๊ฐ€๋ฉด์„œ ๋ฏธ๋ฆฌ ์„ค์ •๋œ ์œ„์น˜๋ณ€๊ฒฝ ํšŸ์ˆ˜(์˜ˆ๋ฅผ ๋“ค์–ด, ์ตœ์†Œ 3ํšŒ ์ด์ƒ)์— ๋„๋‹ฌํ•  ๋•Œ(S550)๊นŒ์ง€ ๋‹จ๊ณ„ S520, S530์„ ๋ฐ˜๋ณต ์ˆ˜ํ–‰ํ•˜์—ฌ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•œ๋‹ค.Subsequently, the oral scanner acquires an image by projecting a pattern set such as a gray code or a binary code using a projector (S530). At this time, steps S520 and S530 are repeatedly performed until a preset number of position changes (for example, at least three times) is reached (S550) while changing the position of the dot pattern panel (S540) to obtain image data. .

์ด์–ด์„œ, ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋กœ๋ถ€ํ„ฐ ํš๋“ํ•œ ์˜์ƒ ๋ฐ์ดํ„ฐ์˜ ์  ์ขŒํ‘œ๋“ค์„ ๋ถ„์„(S560) ํ•˜์—ฌ, ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ์˜ ๋‚ด๋ถ€ ํŒŒ๋ผ๋ฏธํ„ฐ ๋ฐ ์™ธ๋ถ€ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•œ๋‹ค(S570).Subsequently, the image processing apparatus analyzes the point coordinates of the image data acquired from the oral scanner (S560), and calculates internal parameters and external parameters of the camera and projector (S570).

๋„ 6์€ ๋ณธ ๋ฐœ๋ช…์˜ ์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์˜ ํ๋ฆ„์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๋‹ค.6 is a diagram illustrating a flow of a color calibration method according to an embodiment of the present invention.

๋„ 6์„ ์ฐธ์กฐํ•˜๋ฉด, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•ด ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ์ƒ‰์ƒ ํŒจ๋„์„ ๋งˆ๋ จํ•œ๋‹ค(S610). ์ด๋•Œ, ์ƒ‰์ƒ ํŒจ๋„์€ ๋ฏธ๋ฆฌ RGB(ํ˜น์€ YUV, HSV์™€ ๊ฐ™์€ ๋‹ค๋ฅธ ์ƒ‰ ์ฑ„๋„๋“ค๋„ ํฌํ•จํ•œ๋‹ค.) ๊ฐ’์„ ์•Œ๊ณ  ์žˆ๋Š” ์ƒ‰์„ ์กฐํ•ฉํ•˜์—ฌ ๋งŒ๋“  ๊ฒƒ์ด๋‹ค.Referring to FIG. 6, for color calibration, a color panel is provided at a position facing the optical path of the scanner tip of the oral scanner (S610). At this time, the color panel is made by combining colors with known values of RGB (or other color channels such as YUV and HSV).

์ด์–ด์„œ, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜๋ฅผ ํšŒ์ „์‹œ์ผœ ๊ฐ€๋ฉด์„œ ์ƒ‰์ƒ ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์„ ๋งž์ถ”๊ณ  ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์— ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚จ๋‹ค(S620). ์ดˆ์ ์ด ๋งž๋Š” ์œ„์น˜๋Š” ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ์—์„œ ์ƒ‰์ƒ ํŒจ๋„์ด ์ž˜ ๋ณด์ด๋Š” ์œ„์น˜์ด๋‹ค.Subsequently, while rotating the oral scanner calibration device, the color panel is focused and the scanner tip of the oral scanner is fixed to the focused position (S620). The position in focus is the position where the color panel is clearly visible in the camera image data.

