KR20070092007A - Apparatus for three dimensional scanning - Google Patents

Abstract

A 3D scanning device is provided to minimize user's refusal feeling for scanning a human body and scan the human body irrespective of an installation environment including lighting by projecting a digital infrared pattern image to the human body and capturing a scanning image. A moving part(130) is vertically moved from a base. A plurality of scanning parts(140) are arranged by centering on an object in the moving part, and projects and captures the infrared pattern image by dividing the object into plural surrounding sections. A controller(110) controls vertical movement of the moving part and scanning of the scanning part at a position of each vertical section. The scanning parts installed to the moving part scan the object in the 3D by being vertically moved around the object, projecting the infrared pattern image to each surrounding section of the object at each vertical sections according to the vertical movement, and capturing the infrared pattern image formed on surface of each surrounding area of the object based on control of the controller.

Description

Apparatus for three dimensional scanning

The following drawings, which are attached to this specification, illustrate exemplary embodiments of the present invention, and together with the detailed description of the present invention, serve to further understand the technical spirit of the present invention. It should not be construed as limited to.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing laser scanning using a light triangular method according to the prior art.

2 is a diagram showing optical scanning using the moiré method according to the prior art.

3 is a view showing a pattern film in the moire method according to the prior art.

4 is a view illustrating a process in which the pattern film of FIG. 3 is projected onto a measurement object.

FIG. 5 is a block diagram illustrating the arrangement of a system for implementing three-dimensional scanning in accordance with a preferred embodiment of the present invention.

6 is a perspective view showing a three-dimensional scanning device according to a preferred embodiment of the present invention.

7 and 8 are side views showing a three-dimensional scanning apparatus according to a preferred embodiment of the present invention.

9 is a plan view showing a three-dimensional scanning device according to a preferred embodiment of the present invention.

10 and 11 are views for explaining a viewing angle toward the human body of the optical projector and the sensor camera according to a preferred embodiment of the present invention.

12 is a diagram schematically showing a configuration of an optical projector according to a preferred embodiment of the present invention.

13 is a perspective view illustrating a basic structure of a light pattern image generating device according to a preferred embodiment of the present invention.

14 is a view for explaining the principle of the light pattern image generating element according to a preferred embodiment of the present invention.

15 to 17 are views illustrating a process in which a light pattern image is projected onto a human body according to a preferred embodiment of the present invention.

18 to 19 are views for explaining a scanning unit for projecting and capturing a light pattern image according to a preferred embodiment of the present invention.

<Description of Major Reference Marks in Drawing>

100 ... 3D scanning device 110 ... control unit

120 Communication interface 130 Moving part

140 Scanning unit 141a, 141b, 141c, 141d ... Optical projector

142a, 142b, 142c, 142d ... sensor camera

The present invention relates to a three-dimensional scanning apparatus, and more particularly, three-dimensional scanning to vertically reciprocate around the human body so as to scan the human body in three dimensions by using an optical projector that projects near-infrared light in a space under general illumination. Relates to a device.

The human body has symmetrical symmetry of the shoulders, head, arms, and legs around the vertebral lines, and a balanced posture due to the symmetry of the human body acts as an important factor for the function of tissues and organs of the human body.

On the other hand, when the body balance is imbalanced due to obesity or lack of exercise, various diseases are caused by muscle development, coordination, circulation, and displacement of internal organs. Accordingly, the demand for body analysis, such as obesity clinic, public health center, orthopedic or spinal clinic is increasing significantly.

In general, there are two methods of measuring a human body: a manual method of measuring a numerical value directly with the naked eye using a measuring instrument, and a 2D photographing method of analyzing a photographed image data by a computer after photographing a measurement subject with a digital camera.

The manual method measures physical factors such as height, length or circumference of each part of the human body with measuring tools such as a tape measure for anthropometric and body shape analysis. In addition, the morphological factors including the posture and the body shape of the human body are measured by observing the naked eye in the state where the subject is placed on the lattice system.

The 2D imaging method places the subject on a transparent grid and converts the two-dimensional image into a computer input signal using a digital camera connected to the computer in front, and then the relative calibration of the pixel and the measured value of the converted two-dimensional image. By measuring each part of the human body, physical factors are measured, and two-dimensional images are visually observed to analyze morphological factors including body shape.

