CN106204732B - The three-dimensional rebuilding method and system of dynamic exposure - Google Patents
The three-dimensional rebuilding method and system of dynamic exposure Download PDFInfo
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- CN106204732B CN106204732B CN201610580574.XA CN201610580574A CN106204732B CN 106204732 B CN106204732 B CN 106204732B CN 201610580574 A CN201610580574 A CN 201610580574A CN 106204732 B CN106204732 B CN 106204732B
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The present invention provides the three-dimensional rebuilding method and system of a kind of dynamic exposure, this method comprises: each location of pixels to object acquires image with multiple and different time for exposure, obtains multiple groups phase shift figure respectively；According to the multiple groups phase shift figure, is extracted respectively using phase shift method and obtain multiple groups wrapped phase and corresponding multiple modulation degree；According to the multiple modulation degree, the multiple groups phase shift figure is synthesized into wrapped phase figure；Based on the wrapped phase figure, absolute phase is obtained according to phase-unwrapping algorithm；And all pixels position of the traversal object, the three-dimensional information of the body surface is rebuild by three-dimensional reconstruction algorithm.The effect of three-dimensional reconstruction can be improved in the present invention.
Description
[technical field]
The present invention is about three-dimensional reconstruction, especially with respect to a kind of three-dimensional rebuilding method and system based on phase auxiliary.
[background technique]
In the three-dimensional reconstruction field of image, the three-dimensional rebuilding method based on phase auxiliary is a kind of important three-dimensional reconstruction skill
Art usually extracts phase and restoring using phase shift method and obtains the absolute phase of body surface modulation, thus phase be considered as it is a kind of auxiliary
The point correspondence for helping foundation to establish left and right camera, then according to point correspondence, using three-dimensional reconstruction algorithm, by having marked
Camera parameter and structural parameters in fixed binocular vision system rebuild the three-D profile information of body surface.It follows that
Phase masses are a key factors for rebuilding gained three-dimensional data quality.
For the body surface of different reflective materials, the phase matter obtained using the 3 dimension imaging technology assisted based on phase
Amount also difference.In general, camera is usually reflected only with a fixed time for exposure to obtain object in the prior art
Encoded phase shift figure, so body surface stronger for reflecting rate (usually light color or having the object of mirror-reflection), because
Its reflectivity is higher, so that the sinusoidal coding phase shift figure of camera acquisition has saturated phenomenon, affects camera to its sinusoidal coding phase
Move the Linear-phase of figure；Opposite, body surface (the usually deeper body surface of color) lower for reflecting rate, compared with
Low reflectivity also will affect linear response of the camera to its sinusoidal coding phase shift figure.So anti-for surface in the prior art
The higher object of light rate acquires image using the lower time for exposure, object lower for reflectivity in three-dimensional reconstruction then
Using the higher time for exposure.If the surface reflection rate of a certain object to be reconstructed be not it is fixed (for example, existing reflecting rate compared with
Also there is reflecting rate lower region in high region), then the time for exposure of camera can not be set by dynamic to obtain the higher phase of quality
Move figure, the effect of this three-dimensional reconstruction just directly affected.
[summary of the invention]
In view of this, one of the objects of the present invention is to provide a kind of three-dimensional rebuilding method of dynamic exposure and system, with
It solves the above problems.
According to embodiments of the present invention in a first aspect, providing a kind of three-dimensional rebuilding method of dynamic exposure, comprising: to object
Each location of pixels acquires image with multiple and different time for exposure, obtains multiple groups phase shift figure respectively；According to the multiple groups phase shift
Figure is extracted respectively using phase shift method and obtains multiple groups wrapped phase and corresponding multiple modulation degree；It, will according to the multiple modulation degree
The multiple groups phase shift figure synthesizes wrapped phase figure；Based on the wrapped phase figure, absolute phase is obtained according to phase-unwrapping algorithm
Position；And all pixels position of the traversal object, the three-dimensional information of the body surface is rebuild by three-dimensional reconstruction algorithm.
Second aspect according to embodiments of the present invention provides a kind of three-dimensional reconstruction system of dynamic exposure, including Image Acquisition
Module, phase measurements module and three-dimensional information processing module.Image capture module, for in the multiple location of pixels of body surface
Each location of pixels image is acquired with multiple and different time for exposure, obtain multiple groups phase shift figure respectively；Phase measurements module is used
Multiple groups wrapped phase and corresponding multiple modulation degree are obtained in being extracted respectively using phase shift method according to the multiple groups phase shift figure, with
And according to the multiple modulation degree, the multiple groups phase shift figure is synthesized into wrapped phase figure；And three-dimensional information processing module, it uses
In being based on the wrapped phase figure, absolute phase is obtained according to phase-unwrapping algorithm, and institute is rebuild by three-dimensional reconstruction algorithm
State the three-dimensional information of body surface.
The three-dimensional rebuilding method and system of dynamic exposure provided in an embodiment of the present invention utilize multiple-exposure, and three-dimensional can be improved
The effect of reconstruction.
[Detailed description of the invention]
Fig. 1 is the schematic diagram according to the 3-D imaging system based on phase auxiliary of the embodiment of the present invention.
Fig. 2 is the flow chart according to the three-dimensional rebuilding method using multiple-exposure of the embodiment of the present invention.
Fig. 3 is the schematic diagram according to the three-dimensional reconstruction system of the embodiment of the present invention.
[specific embodiment]
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, and
It is non-to be used to limit the present invention.
Basic thought of the invention are as follows: for the sine streak structure light that digital projection is projected, camera is exposed by dynamic
Light acquires image within the different time for exposure, by collecting multiple groups phase shift figure using multiple-exposure, ensure that three-dimensional
The region of different reflecting rates can obtain high phase quality in image scene, to improve three-dimensional reconstruction to the dynamic of different reflecting rates
Range.