์ด์–ด์„œ, ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜๋Š” ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋กœ๋ถ€ํ„ฐ ์นด๋ฉ”๋ผ ์˜์ƒ์„ ํš๋“(S630) ํ•œ ํ›„, ์•„๋ž˜์˜ ํ–‰๋ ฌ ๊ณ„์‚ฐ์„ ํ†ตํ•ด RGB(ํ˜น์€ YUV, HSV์˜ ๊ฐ ์ฑ„๋„) ๊ฐ’์˜ ๊ฒŒ์ธ์„ ๊ณ„์‚ฐํ•œ๋‹ค(S640).Subsequently, the image processing apparatus acquires the camera image from the oral scanner at the focused position (S630), and then calculates the gain of the RGB (or YUV, HSV channel) value through the matrix calculation below (S640).

(Rt, Gt, Bt) =

Figure PCTKR2020003023-appb-img-000003
(Ri, Gi, Bi) T (Rt, Gt, Bt) =
Figure PCTKR2020003023-appb-img-000003
(Ri, Gi, Bi) T

์—ฌ๊ธฐ์„œ, (Rt, Gt, Bt)๋Š” ๊ฐ ๋ฏธ๋ฆฌ ์„ค์ •ํ•œ ์ƒ‰ ์ฑ„๋„์˜ ์ •๋‹ต ๊ฐ’์ด๊ณ ,

Figure PCTKR2020003023-appb-img-000004
๋Š” ๊ฐ ์ƒ‰ ์ฑ„๋„์˜ ๊ฒŒ์ธ ๊ฐ’์ด๋ฉฐ, (Ri, Gi, Bi)๋Š” ๊ฐ ์˜์ƒ์—์„œ ์ธก์ •ํ•œ ์ƒ‰ ์ฑ„๋„์˜ ์›์‹œ ๋ฐ์ดํ„ฐ(raw data) ๊ฐ’์ด๋ฉฐ, T๋Š” ์ „์น˜(transpose)์ด๋‹ค.Here, (Rt, Gt, Bt) is the correct answer value of each preset color channel,
Figure PCTKR2020003023-appb-img-000004
Is the gain value of each color channel, (Ri, Gi, Bi) is the raw data value of the color channel measured in each image, and T is the transpose.

๋„ 7์€ ๋ณธ ๋ฐœ๋ช…์˜ ์ผ ์‹ค์‹œ ์˜ˆ์— ๋”ฐ๋ฅธ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•์˜ ํ๋ฆ„์„ ๋„์‹œํ•œ ๋„๋ฉด์ด๋‹ค.7 is a diagram illustrating a flow of a plane calibration method according to an embodiment of the present invention.

๋„ 7์„ ์ฐธ์กฐํ•˜๋ฉด, ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•ด ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ํ‰๋ฉด ํŒจ๋„์„ ๋งˆ๋ จํ•œ๋‹ค(S710). ์ด์–ด์„œ, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜๋ฅผ ํšŒ์ „์‹œ์ผœ ๊ฐ€๋ฉด์„œ ํ‰๋ฉด ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์„ ๋งž์ถ”๊ณ  ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์— ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚จ๋‹ค(S720). ์ดˆ์ ์ด ๋งž๋Š” ์œ„์น˜๋Š” ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ์—์„œ ํ‰๋ฉด ํŒจ๋„์ด ์ž˜ ๋ณด์ด๋Š” ์œ„์น˜์ด๋‹ค.Referring to FIG. 7, a flat panel is provided at a position facing the optical path of the scanner tip of the oral scanner for flat surface calibration (S710). Subsequently, while rotating the oral scanner calibration device, the flat panel is focused and the scanner tip of the oral scanner is fixed to the focused position (S720). The position in focus is the position where the flat panel can be seen well in the camera image data.