However, the above-described manual method takes a lot of time for the measurement by the method that the measurement device directly measures the human body of the subject using a measurement tool, it is difficult to measure the thickness and surface area of each part of the human body, and posture and body analysis Since it depends on the visual observation of the measurer, the deviation of the measured value according to the measurement subject is severe, and it is difficult to verify the mutual comparison for each measurement cycle. In addition, since the above-described 2D imaging method is a planar image analysis, it is possible to measure a straight line distance between any two points, but it is impossible to make a three-dimensional measurement between any two points, thereby making it impossible to make a three-dimensional measurement including the circumference, thickness and surface area of each part of the human body. Do.

Apparatuses for making the above-described anthropometric and body shape analysis more convenient have been proposed. Korean Patent Publication No. 2001-97567 (a stereoscopic object scanner and a 3D image output device using the scanner) includes a plurality of laser beam output devices and CCD imaging. A technology for easily scanning a 3D image of a three-dimensional object by dividing the appearance of a three-dimensional object by optimally arranging the device is disclosed, and Korean Laid-Open Patent Publication No. 2003-45279 (a three-dimensional shape using a moire pattern generator). Measuring device) discloses a three-dimensional shape measurement technology using a moire pattern generator composed of a laser diode and a rotating faceted mirror, and Korean Utility Model Registration No. 183815 (pattern projector) is directed to a predetermined object such as a human face. A technique for projecting a pattern of a predetermined shape is disclosed.

These techniques use optical triangulation to analyze the reflected beam after projecting a laser beam onto a subject, especially the human body, and to obtain a stereoscopic image. The human body measurement and body type analysis are made easier by using a moiré method that creates a three-dimensional shape using an interference phenomenon that looks like a curve. Referring to FIGS.

First, referring to FIG. 1, the optical triangular method projects the laser beam 1 onto the measurement target 20 in the laser diode 11 and then deforms and reflects the CCD camera 12 according to the surface curvature of the object. It is obtained by calculating the three-dimensional coordinates of the measurement object 20 from the geometric relationship. Here, the optical triangular method is a scanning method that moves up and down using a mechanical drive system to measure the measurement object 20.

Next, referring to FIG. 2, in the moire method, as illustrated in FIG. 3 by a rotary wheel (not shown) that rotates sequentially, a plurality of pattern films 32 formed in horizontal and vertical stripes are sequentially rotated. In addition, when a plurality of pattern images projected by the lamp 31 make a horizontal or vertical shadow on the surface of the measurement object 20, the shadow 2 is in the shape of the measurement object 20, as shown in FIG. 4. It is bent according to the wavy contour pattern, which is a screening method that obtains three-dimensional coordinate values by analyzing the shape information of the object.

However, the conventional optical triangular method has a high precision, but a technique that is mainly used in the field of industrial engineers is introduced to the human body measurement method, the object of the measurement object is large because the laser beam scans the human body. In addition, since the moiré method is an analog method in which the pattern film is sequentially projected onto the measurement object by driving the rotary wheel, the measurement loss is large due to a malfunction such as the pattern film is twisted, and scanning is performed in a closed space where a dark room is realized. As a result, the objection of the subject is large.

In addition, the measurement equipment using the optical triangular method and the moire method described above, there is a problem in that expensive equipment introduction cost is required in terms of economics, and professional knowledge is required in terms of equipment operation. It has a lot of influence on the dimensional data, and there is a limit in the overall scanning of the human body, so there is a limited problem in terms of utilization of the equipment.

The present invention was conceived in consideration of the above-mentioned conventional problems, and by projecting and capturing a digital near-infrared pattern image excluding the analog method to the human body, minimizing the objectionability of the measurement subject to scanning, and the installation environment including illumination It is an object of the present invention to provide a three-dimensional scanning device capable of whole-body stereoscopic scanning of a measurement subject without limitation.

