Device and method to reconstruct face and body in 3D

• US 10,681,334 B2
• Filed: 11/14/2018
• Issued: 06/09/2020
• Est. Priority Date: 10/14/2015
• Status: Active Grant

• Current Assignee: Quantificare SA
• Original Assignee: Quantificare
• Inventors: Thirion, Jean-Philippe
• Primary Examiner(s): Adams, Eileen M
• Application Number:
  US16/190,401
• Publication Number:
  US 20190394449A1
• Time in Patent Office: 573 Days
• Field of Search: None
• CPC Class Codes: G01B 11/2513 with several lines being projected in more than one direction, e.g. grids, patterns
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G03B 13/20 Rangefinders coupled with focusing arrangements, e.g. adjustment of rangefinder automatically focusing camera
• CPC Class Codes: G03B 35/08 by simultaneous recording
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 19/20 Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30068 Mammography; Breast
• CPC Class Codes: G06T 2207/30201 Face
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: H04N 13/128 Adjusting depth or disparity
• CPC Class Codes: H04N 13/218 using spatial multiplexing
• CPC Class Codes: H04N 13/275 from 3D object models, e.g. computer-generated stereoscopic image signals
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 23/60 Control of cameras or camera modules
• CPC Class Codes: H04N 23/611 where the recognised objects include parts of the human body

Abstract

The device and method are intended for reconstructing in 3-Dimensions comprehensive representations of the head and torso of subject (S) with a portable stereophotogrammetry device which can operate at, at least, two predefined positions (A3, A4).

The device is composed of a camera body (1), a double optics (2) and a measuring distance system (34) enabling the repositioning of subject (S) at position (A3) or (A4). The user can operate a switch (5) to select one of these at least two pre-defined positions.

The method is further to process the stereo-pairs of the subject to reconstruct 3-Dimensional surfaces (400), match them (500) and then stitch them (600) in a comprehensive representation of the subject. By selecting a distance corresponding to a field of view of respectively approximately A4 dimension the device and method is enabling reconstructing the face and of approximately A3 dimension is enabling reconstructing the torso of subject (S).

Claims

1. A device for stereophotogrammetry configured for an acquisition of two views according to two different angles, said acquisition generating a pair of images, with one image corresponding to one of the two views and the other image corresponding to the other of the two views, this pair of images being referred to as a stereo-pair, wherein the device is further comprising a positioning system (34) configured to signal when a target subject (S) is reaching one of at least two distinct pre-defined distance positions (A3, A4) relative to the stereophotogrammetry device, the at least two distinct predefined distance positions comprising a closer distance position (A4) and a farther distance position (A3), the closer distance position (A4) corresponding to the target subject (S) being closer to the stereophotogrammetry device and the farther distance position (A3) corresponding to the target subject (S) being farther to the stereophotogrammetry device.

2. The device according to claim 1 wherein the positioning system (34) is determining that the target subject (S) is reaching one of the at least two distinct pre-defined distance positions (A3, A4) relative to the stereophotogrammetry device prior to the acquisition of the stereo-pair of the target subject (S) at said pre-defined distance.

3. The device according to claim 1 wherein the device is a portable system.

4. The device according to claim 1 wherein the at least two distinct pre-defined distance positions (A3, A4) are defining positions included in a space region corresponding to a depth of field (6) of the stereophotogrammetry device.

5. The device according to claim 1 wherein the positioning system (34) is comprising at least two pairs of light beamers (3b, 3c) and (4b, 4c) where a first pair of light beamers (3b, 3c) is converging to the farther distance position (A3) and a second pair of light beamers (4b, 4c) is converging to the closer distance position (A4).

6. The device according to claim 1 wherein the positioning system (34) is comprising a pair of light beamers (3b, 3c), each light beamer thereof pivoting around an axis and being equipped with a system to lock an angle of rotation of the said beamer in at least two distinct positions wherein, when a first light beamer (3b) of the pair of light beamers is locked in a first position (7b) and a second light beamer (3c) of the pair of light beamers is locked in a first position (7c), the first light beamer (3b) and the second light beamer (3c) are converging to the farther distance position (A3), and wherein when the first light beamer (3b) is locked in a second position (8b) and the second light beamer (3c) is locked in a second position (8c) the first light beamer (3c) and the second light beamer (3c) are converging to the closer distance position (A4).

7. The device according to claim 1 wherein the positioning system (34) is comprising a pair of light beamers (3b, 3c), a first light beamer (3b) of the pair of light beamers projecting a first and a second light patterns and a second light beamer (3c) of the pair of light beamers projecting a third and a fourth light patterns, wherein the first and the fourth light patterns are superposed at the farther distance position (A3) and wherein the second and the third light patterns are superposed at the closer distance position (A4).

8. The device according to claim 1 wherein the positioning system (34) is comprising a telemeter (10) configured to measure a distance between the camera body (1) and the target subject (S) and the telemeter (10) is configured to generate a first signal (11-A4) when the closer distance position (A4) is located within a surface of the target subject (S) and to generate a second signal (11-A3) when the farther distance position (A3) is located within a surface of the target subject (S).

9. The device according to claim 1, comprising a switch (5) comprising a first selection position configured to select the farther distance position (A3) and a second selection position configured to select the closer distance position (A4).

10. The device according to claim 4, comprising a switch (5) comprising a first selection position configured to select the farther distance position (A3) and a second selection position configured to select the closer distance position (A4), wherein the switch (5) is configured to switch on the first pair of light beamers (3b, 3c) in the first selection position and wherein the switch (5) is configured to switch on the second pair of light beamers (4b, 4c) in the second selection position.

