Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
21-SEP~2001 21:30 ~ T HOSSLE-& KUDLEK,~ ~_ - ~- -' 49 711 24839525 S.26i42
,Cliua uy yo.ie a~~aw .j-
CA 02368550 2001-09-26
7645" . 615
Device fox picto.rixlly depicting
three-dimensional objects
'The present invention relates to a device for
pictor~-ally depicting three-dimensional objects.
~'or the pictorial representation of three-dimena~iana7.
l0 objects and fox the creation o~ a three-dimensxona~.
image data record, it is known in the art to rrieasu7ce the
dietaace to the object which is to be depict ed by means
of generally at least two cameras and to create a "point
cloud", i.e. a multitude of coordinate points with
assigned image information which represent the surface
of the object Which is to be depicted. In a further
step, the established points are l~.nke.d to eurfacees
which topologically describe the sv.rface of the object
by meaz~.s of a labourious aa~.aulazion process . The
result is a ~-D polyJon data record of the depicted
object_
A process is knor~m from U5-pS S s18 959 for the creation
of a three-dimensional image from at least two two-
ZS dimensional images, wherein a three-dimensional object
is recorded by at least two cameras disposed
horizontally about the abject- Duzing the recording.
the three-dimensional. object is irradiated v~rith a
striated pattern. The first of che~ recorded two-
3o dimensional images is selected as a reference image, a
further image is selected as a so-called second image.
On the basis of these two
21-SEP-2001 21:31 HOSSLE & KUDLEK +49 711 24839525 S.2'~i42
21.10 9 01 19 : 2 9 FI~7C
tbcwNn a uaam
CA 02368550 2001-09-26
images, Oaken tsr~m sligh~.ly-different locac,ions, a
three-dimensional image is calcu~.ated according to the
so-called binocular princip~.e, wherein the space in
which the object is located~is sub-divided into so-
y called vaxels and the value of each voxel in each of the
two two-dimensional images can be compazed with one
another. Idsntif~.Gation of identical ~roxels is atta~,ned
by means of tha irradiated striated pattern. In order
zo minimise the required calcu7.ation input and to avoa.d
Io the eo-callad background problem, cameras which, are
disposed further away are used to chc~ak the surface
points of the object.
A process is known from US-PS ~1 982 438 for recognition.
15 of the three-dimensional shape of ars object, whezein the
Abject which is to be recorded is surrounded by four
pairs of camr~ras, especisll~r disposed perpendicular to
one another, dispo'ed in a horizontal plane. The pairs
of cameras each record a binocular image of the object.
2o The three-dimen9ional shape of the object is Calculated
on the basis of these images in Chat the binocular
calculation method is combined with the so-called'Cone-
Silhouetting Method.
~5 A further pr~oceess is known from EP o 631 25o A2 foz
reproducing three-dimensional. objects. With this
process. a plurality of cameras are provided in
different positions which ara disposed so as to be
move8ble and/or which are suitable for recording a moved
30 object. In a similar manner to the processes described
hereinbefore, a camera is selected a9 a referencE camera
and with regard to the image captured by this camera,
correslnonding poinLS are sought
21-5EP-2001 21:31 HOSSLE & KUDLEK +49 '711 24839525 S.28i__42
~GiWa uy ya: auw,4
_~ , rs~tu,w rt va.Nf~
CA 02368550 2001-09-26
in the images recorded by the other cameras which serve
as a basis for the calculation of the voxel contents.
Processes are known from US-PS 4 825 393, 'rTS-P8 5 X32
71.x, US-B9 5 577 1.30, US-PS 5 561 526 and US-PS 4 &5~
872 for the measurement of three-dimensir~nal objacts or
for distance measurement, v~hich are based on compl.e.x
measurements derived from the binocular rtethod.
l0 The company Kaidan, Feasterville, 8ez~nsy.lvania, USA,
offers a photographic device under the designation
Meridian C-60 wh~.ch cornpri~es a substant~.al.ly C-shaped
rail, along the inside of which a camera is moveably
disposed. The object arhich is co be photographed is
placed on a rotat~.ng plate in such a gray that the camera
Nhich is rno~reable along the rail can be displaced about
the object in the vercl,cal direction.