A three-dimensional scanning apparatus according to the present invention for achieving the above object, the base portion is set the subject; A moving part vertically moving up and down from the base part; A plurality of scanning units installed in the moving unit and arranged in a plurality around the subject, and projecting and capturing a light pattern image by dividing the subject into a plurality of regions; And a control unit configured to control scanning of the scanning unit at a vertical movement according to the lifting and lowering movements of the moving unit, and the plurality of scanning units installed on the moving unit are perpendicular to the subject under control of the control unit. In order to move up and down, the light pattern image is projected for each circumference of the subject at the position of each vertical section according to the movement, and the light pattern image generated on the surface of each circumference of the subject is captured to scan the subject in three dimensions.

Preferably, the subject is a human body, and the base unit provides a fixed point so that the human body can stand upright around the plurality of scanning units.

According to the present invention, the moving unit includes a pair of transfer guides extending vertically from the base portion to a predetermined length and facing each other with the subject therebetween; A ball screw installed in the transfer guide; A motor operating under the control of the controller to rotate the ball screw; A slider installed on the transfer guide and the ball screw to vertically move along the transfer guide by the rotation of the ball screw; And a horizontal bar fixed to the slider to mount a scanning unit at both ends.

In the present invention, each of the plurality of scanning units is fixed to both ends of the horizontal bar and installed all around the subject, and the scanning unit is tilted 17 ° horizontally with respect to the horizontal bar to look at the subject.

Preferably, the scanning unit includes an optical projector and a sensor camera.

In addition, the horizontal angle between the viewing angle of the optical projector and the sensor camera and the subject is 23 °, and the vertical angle is 22 °.

According to the present invention, the optical projector includes a light emitting lamp; A light pattern image generating element for converting light of the light emitting lamp into a light pattern image; And a lens for adjusting a projection path of the light pattern image.

Here, the light emitting lamp is a lamp having a near infrared ray as a light source, and the near infrared ray satisfies the range of 750 to 1200 nm.

Preferably, the light pattern image generating device is a digital micromirror device (DMD) device.

According to the invention, the sensor camera is a CCD (Charge Coupled Device) camera, the sensor camera is equipped with an infrared filter for blocking visible light.

Preferably, the scanning unit corresponding to the circumferential region of the subject at the vertical section positions projects and captures the light pattern image of 24 frames.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

The three-dimensional scanning apparatus and system according to the present invention implements three-dimensional scanning for acquiring physique data and shape data of a subject, in particular, a human body. Here, the physique data is anthropometric data including the height, width, length, thickness, area, circumference, slope and center line of each part of the human body, the shape data is human body shape data including the posture and body shape. In addition, the embodiment of the present invention will be described based on the human body, but the present invention is not limited thereto and may be applied to various subjects including objects and animals.

FIG. 5 is a block diagram of a three-dimensional scanning apparatus and a host computer showing blocks of an arrangement of a system for implementing three-dimensional scanning according to the present invention.

Referring to FIG. 5, the 3D scanning apparatus 100 includes a controller 110, a communication interface 120, a moving unit 130, and a scanning unit 140, and the host computer 200 includes an input unit ( 210, an output unit 220, a database 230, a communication interface 240, a bus BUS 250, and a central processing unit CPU 260.

The controller 110 of the 3D scanning apparatus 100 is a means for controlling the moving unit 130 and the scanning unit 140 based on the data transmitted from the host computer 200. In this case, the communication interface 120 is a means for enabling data exchange between the 3D scanning apparatus 100 and the host computer 200, and the moving unit 130 is a means for elevating the scanning unit 140 vertically. The scanning unit 140 is installed in the moving unit 130 and is disposed in plurality around the upright human body. The scanning unit 140 is a means for projecting and capturing a light pattern image while vertically elevating the human body. In this case, the scanning unit 140 transmits the captured image to the host computer 200 under the control of the control unit 110.

The input unit 210 of the host computer 200 is a means for inputting the image information and the scanning command of the measurement target for the human body scanning, the output unit 220 is a means for displaying the human body scanning results of the measurement target, The database 230 includes a plurality of captured image data 231 transmitted from the 3D scanning apparatus 100, and a plurality of 3D calculated data 232 in which the plurality of captured image data 231 are calculated in 3D coordinates. ), Means for storing the three-dimensional shape data 233 implemented as a three-dimensional human body and a program 234 for controlling three-dimensional scanning of the plurality of three-dimensional calculation data, and the communication interface 240 is a host computer. Means for enabling data exchange between the 200 and the three-dimensional scanning apparatus 100, the central processing unit 260 is a three-dimensional scan stored in the database 230 On the basis of the program (234) for controlling the means for controlling the input unit 210, output unit 220 and a database 230 connected to bus 250.