11. The device according to claim 1 wherein the closer distance position (A4) and the farther distance position (A3) are such that a surface of a field of view corresponding to the farther distance position (A3) is at least 25% larger than a surface of a field of view corresponding to the closer distance position (A4).

12. The device according to claim 1 wherein the field of view corresponding to the closer distance position (A4) is equal to a normalized surface format A4, that is 21 cm times 29.7 cm, with possible variation of plus 100% or minus 40% of a surface of the normalized surface format A4 and the field of view corresponding to the farther distance position (A3) is equal to a normalized surface format A2, that is 42 cm times 59.4 cm times, with possible variation of plus 100% or minus 40% of a surface of the normalized surface format A2.

13. The device according to claim 9, comprising a flash having a higher power level and a lower power level and wherein the switch (5) is configured to select the higher power level in the first selection position of the switch (5) corresponding to the farthest pre-defined distance position (A3) and to select the lower power level in the second selection position of the switch (5) corresponding to the closest pre-defined distance position (A4) and wherein the higher power level is greater than the lower power level.

14. The device according to claim 13, wherein the higher power level and lower power level are configured such that an image of a white target placed at the farther distance position (A3) when the switch is in the first position and an image of the white target placed at the shorter distance position (A4) when the switch is in the second position have intensities with a difference of less than 30% of image intensity.

15. A method comprising using the stereophotogrammetry device according to claim 1, comprising:

moving the stereophotogrammetry device (1) and a target subject (S) (200) so that the positioning system (34) signals that one of the at least two pre-defined distance positions between the camera (1) and the target subject (S) is reached, such signal being the superimposition of beamers on the target subject (S) or the emission of an electromagnetic, acoustic or any other type of signal; and

taking one or several stereo-pairs at the same pre-defined distance position (300).

16. A method comprising using the stereophotogrammetry device according to claim 5, comprising:

moving the stereophotogrammetry device (1) and a target subject (S) (200) so that the target subject (S) is placed in such a way that one of the at least two pairs of beams of the positioning system (34) is intersecting on the surface of the target subject (S); and

taking one or several stereo-pairs at that same pre-defined distance position (300).

17. A method comprising using the stereophotogrammetry device according to claim 6, comprising:

locking the angle of rotation of the first light beamer (3b) in its first position (7b) and locking the second light beamer (3c) in its first position (7c) so that the first light beamer (3b) and the second light beamer (3c) are converging to the farther distance position (A3), or alternatively locking the angle of rotation of the first light beamer (3b) in its second position (8b) and locking the second light beamer (3c) in its second position (8c) so that the first light beamer (3b) and the second light beamer (3c) are converging to the closer distance position (A4) (100); and

moving the stereophotogrammetry device (1) and a target subject (S) (200) so that the target subject (S) is placed in such a way that the pair of beams of the positioning system (34) is intersecting on the surface of the target subject (S); and

taking one or several stereo-pairs at that the same pre-defined distance position (300).

18. A method comprising using the stereophotogrammetry device according to claim 7, comprising:

moving (200) the stereophotogrammetry device and/or a target subject (S) so that the first light pattern of the first light beamer (3b) and the fourth light pattern of the second light beamers (3c) are superimposed on the surface of the target subject (S) hence defining the farther position (A3), or alternatively so that the second light pattern of the first light beamer (3b) and the third light pattern of the second light beamer (3c) are superimposed on the surface of the target subject (S) hence defining the closer position (A4); and

taking one or several stereo-pairs at that same pre-defined distance position (300).

19. A method comprising using the stereophotogrammetry device according to claim 8, comprising:

moving (200) the stereophotogrammetry device (1) and/or a target subject (S) so that the first signal (11-A3) is emitted indicating that the farther distance position (A3) is located within a surface of the target subject (S), or alternatively so that the second signal (11-A4) is emitted indicating that the closer distance position (A4) is located within a surface of the target subject (S); and

taking one or several stereo-pairs at that same pre-defined distance position (300).

20. A method comprising using the stereophotogrammetry device according to claim 9, comprising:

activating the switch (5) of the positioning system (34) to select one out of the at least two distinct distance positions (100); and

moving (200) the stereophotogrammetry device (1) and/or a target subject (S) so that so that the positioning system (34) signals that the selected pre-defined distance between the camera (1) and the target subject (S) is reached; and

taking one or several stereo-pairs at that same pre-defined distance position (300).

21. The method according to claim 15 comprising taking several stereo-pairs at the selected pre-defined point position and:

reconstructing 3-Dimensional surfaces of the target subject (S) corresponding to each of the stereo-pairs (400); and

matching the different 3-Dimensional surfaces in space (500); and

stitching together the different surface pieces of the target subject (S) into a comprehensive 3-Dimensional representation (600).

22. The method according to claim 21 comprising using a computer program product stored on a non-transitory media to operate the steps of:

reconstructing, matching and stitching.

23. The method according to claim 15 comprising selecting (100):

Either the closer distance position (A4), and then placing a face of a target subject (S) at the closer distance position, and then taking several stereo-pairs of the face of the target subject (S) at the closer distance position, processing these stereo-pairs to reconstruct 3-Dimensional surfaces of the face of the target subject (S), then matching these different 3-Dimensional surfaces in space and finally stitching together these different 3-Dimentional surfaces into a comprehensive 3-Dimensional surface representation (710) of the face of the target subject (S);

or

the farther distance position (A3), and then placing a torso of a target subject (S) at the farther distance position, and then taking several stereo-pairs of the torso of the target subject (S) at the farther distance position, processing these stereo-pairs to reconstruct 3-Dimensional surfaces of the torso of the target subject (S), then matching these different 3-Dimensional surfaces in space and finally stitching together these different 3-Dimentional surfaces into a comprehensive 3-Dimensional surface representation (720) of the torso of the target subject (S).