A system i.s known from "Illusion rundherum" by Bayer et
al, c't, 1995, Volume 8, pages 101 to 147, in CoiZnecLion
urith the "Quicklime vR" system of the co~tspaay Apple,
wherein to attain s three-dimens~.oz~al. irnpre,ssion of an
object Which a user can fluidly move in all directions
by usiz~g a mouse, objects ate recorded all around using
~5 individual images with 360° hor~.~ontal arid 160° vertical.
perspective with ~,0° spacing to one another.
With the known oystams, it 3,s disadvantageous that data
processing ay~teme rec,~uire very high computing power as
3o a result of Lh.e complex c4mputing methods for Creation
of the Chzee-dimensional polygon data records. A
further digad~rantage ie the so-called background
problem, since With the known, systems, the objects which
are to be dEpiCLEd
21-SEP-2001 21~32 HOSSLE & KUDLEK +49 '711 24839525 S.29i42
~yiu.y uy ia: ~u rA.s . .~'~~~1 P ~~a~«~
liil .. ~ .~
CA 02368550 2001-09-26
4 --
cannot be satisfactorily differentiated a,nd demarcated
from the image background_
On the basis of this, the object of the invention is to
provide a device for pictorial depiction of three-
dimenaional objects via which three-dimensional objects
can be easily and cheaply depicted and reproduced far a
viewer in perspective elevation for production ofi a
three-dimensional i,mpressio~n, using data p~-ocessiag
to syaterns with conventional computing performance. In
particu~,az, according to the invention it is to be
possible to differentiate an abject which is to be
depicted from an image background without complex
computing processes_
A device with the featur~as of claim 1 is suggested in
o=der to eoJ.Ve this object_
According to the ia~ention, therefore, a number cf
2o recordings are made from different directions of an
object which is to be depicted by means of a plurality
of cameras, and each of these recordings is stcared with
assigned relative coordinates carnera/object. Therefore.
in contrast to the prior art purely two-dimensional
in~ortnation is stored, to which rnfbrrnaci.on relating to
the spatial relationship between recozding positron and
recorded object is as8ic~xzGd, ira,staa,d of calculating a.
three-dim~as~ioz~a.l object data record from an abundance
of recorded two-dinnensional data. Reproduction of the
3o stored image data takes place via a suit:ble
rep7~esentat~,on program in which the correspond~.ng t~ro-
dimensional image which corresponds to the respeCtiv~e
view is callCd up,
~...21-SEP-2001 21: 32_ _ ~ HOSSLE & _KUDLEK +49 711 24839525 S. 30142
CA 02368550 2001-09-26
- 5 -
dependent on the relative posit~.on of the object, i.e.
reproduction of Ghe stored image data. takes place ~.n
pmrspective el~avativn for creation of a three..
dimensional image by joining the two-dimensional image
data with consideration for the aesoe~,ated coordinates.
In this Nay, the impression is given that the object has
been shown in a three-dimensional representation. Zn
contrast to conventional three-dimensional applications,
the device according to the invention requires
to substantially-leas computing performance. As weld. as
spatial and angular a4oxdir~.ates, the coordinate: and
parameters ~tvred with the image data can also include
time coordinates, which especially allows «dynamic~~
object depiction and corresponding repzeeentat,ion in the
1.5 sass of changing, moving and also gro~aiag objects
(plants).
The object which is to be depicted is turned and .is
recorded by mean~ of cameras which are disposed in a
2o spatially-def~.r~ed manner, The associated angular
position is assigned to each individual recording' of the
object, corresponding to the rotation of the object. rn
ozder to permit a perspective ele~rat~.on of the object
f rout various heights, the oameras are disposed at
25 ~rar3.ous heights in the. space. A pre-detezminad number
of recordings are made during a complete rotation of thG
object vrhiah is to be depicted. por example. during
rotation of the object a recordizig is made evexy log,
i.e_ 36 recordings during a full rotation.
In an embodiment of the invention, the object r"rhich is
to be depicted i.s recorded by means of two or more
cameras, the relative positions of which are altered
with regard to th~ object which ~.s to be depicted. This
alteration of the relative position i.s a rotat~.4n of the
object which is Lo be depicted. Tndeperident of the types
of relative altCration of the .
21-5EP-2001 21:33 HOSSLE & KUDLEK +49 711 24839S2S S.31i42
2110 9 ' o f i 9 : J 1 FA7C _ . F'li.AlVK !s ueri ~
1...