The above-described three-dimensional scanning apparatus will be described in detail with reference to FIGS. 6 to 9.

Referring to the drawings, the 3D scanning apparatus 100 includes a base unit 150 on which a human body is set, moving units 130 and 130 ′ vertically moving up and down from the base unit 150, and the moving unit 130. And a control unit 110 installed at the 130 'to control the plurality of scanning units 140a to 140d disposed all around the human body and the moving units 130 and 130' and the plurality of scanning units 140a to 140d. It includes.

The base unit 150 is a scaffold that provides a fixing point 151 so that the human body can stand upright about the plurality of scanning units 140a to 140d. At this time, the fixed point guides the heel and the inner surface of both feet to increase the reproducibility of the repeated measurement for the human body scanning of the measurement subject.

The moving parts 130 and 130 ′ vertically extend from the base part 150, for example, a pair of transfer guides 131 and 131 which extend to a height corresponding to the height of the measurement target and face each other with an upright human body interposed therebetween. '), The ballscrews 132 and 132' installed in the transfer guides 131 and 131 ', and the motor 133 which operates under the control of the controller 110 to rotate the ballscrews 132 and 132'. The slider is installed on the transfer guides 131 and 131 'and the ball screws 132 and 132' to vertically move along the transfer guides 131 and 131 'by the rotation of the ball screws 132 and 132' ( 134 and 134 'and horizontal bars 135 and 135' fixed to the sliders 134 and 134 'to mount the plurality of scanning units 140a to 140d at both ends thereof.

The plurality of scanning units 140a to 140d are mounted on both ends of the horizontal bars 135 and 135 'to move up and down vertically with respect to the upright human body, and the light pattern image is positioned at a predetermined vertical section position. Star projection, and captures the light pattern image generated on the surface of the peripheral region of the human body. In this case, the preset vertical section position is a position in which the upright human body is vertically divided into many equal parts, and preferably, the human body is vertically divided into five equal parts. In addition, the plurality of scanning units 140a to 140d preferably project and capture the light pattern image of 24 frames on the subject at positions of periphery area and vertical section, but is not limited thereto. In addition, the plurality of scanning units 140a to 140d transmit the captured image to the host computer under the control of the controller.

In the exemplary embodiment of the present invention, the horizontal bars 135 and 135 'are preferably vertically moved continuously with the human body interposed therebetween, but are not limited thereto. For example, when the plurality of scanning units 140a to 140d separately project and capture the kidney of the human body, a discontinuous vertical motion that repeats moving and stopping the set section is also possible. In addition, the ball screws 132 and 132 ′ are used to vertically elevate the plurality of scanning units 140a to 140d, but are not limited thereto. For example, a wire method can be adopted. In addition, the plurality of scanning units 140a to 140d installed in the moving units 130 and 130 'are disposed all around the human body but are not limited thereto. For example, the structure of the moving unit may be modified so that the scanning unit may be bilaterally or multilaterally disposed around the human body.

Each of the aforementioned scanning units includes an optical projector for projecting a light pattern image to a human body and a sensor camera for receiving and capturing a light pattern image reflected from the surface of the human body by the projection. In this case, the scanning unit including the optical projector and the sensor camera has an optimal angle for projecting and receiving a sufficient amount of light to the human body, which will be described below with reference to FIGS. 9 to 11.

Referring to the drawings, each of the plurality of scanning units 140a to 140d is mounted at both ends of the horizontal bars 135 and 135 'so as to observe the human body by tilting the horizontal bars 135 and 135' horizontally by 17 °. do. At this time, the angles of view of the optical projectors 141a to 141d and the sensor cameras 142a to 142d provided in each of the plurality of scanning units 140a to 140d and the horizontal angles α and vertical angles formed by the human body (β) is 23 ° and 22 °.