์ด์–ด์„œ, ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋Š” ํ”„๋กœ์ ํ„ฐ๋ฅผ ํ†ตํ•ด ์œ„์ƒ์ด ์„œ๋กœ ๋‹ค๋ฅธ ํŒจํ„ด์„ ํˆฌ์‚ฌํ•œ ํ›„ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•œ๋‹ค(S730). ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋กœ๋ถ€ํ„ฐ ํš๋“๋œ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ๋Œ€์ƒ์œผ๋กœ atan() ์—ฐ์‚ฐ์„ ์ˆ˜ํ–‰ํ•˜์—ฌ ํ‰๋ฉด ์œ„์ƒ์ง€๋„๋ฅผ ํš๋“ํ•œ๋‹ค(S740).Subsequently, the oral scanner acquires image data after projecting patterns having different phases through the projector (S730). The image processing apparatus obtains a plane phase map by performing an atan() operation on the image data acquired from the oral scanner (S740).

์ด์ œ๊นŒ์ง€ ๋ณธ ๋ฐœ๋ช…์— ๋Œ€ํ•˜์—ฌ ๊ทธ ์‹ค์‹œ ์˜ˆ๋“ค์„ ์ค‘์‹ฌ์œผ๋กœ ์‚ดํŽด๋ณด์•˜๋‹ค.So far, the present invention has been looked at around the embodiments.

๋ณธ ๋ฐœ๋ช…์ด ์†ํ•˜๋Š” ๊ธฐ์ˆ ๋ถ„์•ผ์—์„œ ํ†ต์ƒ์˜ ์ง€์‹์„ ๊ฐ€์ง„ ์ž๋Š” ๋ณธ ๋ฐœ๋ช…์ด ๋ณธ ๋ฐœ๋ช…์˜ ๋ณธ์งˆ์ ์ธ ํŠน์„ฑ์—์„œ ๋ฒ—์–ด๋‚˜์ง€ ์•Š๋Š” ๋ฒ”์œ„์—์„œ ๋ณ€ํ˜•๋œ ํ˜•ํƒœ๋กœ ๊ตฌํ˜„๋  ์ˆ˜ ์žˆ์Œ์„ ์ดํ•ดํ•  ์ˆ˜ ์žˆ์„ ๊ฒƒ์ด๋‹ค. ๊ทธ๋Ÿฌ๋ฏ€๋กœ ๊ฐœ์‹œ๋œ ์‹ค์‹œ ์˜ˆ๋“ค์€ ํ•œ์ •์ ์ธ ๊ด€์ ์ด ์•„๋‹ˆ๋ผ ์„ค๋ช…์ ์ธ ๊ด€์ ์—์„œ ๊ณ ๋ ค๋˜์–ด์•ผ ํ•œ๋‹ค. ๋ณธ ๋ฐœ๋ช…์˜ ๋ฒ”์œ„๋Š” ์ „์ˆ ํ•œ ์„ค๋ช…์ด ์•„๋‹ˆ๋ผ ํŠนํ—ˆ์ฒญ๊ตฌ๋ฒ”์œ„์— ๋‚˜ํƒ€๋‚˜ ์žˆ์œผ๋ฉฐ, ๊ทธ์™€ ๋™๋“ฑํ•œ ๋ฒ”์œ„ ๋‚ด์— ์žˆ๋Š” ๋ชจ๋“  ์ฐจ์ด์ ์€ ๋ณธ ๋ฐœ๋ช…์— ํฌํ•จ๋œ ๊ฒƒ์œผ๋กœ ํ•ด์„๋˜์–ด์•ผ ํ•  ๊ฒƒ์ด๋‹ค.Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the above description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

Claims (9)

๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์ด ์‚ฝ์ž…๋˜๋Š” ์Šค์บ๋„ˆ ํŒ ์ˆ˜์šฉ๋ถ€; ์™€, ์ƒ๊ธฐ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ์  ํŒจํ„ด ํŒจ๋„, ์ƒ‰์ƒ ํŒจ๋„ ๋ฐ ํ‰๋ฉด ํŒจ๋„์ด ์„œ๋กœ ์ด๊ฒฉ๋˜์–ด ํ˜•์„ฑ๋˜๋Š” ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜๋ถ€; ๋ฅผ ํฌํ•จํ•˜๋Š” ๋ณธ์ฒด;A scanner tip receiving portion into which the scanner tip of the oral scanner is inserted; And, a calibration unit in which a dot pattern panel, a color panel, and a flat panel are spaced apart from each other at a position facing the light path of the scanner tip. The body including a; ์˜์ƒ ์ฒ˜๋ฆฌ์žฅ์น˜์™€ ํ†ต์‹ ํ•˜๋Š” ํ†ต์‹ ๋ถ€;A communication unit communicating with the image processing apparatus; ์ƒ๊ธฐ ํ†ต์‹ ๋ถ€๋ฅผ ํ†ตํ•ด ์ˆ˜์‹ ๋œ ์ œ์–ด์‹ ํ˜ธ๋ฅผ ํ™•์ธํ•˜๊ณ  ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๊ธฐ๋Šฅ์— ํ•„์š”ํ•œ ๋™์ž‘ ์ˆ˜ํ–‰์„ ์ œ์–ดํ•˜๋Š” ์ œ์–ด๋ถ€; ๋ฐA control unit that checks the control signal received through the communication unit and controls operation required for camera and projector calibration, color calibration, and plane calibration functions; And ๋ณธ์ฒด์˜ ๋‚ด๋ถ€ ํšŒ์ „์„ ํ†ตํ•ด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒจ๋„์„ ๋ณ€๊ฒฝํ•˜๋Š” ์ œ1 ๊ตฌ๋™๋ถ€;A first driving unit that changes the calibration panel through internal rotation of the body; ๋ฅผ ํฌํ•จํ•˜๋Š” ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜.Oral scanner calibration device comprising a. ์ œ 1 ํ•ญ์— ์žˆ์–ด์„œ, ์ƒ๊ธฐ ๋ณธ์ฒด๋Š”The method of claim 1, wherein the body ์›ํ†ตํ˜•์ธ ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜.Oral scanner calibration device, characterized in that the cylindrical shape. ์ œ 1 ํ•ญ์— ์žˆ์–ด์„œ, ์ƒ๊ธฐ ๋ณธ์ฒด๋Š”The method of claim 1, wherein the body ์‚ผ๊ฐ๊ธฐ๋‘ฅ์ด๋ฉฐ,It is a triangular pillar, ์ƒ๊ธฐ ์  ํŒจํ„ด ํŒจ๋„, ์ƒ๊ธฐ ์ƒ‰์ƒ ํŒจ๋„ ๋ฐ ์ƒ๊ธฐ ํ‰๋ฉด ํŒจ๋„์€ ์ƒ๊ธฐ ์‚ผ๊ฐ๊ธฐ๋‘ฅ์˜ ์˜† ๋ฉด์— ๊ฐ๊ฐ ์œ„์น˜ํ•˜๋Š” ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜.The dot pattern panel, the color panel, and the flat panel are respectively positioned on side surfaces of the triangular pillars. ์ œ 1 ํ•ญ์— ์žˆ์–ด์„œ, ์ƒ๊ธฐ ๋ณธ์ฒด๋Š”The method of claim 1, wherein the body ์ƒ๊ธฐ ์นด๋ฉ”๋ผ ๋ฐ ์ƒ๊ธฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•œ ์  ํŒจํ„ด ํŒจ๋„์˜ ์œ„์น˜๋ฅผ ๋ณ€๊ฒฝํ•˜๋Š” ์ œ2 ๊ตฌ๋™๋ถ€;A second driving unit for changing the position of the dot pattern panel for calibrating the camera and the projector; ๋ฅผ ๋” ํฌํ•จํ•˜๋Š” ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜.Oral scanner calibration device, characterized in that it further comprises. ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜์˜ ๋‚ด๋ถ€์—์„œ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉด ๊ฐ€๋Šฅํ•œ ์œ„์น˜์—, ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜, ์ƒ‰์ƒ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐ ํ‰๋ฉด ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜์„ ์œ„ํ•œ ํŒจ๋„์„ ๊ฐ๊ฐ ๋งˆ๋ จํ•˜๋Š” ๋‹จ๊ณ„;Providing a panel for camera and projector calibration, color calibration, and plane calibration, respectively, in a position within the oral scanner calibration device that can face the light path of the scanner tip of the oral scanner; ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜์— ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์ด ์ˆ˜์šฉ๋˜๋Š” ๋‹จ๊ณ„;Receiving the scanner tip of the oral scanner in the oral scanner calibration device; ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ์žฅ์น˜๋ฅผ ํšŒ์ „์‹œํ‚ค๋ฉด์„œ ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์ž…๋ ฅ๋˜๋Š” ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ์ด์šฉํ•˜์—ฌ ์†Œ์ •์˜ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์„ ๋งž์ถ”๊ณ  ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์— ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚ค๋Š” ๋‹จ๊ณ„;Focusing on a predetermined calibration panel using camera image data input through the oral scanner while rotating the oral scanner calibration device, and fixing the scanner tip of the oral scanner at a focused position; ์ƒ๊ธฐ ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์—์„œ ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๋Š” ๋‹จ๊ณ„; ๋ฐAcquiring image data through the oral scanner at the focused position; And ์ƒ๊ธฐ ํš๋“๋œ ์˜์ƒ ๋ฐ์ดํ„ฐ๋กœ๋ถ€ํ„ฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„;Calculating a calibration parameter from the acquired image data; ๋ฅผ ํฌํ•จํ•˜๋Š” ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•.Oral scanner calibration method comprising a. ์ œ 5 ํ•ญ์— ์žˆ์–ด์„œ, ์ƒ๊ธฐ ํŒจ๋„์„ ๊ฐ๊ฐ ๋งˆ๋ จํ•˜๋Š” ๋‹จ๊ณ„๋Š”The method of claim 5, wherein the steps of providing each of the panels ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ์  ํŒจํ„ด ํŒจ๋„์„ ๋งˆ๋ จํ•˜๊ณ ,A dot pattern panel is provided at a position facing the optical path of the scanner tip of the oral scanner, ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚ค๋Š” ๋‹จ๊ณ„๋Š”The step of fixing the scanner tip of the oral scanner ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์ž…๋ ฅ๋œ ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ์—์„œ ์ƒ๊ธฐ ์  ํŒจํ„ด ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์ด ๋งž๋Š” ์œ„์น˜์— ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚ค๊ณ ,Fixing the scanner tip of the oral scanner at a position in which the focus of the dot pattern panel is correct in the camera image data input through the oral scanner, ์ƒ๊ธฐ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๋Š” ๋‹จ๊ณ„๋Š”The step of obtaining the image data ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ํ”„๋กœ์ ํ„ฐ๋ฅผ ํ†ตํ•ด ํŒจํ„ด ์„ธํŠธ๋ฅผ ํˆฌ์‚ฌํ•˜์—ฌ ์ƒ๊ธฐ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๋Š” ๋‹จ๊ณ„; ๋ฐObtaining the image data by projecting a pattern set through the projector of the oral scanner; And ์ƒ๊ธฐ ์  ํŒจํ„ด ํŒจ๋„์˜ ์œ„์น˜๋ฅผ ๋ณ€๊ฒฝํ•˜๋ฉด์„œ ์ดˆ์ ์„ ๋งž์ถ”๊ณ  ์ดˆ์ ์ด ๋งž์ถฐ์ง„ ์œ„์น˜์—์„œ ์ƒ๊ธฐ ํŒจํ„ด ์„ธํŠธ์˜ ํˆฌ์‚ฌ์— ๋”ฐ๋ฅธ ์ƒ๊ธฐ ์˜์ƒ ๋ฐ์ดํ„ฐ์˜ ํš๋“์„ ๋ฐ˜๋ณต ์ˆ˜ํ–‰ํ•˜๋Š” ๋‹จ๊ณ„; ๋ฅผ ํฌํ•จํ•˜๋ฉฐ,Focusing while changing the position of the dot pattern panel and repeatedly acquiring the image data according to projection of the pattern set at the focused position; Including, ์ƒ๊ธฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„๋Š”The step of calculating the calibration parameter ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋กœ๋ถ€ํ„ฐ ํš๋“ํ•œ ์˜์ƒ ๋ฐ์ดํ„ฐ์˜ ์  ์ขŒํ‘œ๋“ค์„ ๋ถ„์„ํ•˜์—ฌ ์นด๋ฉ”๋ผ ๋ฐ ํ”„๋กœ์ ํ„ฐ์˜ ๋‚ด๋ถ€ ํŒŒ๋ผ๋ฏธํ„ฐ ๋ฐ ์™ธ๋ถ€ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•.An oral scanner calibration method, characterized in that by analyzing point coordinates of the image data acquired from the oral scanner to calculate internal parameters and external parameters of the camera and the projector. ์ œ 5 ํ•ญ์— ์žˆ์–ด์„œ, ์ƒ๊ธฐ ํŒจ๋„์„ ๊ฐ๊ฐ ๋งˆ๋ จํ•˜๋Š” ๋‹จ๊ณ„๋Š”The method of claim 5, wherein the steps of providing each of the panels ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ์ƒ‰ ์ฑ„๋„ ๊ฐ’์„ ์•Œ๊ณ  ์žˆ๋Š” ์ƒ‰๋“ค์„ ์กฐํ•ฉํ•˜์—ฌ ๋งŒ๋“  ์ƒ‰์ƒ ํŒจ๋„์„ ๋งˆ๋ จํ•˜๊ณ ,To prepare a color panel made by combining colors with known color channel values at a position facing the optical path of the scanner tip of the oral scanner, ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •์‹œํ‚ค๋Š” ๋‹จ๊ณ„๋Š”The step of fixing the scanner tip of the oral scanner ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ๋ฅผ ํ†ตํ•ด ์ž…๋ ฅ๋œ ์นด๋ฉ”๋ผ ์˜์ƒ ๋ฐ์ดํ„ฐ์—์„œ ์ƒ๊ธฐ ์ƒ‰์ƒ ํŒจ๋„์— ๋Œ€ํ•œ ์ดˆ์ ์ด ๋งž๋Š” ์œ„์น˜์— ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์„ ๊ณ ์ •ํ•˜๊ณ ,Fixing the scanner tip of the oral scanner at a position in which the focus of the color panel is correct in the camera image data input through the oral scanner, ์ƒ๊ธฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„๋Š”The step of