CA 02368550 2001-09-26
~- 6
pr~sition between the camera. arid the object which is Lo
be depicted, it i.9 important that the relative
coordinates of each camera to the object Which is to be
depicted are .known at all t~.Me points. The relative
coordinates are suitable spatial and/or angular
COO~dinBtes.
In an advantagmous embodiment of the inventiorx, a
plurality of camera: ax's arranged distributed spat~.ally
around the object wh~.ch is to be depicted. with a.
sufficiently-large number of cameras which ran record
the object from a aufficiently~~.axge number of
directions in order to guarantee a satisfactory
perspective reproduction on the basis of two-dimensional
7.5 image data xecords, no relative alteration of the
position between the cameras arid the object which. is to
be depicted is necee6ary. However, if the number of
cameras is n4t sufficiently large, the object which is
to be depicted is rotated. For example, the cameras can
Zo be disposed on a cylindrical or partially-spher~.ca~.
(dome-likel suxface which substantially symmetrica~.ly
surrounds the object.
In ax's especially advantageous embodiment of the
Z5 invention, a plu~cality of aameraa are arranged
distributed around the object, in a plane which extends
through the object which is to be depicted. Here, it ie
preferred that the arrangement of cameras takes place
along a substantially c-shaped or partially-circular
30 rail. The object which is to be depicted is, for
example, disposed approximately in the centre of the
curvature of the rail.- In order to Create a relative
position alteration, the object is either rotated or the
rail, together with the camera disposed thereon, is
35 ssuivelled around the object, for example along a rail
which extends around the object.
L.llUO Vi *~.u.r ~
21-SEP-2001 21:33 HOSSLE & KUDLEK +49 711 24839525 S.32i42
~- - ~. ~r-.~r~.
CA 02368550 2001-09-26
zn a further embodiment of the invention, the device
according to the invention has ~. background surface
with disposed approximately centrally in the curvature
of the sail. .~n order to produce a relative position
s al,teratio~n, the object is either rotated or the rail.,
together with the camera disposed thereo.ra., is swi,~rell,ed
around the object, for example along a rail which
extends around the object.
to In a furthex embodiment of the invention, for which
independent protection is also sought, according to
c~.aim 16 the dev~.ee according to the invention has a
background surface smith substantiall~r constant colour
t.pne in the cal,our space. A simple, cleat and
15 unambiguous demarcation of the objoct from the
bac)cground is guaranteed s~ith such a background Aurface
which is contigurad so that iC represents the entire
image background of the recoxded object in each image
Oaken by the at least one c~.mera_
zo
In an embodiment of the inrrention, illumination means
are provided to illuminate the rear side of the
background which is remote from the camera. Hovetrer,
illumination of the background surface can also ta$e
25 plane in a suitable manner from the side or from the
front,
In anvthex embodiment of the: in~rention, the background
surface itself is configured to be lum~,nous, and is
~0 preferably cozxfigured as an electro-lumin~sscin~ film.
Thie also provides good demarcation results.
In order to improve still ~urther the demarcation
between the object and the background. in a further
35 embodiment of the in~r~nritz4n a
. ..._._..... . . ,.,. ". . .. . _.. _... . , .. ,_..... , ... .. ~. , ~ . .
...-,. , .. . , .. . .. .__..., _ .. , ..... .. ., ~._ ._...~.._~..~....
ii.vo~
21-SEP-2001 21:34 HOSSLE & KUDLEK . +49 711 24839525 5.33142
_. ~.
CA 02368550 2001-09-26
g _
laminar oar film~ahaped filter is provided which covers
the background surface.
Other advantages and ernlaodiments of the invention result
from the description and the acGOmpanying dtawings_
It is underscopd that ths~ hereinbefore-named and
subsequently-described features cannot only be used in
the combination ecaced here, but also in other
combinations or on their own without leava.ng ~,he
framework of the present invention.
The invention is described in the drawizigs With
reference to embodiment examples, and is explained in
1.5 greater detail in the following text with reference to
the drawings.
Figure 1 shows a perspective schematic elevation
of a first embodxmeat of a device
according to the invention. for
pictorially depicting three-dimensional
object5~.