In an embodiment of the present invention, the distance between the human body and the scanning units 140a to 140d for implementing the optimal angle is preferably about 79 cm, and the distance between the scanning units mounted on both ends of the horizontal bars 135 and 135 'is About 90 cm is preferred, but not limited thereto. That is, the optimum angle, the distance between the human body and the scanning unit (140a to 140d) and the distance between the scanning unit mounted on both ends of the horizontal bar (135, 135 ') is optimized by the projection and capture experiment of the scanning unit for the human body It is obvious that based on the data, it can be changed depending on the characteristics and size of the equipment.

The optical projector and sensor camera provided in the above-described scanning unit will be described with reference to FIGS. 12 to 19.

First, the optical projector will be described with reference to FIGS. 12 to 17. As shown in FIG. 12, the optical projector converts light from the light emitting lamp 60 and the light emitting lamp 60 into the light pattern image 90. A light pattern image generating element 70 for converting and a lens 80 for adjusting the projection path of the light pattern image 90. In this case, the optical projector is a digital lighting processing (DLP) projector.

The light emitting lamp 60 is a means for shining light onto the light pattern image generating element 70. Here, the light is a near-infrared ray satisfying the range of 750 to 1200nm as a light source. At this time, it is obvious that the measurement subject can be scanned without psychological rejection in a situation where the near infrared cannot be recognized.

The light pattern image generating device 70 is a device that implements the light pattern image 90 shaped as a horizontal or vertical grid and is a digital micromirror display (DMD) device.

The lens 80 spectra the light pattern image 90, which is formed from the light pattern image generating element 70 into a horizontal or vertical grid, at a predetermined angle on the surface of the human body, and the light source of the light emitting lamp 60. Depending on the characteristics, infrared filters can be selectively adopted. That is, when the light source of the light emitting lamp 60 includes near infrared rays and visible rays, an infrared filter may be mounted on the lens 80 to transmit only the near infrared rays.

Referring to the above-described light pattern image generating element 70, that is, the DMD element in detail, the DMD element is composed of a plurality of unit pixels 71, and the unit pixel 71 is shown in FIG. And a reflector 71a for reflecting the light source of the light emitting lamp 60, a driver 71b including a yoke for driving the reflector 71a, and a control circuit portion 71c for controlling the driver. Here, the reflector 71a is connected to the yoke of the driving unit 71b, and when the yoke is + 10 ° or -10 ° to both sides, the reflector 71a is simultaneously linked to the light source of the light emitting lamp 60 at a predetermined angle. Will be reflected. The control circuit section 71c transmits a digital bit stream image code, which is a combination of 0 and 1, to the driving section 71b. In this case, the code can be transmitted up to several thousand times per second.

Each of the control circuits included in the above-described light pattern image generating element 70 generates a desired light pattern image by controlling the reflector of the unit pixel. As shown in FIG. 14, the light emitting lamp 60 emits near infrared light. When projecting onto the pattern image generating element 70, the reflecting mirrors 72, 73, 74 of each of the unit pixels included in the light pattern image generating element 70 are deflected at a predetermined angle according to the control signal of the control circuit unit. The projected near-infrared rays generate light pattern images 72 ', 73', 74 'of a predetermined shape according to angles of the reflectors 72, 73, 74, respectively. At this time, the light projected on the reflector 73 deflected at different angles among the reflectors 72, 73, and 74 is shaped as a shadow 73 'on the human body.

As described above, the light pattern image generating element 70 generates various light pattern images by controlling the plurality of unit pixels 71. As shown in FIGS. 15 to 17, the light pattern image generating element 70 converts the light pattern image from the large width to the small width. A multi-frame light pattern image is projected onto the human body. In this case, since the light pattern image is shaped as near infrared rays, it is obvious that projection is possible even under open natural lighting rather than a closed dark room.

Next, a sensor camera for receiving the reflected light of the light pattern image projected on the human body by the optical projector will be described with reference to FIGS. 18 and 19.

Referring to the drawings, the sensor camera 142a is a CCD camera using a charge coupled device (CCD), and is a metal oxide semiconductor (MOS) type image sensor. At this time, the sensor camera 142a is mounted horizontally on the above-described horizontal bar. On the other hand, the optical projector 141a for projecting the light pattern image is inclined vertically at an angle of 22 degrees upward or downward when viewed from the side.