calculating the calibration parameter ์ƒ๊ธฐ ํš๋“๋œ ์˜์ƒ ๋ฐ์ดํ„ฐ๋กœ๋ถ€ํ„ฐ ์ƒ‰ ์ฑ„๋„ ๊ฐ’์˜ ๊ฒŒ์ธ์„ ๊ณ„์‚ฐํ•˜๋Š” ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•.An oral scanner calibration method, characterized in that calculating a gain of a color channel value from the acquired image data. ์ œ 7 ํ•ญ์— ์žˆ์–ด์„œ, ์ƒ๊ธฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„๋Š”The method of claim 7, wherein calculating the calibration parameter (Rt, Gt, Bt) =
Figure PCTKR2020003023-appb-img-000005
(Ri, Gi, Bi) T ํ–‰๋ ฌ ๊ณ„์‚ฐ์„ ํ†ตํ•ด ์ƒ๊ธฐ ์ƒ‰ ์ฑ„๋„ ๊ฐ’์˜ ๊ฒŒ์ธ์„ ๊ณ„์‚ฐํ•˜๋ฉฐ,(Rt, Gt, Bt) =
Figure PCTKR2020003023-appb-img-000005
(Ri, Gi, Bi) Calculate the gain of the color channel value through T matrix calculation, ์—ฌ๊ธฐ์„œ, ์ƒ๊ธฐ (Rt, Gt, Bt)๋Š” ๋ฏธ๋ฆฌ ์„ค์ •ํ•œ ๊ฐ ์ƒ‰ ์ฑ„๋„์˜ ์ •๋‹ต ๊ฐ’์ด๊ณ ,Here, (Rt, Gt, Bt) is the correct answer value of each color channel set in advance, ์ƒ๊ธฐ
Figure PCTKR2020003023-appb-img-000006
๋Š” ๊ฐ ์ƒ‰ ์ฑ„๋„์˜ ๊ฒŒ์ธ ๊ฐ’์ด๋ฉฐ, ์ƒ๊ธฐ (Ri, Gi, Bi)๋Š” ๊ฐ ์˜์ƒ์—์„œ ์ธก์ •ํ•œ ์ƒ‰ ์ฑ„๋„์˜ ์›์‹œ ๋ฐ์ดํ„ฐ(raw data) ๊ฐ’์ธ ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•.remind
Figure PCTKR2020003023-appb-img-000006
Is a gain value of each color channel, and (Ri, Gi, Bi) is a raw data value of a color channel measured in each image. ์ œ 5 ํ•ญ์— ์žˆ์–ด์„œ, ์ƒ๊ธฐ ํŒจ๋„์„ ๊ฐ๊ฐ ๋งˆ๋ จํ•˜๋Š” ๋‹จ๊ณ„๋Š”The method of claim 5, wherein the steps of providing each of the panels ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ์Šค์บ๋„ˆ ํŒ์˜ ๊ด‘ ๊ฒฝ๋กœ์™€ ๋Œ€๋ฉดํ•˜๋Š” ์œ„์น˜์— ํ‰๋ฉด ํŒจ๋„์„ ๋งˆ๋ จํ•˜๊ณ ,A flat panel is provided at a position facing the optical path of the scanner tip of the oral scanner, ์ƒ๊ธฐ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๋Š” ๋‹จ๊ณ„๋Š”The step of obtaining the image data ์ƒ๊ธฐ ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ์˜ ํ”„๋กœ์ ํ„ฐ๋ฅผ ํ†ตํ•ด ์œ„์ƒ์ด ์„œ๋กœ ๋‹ค๋ฅธ ํŒจํ„ด์„ ํˆฌ์‚ฌํ•œ ํ›„ ์ƒ๊ธฐ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ํš๋“ํ•˜๊ณ ,After projecting patterns of different phases through the projector of the oral scanner, the image data is acquired, ์ƒ๊ธฐ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ํŒŒ๋ผ๋ฏธํ„ฐ๋ฅผ ๊ณ„์‚ฐํ•˜๋Š” ๋‹จ๊ณ„๋Š”The step of calculating the calibration parameter ์ƒ๊ธฐ ํš๋“๋œ ์˜์ƒ ๋ฐ์ดํ„ฐ๋ฅผ ๋Œ€์ƒ์œผ๋กœ ์—ฐ์‚ฐ์„ ์ˆ˜ํ–‰ํ•˜์—ฌ ํ‰๋ฉด ์œ„์ƒ์ง€๋„๋ฅผ ํš๋“ํ•˜๋Š” ๊ฒƒ์„ ํŠน์ง•์œผ๋กœ ํ•˜๋Š” ๊ตฌ๊ฐ• ์Šค์บ๋„ˆ ์บ˜๋ฆฌ๋ธŒ๋ ˆ์ด์…˜ ๋ฐฉ๋ฒ•.An oral scanner calibration method, characterized in that for obtaining a planar phase map by performing an operation on the acquired image data.
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