Figure 2 shows the device of Figure 1 in tQp ,
elevation.
Figurm 3 shows a schematic perspective
representation of a second embodiment
example of a dev~.ce according to the
3o invention with a plurality of cameras
disposed along a subsl~antiall,y partially
circular rail and of an object which is
to be depicted disposed on a rotating
plate.
Figure 4 shows the device of Figure 3 in another
elevation.
.. ... ., . ~ . .:.~stY:~ - .'1~:: ... ~-~~_-_... v._...
s.~N~y,Y!'~4'FSYiN~I~"~
21-SEP-2001 21:35 HOSSLE & KUDLEK +49 '711 24839525 S._34i4_2
Gli4a 41 la:.iL,l~ ~avy,w m.~.~..
CA 02368550 2001-09-26
- 9 -
Figure 5 ~hows the d~~,ice og Pigure 3 with
suspended object
In Qrder to clazify the principle behind the invention
in a strongly-schematised representation, Figures 1 and
2 shaver a first embodiment of a device 10 according to
the inv~ntion for pictorially depicting three-
dimensional objects. Figure 1 shows the device 1o in
perspective eleva,tian whilst Figure 2 shows a, top
elevation of the device to of Fir~ure 1.
The device to .~oaordi,~ng to the invention for pictorially
dep~.cting three-dimensional objects comprises a
multitude of czmeras 1~, 13 which .are advantageously so-
called CCD cameras ox' also CMOS or HDRC cameras, or any
other type of digital photographic camera. The cameras
12, 13 are distzibuted in the apace around a rotaCing
plate 16 oz~. Which an object which is to be depicted 14
i,s disposed. A background surface ~e is disposed around
ZO the rotating plate 16 at a, distat'iee therefrom in such a
.ray that it surrounds the rotating plat: 16 in an axial
symmetrical manner and hence represents the jacket
surface of a polygon which approximates a cylinder.
~5 The cameras 12, 1,3 are arranged distributed spatially
around the object 19~ which is to be depicted wheresn the
position of each earners 12, 13 is krio~n with regard to
the object 14 which is to be depicted. The distance
from each camera to the abject l~ and its respecti,re
3o position in the room is ~reely selectable, i.e. there
are rro conditions to the extent chat e.g. the ca~meza.s
12, 13 must be disposed equid,ictant to the object 14.
In the embodirnen,G example shown in Figures 1 and 2,
first catnera,s 12 are disposed on the
.. " , . . . . _.,~.,..~.,,_a,~.~;.--~,~.~.~."..~_.ra_ ~.~t;,. ,.,._:.-...-,-
__
,.~:...T .. . . : ~=:n :"~
:l;f'.:.'~: . . . . , w.~e_~~.~~ e.- ~ ...>~ ,.. ~-.~~ . ..
.... . . . :':ij:_.r.... . . ~ '..sw~;.. , 1 . .J..~f.'::.,-. _..d ..v r~...~~
,.~ . ' v'.'.. . .. . . ... .. .. , ,
21-SEP-2001 21:35 HOSSLE & KUDLEK +49 '711 24839525 S.35i_42
z a r a a u~t a : a c r e.,~s . ~ ,..., . . .. ..,
...- .. ........
CA 02368550 2001-09-26
- is -
tensioned polygon jacket surface formed by the
background surfaace 18 and axe inserted oz' worked into
the background suzface 18. za this way, the cameras 1~
are each disposed at the same distance from the
rotational ax~,s of the jacket surface and the zatational
axis of the rotating plate 16, which is substantially
coincidental therewith.
9ecand cameras, pro~rided w~,th the reference character
1a 13, are disposed in the i~nteriraz~ of the volume formed by
the background surface 18, partial7.y or directly abav~:
the rotating plate 16,
When recbrding an object 1~, at least one image is taken
by each oi' the cameras 12. 13 which is stored together
with the relative coordinates of the associatBd camera
relative to the object lg as a two-dimerlsa~onal image
data record in a storage apparatus which is not
represented in greater detail.. ?he coordinates are
Zo preferably spatial and/or angular coordinates which
permit calculation of the disCance between the
respective camera and the object and the eagle between
the camera acrd the object (with regard to the horizontal
or the vertical, axis, or ax~othez~ reference axis) .