The angle is an angle for the sensor camera 142a to sufficiently receive the light pattern image projected by the light projector 141a. In this case, the sensor camera 142a is equipped with an infrared filter on a lens (not shown). This is because the three-dimensional scanning apparatus can measure the light even under natural lighting. That is, the infrared filter allows the sensor camera to receive the reflected light in the near infrared region. In addition, the sensor camera 142a captures light pattern images of various patterns projected by the optical projector 141a to the human body, and transmits the captured images to the host computer under the control of the controller.

Hundreds of frames of captured images of the human body scanning of the three-dimensional scanning apparatus described above are stored in a database of the host computer, and each captured image is combined and analyzed in a three-dimensional shape by a three-dimensional scanning program of the host computer and displayed. .

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

As described above, according to the present invention, by scanning and capturing near-infrared rays while vertically reciprocating a plurality of scanning units centered on the human body, three-dimensional scanning of the entire body of the human body is performed without psychological rejection of the scanning subject in a normal lighting state rather than a closed dark room. There are advantages to it.

In addition, by projecting a digital pattern image excluding the conventional analog method to the measurement target, highly accurate data can be obtained.

In addition, by using an inexpensive optical projector compared to the conventional three-dimensional scanning device, it is possible to spread the low-cost three-dimensional scanning equipment to the general public.

Claims (13)

A base part on which a subject is set; A moving part vertically moving up and down from the base part; A plurality of scanning units which are installed in the moving unit and are arranged in a plurality around the subject, and project and capture a light pattern image by dividing the subject into a plurality of peripheral regions; And And a control unit configured to control the scanning of the scanning unit at the position of the movement of the moving unit and the position of the vertical section according to the movement of the movement. Under the control of the controller, the plurality of scanning units installed in the moving unit are moved up and down vertically with respect to the subject, and project the light pattern image to the periphery region of the subject at the position of the vertical section according to the movement. 3D scanning apparatus characterized in that the three-dimensional scanning of the subject by capturing the light pattern image generated on the surface of the peripheral region. The method of claim 1, The subject is a human body, and the base unit is a three-dimensional scanning device, characterized in that to provide a fixed point for the human body to stand upright around the plurality of scanning units. The method of claim 1, wherein the moving unit, A pair of transfer guides extending vertically from the base to face each other with the subject interposed therebetween; A ball screw installed in the transfer guide; A motor operating under the control of the controller to rotate the ball screw; A slider installed on the transfer guide and the ball screw to vertically move along the transfer guide by the rotation of the ball screw; And And a horizontal bar fixed to the slider to mount the scanning unit at both ends. The method according to claim 1 or 3, Each of the plurality of scanning units is fixed to both ends of the horizontal bar and installed all around the subject, and the scanning unit tilts the horizontal bar at an angle of 17 ° horizontally to look at the subject. The method of claim 1, wherein the scanning unit, 3D scanning apparatus, characterized in that it comprises an optical projector and a sensor camera. The method of claim 5, And the horizontal angle between the optical angle of the optical projector and the sensor camera and the subject is 23 °, and the vertical angle is 22 °. The method of claim 5, wherein the optical projector, Light emitting lamps; A light pattern image generating element for converting light of the light emitting lamp into a light pattern image; And Lens for adjusting the projection path of the light pattern image; 3D scanning apparatus comprising a. The method of claim 7, wherein The light emitting lamp is a three-dimensional scanning device, characterized in that the lamp having a near infrared light source. The method of claim 8, The near infrared ray is a three-dimensional scanning device, characterized in that to satisfy the range of 750 to 1200nm. The method of claim 7, wherein And the optical pattern image generating device is a digital micromirror device (DMD) device. The method of claim 5, The sensor camera is a three-dimensional scanning device, characterized in that the CCD (Charge Coupled Device) camera. The method of claim 11, The sensor camera is a three-dimensional scanning device, characterized in that equipped with an infrared filter for blocking visible light. The method of claim 1, And a scanning unit corresponding to the circumferential region of the subject at each vertical section to project and capture a light pattern image of 24 frames.

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