'
I~ the number of cameras 1~, 13 which are distributed ire
the room around the object 1~ is insufficient to produce
a satisfactory perspective elevation of the object which
ie to be depicted, for example because a substantial
portion of the object 14 could not be photographed, the
object 14 is rotated during recording by means of a
suitable rotation mear~s ( ~.n the illustrated exatap~.e, a
rotating plate 16)_ This rotation of the object 14,
which occurs slowly, allows images to be captured and
stored by each of the cameras 12, 13 disposed around the
obj ect 14
. , .. .. . .. . _. .. , . , . .. .... . .. , , . .
"..T...,_....,....,_..,~..., . , -.
21-SEP-2001 21:36 1 HCISSLE & KUDLEK 49 711 24839525 S.36i42
~1/Ub) Uj J,a:JJ 1'~
~. ~~ _. .z:--
CA 02368550 2001-09-26
- 11. -
at pre-determined angular iacervals, v~hich. with
consideration of the coordiria~tes which are stored
together ~rith the imagss into which the respective
angular position, of the object flows, allows
reproduction of the depicted objact in perspective
ele~ration foz~ czeation of a three-dimensional
impression.
Figure 3 shows, as a preferred embodiment of th:
iwvention, a device 20 for pictorially depicting three-
dimensional objects. The device 20 comprises a
substantially partially airoulax camera arm 22, in which
a plurality of cameras are arranged. The camera arm 2Z
is disposed upright, i.e. the plane in which the camera
~.5 a~n 22 lies exrend~ uubetantially pezpehdicular to Che
horizontal, ox the ground surface. Zn the follo~rix~g
text, the camera arm 22 ie design2ted as =ail 22 for
reasons of simplicity.
2d The cs,tnraras 24 are disposed on the raid. 22 ire ~uch a way
that their optical axes extend in each case
substantially in Lhe plane of the rail. 22 and ass
substantially aligned on the central point of the
partial circle of the rail 22. In other words, the
25 cameras 24 are diBposed along the rail with a .
substantially radial beam path.
The de~rice ZO also comprises as a rotating apparatus a
rotating plate 26 on which are object ae which is to be
3o depicted is disposed. The rotat~.or~al axis of the
rotating plate 2~ is here eubstaxt.tially iri the plane of
the rail. 22 and the plan~ in which the optical axes of
the cameras 24 lie extends through the abject 28.
21-SEP-2001 2136 . HOSSLE & KUDLEK +49 711 24839525 S._3'7_i_42
CA 02368550 2001-09-26
- xa
Furthermore, the devise a0 compr~.ses s first background
surface 30 and a second background surface 31. The
first background surface 3o is laid out bcslow the rail
2a and the rotating plate 26 along the ground surface,
whilst the second backgz~ound surface 31. as arranged
substant~.ally perpendicular co side of the rotating
plate 26 which is remote from the rail a2. The
background surfaces 30, 31 are disposed so that they
represent the entire background ir1 the images captured
i0 by the cameras z4.
Since the rote.ting plate generally lies is the a.mm~ge
surface of every camera, iz ~.s an important paxt of. the
background and is thus preferably adapted to the
~.5 background surface for reasons of standardisation, in
that at least the surfaces and edges of the rotating
plate which appear in the camera image are covered or
coated with the same material as the background surface.
zo Furthermore, the device ~0 has illuminating members 32
for illuminating the abject z6. The illuminating
members 3a are disposed near the cameras z4 in such a
way that dazale-free illumination of the object Z8 is
possible. The illuminating members 3z are, for example,
z5 attached to the Bide edges of the rail 2a by means of
arms, not illurt=aced is greater detail, so that
individual dazzle~free adjustment 4f the illumination is
possible.
30 ,~,ecording to th~r invention, the background suztaces 3A,
31 are advantageously configured r~rith a substantially
constant colour location in the colour space. Ia a.n
esspecially advantageous Qmbadiment of the invention the
background surfaces aze configured to be self-
35 illuminating, for example as electro-luminesaing film.
.._ .., _~ ~... : ~...:,.~,.,:.:. . .. . ,...::.~::~. .;;,..;, .. . . ..:~:~--
r.:~:...:-.,..,.,.._.
21-SEP-2001 21~37 ,.HOSSLE & KUDLEK +49 711 24839525 S.38i42
CA 02368550 2001-09-26
- 13
In order to atta~,n eepeciatlly good coastasice of the
colour location, the background surfaces are Covered
with filters, not illustrated in the Figures in greater
detail_ Iri the case of a selF-illumiaata.ng
configuration of th.e background surfaces, it is possible
under ce~rta~.n ci,rcumszax~ces to dispense with the:
additional illuminating members 32.
Figure 4 shows the dev~ae of Figure 3,according to the
invention, from another perspective.
Figure 5 ehow~ the d~viee 20 of Figure 3, wherein an
object 29 which is to be depicted is hung via a hanging
apparatus 34. Hanging the object whaoh is to be
depicted hai the advantage that the underside of the
object can be at least partially depivted and recorded
by the cameras disposeed ~,n the lowez' axes o~ the rail
22.
z0 The hanging apparatus 34 is especially a torsion,-free
connection, atCached to the rotating disc 26, bet~reen
the rotating p~.ate 26, the object 2~ and the upper end
zzb og the rail 22.
Therefore according to the imrention, tw4-dimensional
images of am object which ie to be depicted are captured
and stored with the relative camera coordinates as
additional parameters. with the help of a suitable
representation program, the image which corresponds to
the respective viQw is called up dependent on the
relative position of the viewer to the nbjecc. This
gives the irnpre~esion that the object is observed iri a
three-d~.menaional. representation. Zn contrast with
conventional
-..... , .-.-...~....,..,..r~._.. __ ,.,--..,......r~ra-.-:. ~..yw--~.r~~
w,~.,-f-~.r-~.~rar..yy ~~.-.. : ~r..r-,.,-~ ~ . -....~...,,
21-SEP-2001 2 1 37 HDSSLE & I<UDLEK +49 '711 24839525 S,39i42
CA 02368550 2001-09-26
7. 4 -
three-dimensional applications (C~, animation), the
process acCOrding to the invention requires considerably
less computing power on the part of the utilised
computer.
The background is represented as an ext.zemely
homogeneous surface with the most constant possible
colour location over the entire surface by the use of a
self-illuminating background surface- This fulfils the
to prerequisite of "cutting fzee~~ axe, obaect which im to be
depicted With the help of very rapid and ~eff~.c~,ent
algorithms in a qualitatively mer~.tous manner. With
existing systems, automation of the "cuttir~.g fzee" laa.s
hitherto not been realised dus to the inhomogeneity of
the background with regard to co~.ouz, brightness and
contrast distribution constance_
Naturally, the invention is not limited to the
embodiment examples described in the Figures anal the
dESCrip'tion. for example, in the case of the embodiment
example sho~m in Figur~t: 3 and 5, it is possible to
provide an adjustable zail which ext~ads along the
ground surface symmetrically about the xotating plate,
on which the z-ail a2 is adjustably or sw~.Vellab~.y
mounted, so that is the case o~ a large and heavy or
cumbersome object wrhich is difficult to rotats on the
rotating plate 26, or when recording humans, the rail 22
with additional cartteras 24 is 9W1V~1162d so that the
object can be recorded from all Sides without having to
3o be rotated_ with such an embodiment, the backgzound
suzface must also be disposed so as to be swivella~ble ox
it must cover the xeaording space in all directior~.s. ~n
a first variant, especially the background surface lying
opposite the rail 22, the baekgzound surface is
connected
.~_-..,_.yY..i,-.. n . ..a~~.'~T'~?s~.."m~s~..... " . .~ ~ ... .. .. ~~ . . m
. . . .. ' . . ' ..,...~/,~Y~'~.... .. .,
21-SEP-2001 21:38 HOSSLE & KUDLEK +49 711 24839525 S.40i42
_. -. st ..
CA 02368550 2001-09-26
- 15 -
with the rail in such a way that the background ~ur~ace
moves together with the rail ax~oux~d the object anal that
when the rail stops (to capture an image of the object)
each camera imaging surface is completely filled with
S the background of the background surface.
. ...~..., .. . .. . , . . . ~-- .... . ~m.... '- .-~ w ~ ~~w~~S...n. ..r w. .
.. . ~ ~ ... . . ~~.~ _..-~......_..v nw.-~..~. _. . . ..'-~'1".'.':'~ ..