Fig. 1 is according to the schematic diagram of the 3-D imaging system 100 based on phase auxiliary of the embodiment of the present invention, including projection
Instrument 102 and camera 104.As shown in Figure 1, projector 102 is by after sine streak project structured light to body surface, by object table
The reflection in face, wherein the reflectivity of body surface is r (x, y), and camera 104 collects the sine streak structure light of reflection, not
Under the same time for exposure, camera 104 acquires the different phase shifted images of multiple groups.The sine streak structure light that projector 102 projects
Phase shifted images light intensityAs following formula (1) indicates:
Wherein, A is background light intensity, and B is fringe contrast, and (x, y) is incident point coordinate, and φ (x, y) is wrapped phase, n
For the location of pixels in phase change direction, N is the space periodic of phase, and unit is pixel.
After body surface reflects, into the light distribution of cameraAs following formula (2) indicate:
For each location of pixels of object, camera is in multiple and different time for exposure tiUnder collect multiple groups phase shift figure
PictureThe multiple groups phase shift figure collected according to the different time for exposure, camera institute is extracted using phase shift method respectively
The multiple groups wrapped phase of the sine streak light of acquisition, while obtaining multiple corresponding modulation degree D.Due to different time for exposure energy
Different modulation degree is obtained, according to multiple modulation degree, the resulting multiple groups phase shift figure of different exposure time is synthesized into width synthesis
Wrapped phase figure.Traverse all pixels position of imaging surface, each location of pixels in the wrapped phase figure thus synthesized
There are higher Sine Modulated degree, the phase masses guaranteed.Then, based on the wrapped phase figure of the synthesis, pass through phase
Position expansion technique obtains absolute phase, in conjunction with proven three-dimensional binocular structural parameters, is rebuild by three-dimensional reconstruction algorithm
The three-D profile information of body surface.
In one embodiment, the number of the multiple-exposure of each location of pixels and the length of time for exposure can use light intensity
Distribution histogram determines.For example, according to the changes in distribution of image scene reflectivity, intensity is projected in projector 102Uniform Illumination when, adjust the time for exposure t of camera0, so that reflectivity highest region in entire effectively imaging viewing field
Domain close to saturation but it is not over-exposed.Then the analysis of light intensity statistic histogram is carried out to reflected image, it is assumed that the histogram is by K
A different wave crest composition, the corresponding light intensity of each wave crest is Ii, wherein I0For light intensity highest.Using in light distribution histogram
The number of wave crest determines the exposure frequency of each location of pixels, is determined in multiple and different time for exposure every time using following formula (3)
Length:
ti=Ii/I0*t0 (3)
In this way, carry out light distribution histogram analysis by the image acquired to the lower time for exposure, object is determined
The different time for exposure corresponding to location of pixels of different reflecting rate variations each.
In certain time for exposure tiUnder the acquisition condition of camera response coefficient s, camera exports the light distribution of imageAre as follows:
Multiple groups phase shift figure based on different exposure time acquisitionExtract multiple groups wrapped phase respectively using phase shift method:
Obtain multiple modulation degree D of camera sine streak light collected simultaneously:
It, will be different according to multiple modulation degree since multiple and different time for exposure can obtain multiple and different modulation degree
Time for exposure resulting multiple groups wrapped phase figure synthesizes a width wrapped phase figure φcompound(x,y)。
In one embodiment, for the three-dimensional imaging scene that exposure frequency is K, each location of pixels of imaging surface
The modulation degree for having K different wrapped phases and K different.The size of the multiple modulation degree obtained by comparing, selection are maximum
Phase value of the obtained wrapped phase of corresponding that exposure of modulation degree as the location of pixels.Traverse all pictures of imaging surface
Plain position, each location of pixels has higher Sine Modulated degree, the phase guaranteed in the phase diagram thus synthesized
Quality.By phase unwrapping technology, by the phase diagram φ synthesizedcompound(x, y) obtains absolute phase, in conjunction with proven three
Binocular structural parameters are tieed up, the three-D profile information of body surface is rebuild by three-dimensional reconstruction algorithm.
Fig. 2 is the flow chart according to the three-dimensional rebuilding method 200 using multiple-exposure of the embodiment of the present invention.Dynamic exposure
Three-dimensional rebuilding method 200 can be applied to 3-D imaging system 100 shown in FIG. 1, the following steps are merely illustrative, if
It is able to achieve same effect, it is not necessary to which this method is executed with following particular order.The three-dimensional rebuilding method 200 of dynamic exposure can lead to
Following steps 202-210 is crossed to realize.
Step 202: image being acquired with multiple and different time for exposure to each location of pixels of object, obtains multiple groups respectively
Phase shift figure；
Step 204: according to the multiple groups phase shift figure, being extracted respectively using phase shift method and obtain multiple groups wrapped phase and corresponding
Multiple modulation degree；
Step 206: according to the multiple modulation degree, the multiple groups phase shift figure being synthesized into wrapped phase figure；
Step 208: being based on the wrapped phase figure, absolute phase is obtained according to phase-unwrapping algorithm；And
Step 210: traversing all pixels position of the object, the body surface is rebuild by three-dimensional reconstruction algorithm
Three-dimensional information.
Wherein, range data is parsed according to the absolute phase for restoring to obtain, such as calibrated double by combining
Camera coefficient and structural parameters in mesh vision system parse range data, to rebuild the three-D profile of body surface
Information.For object all pixels position, camera acquires image within the different time for exposure using multiple-exposure, obtains multiple groups
Phase shift figure ensure that the region of different reflecting rates in three-dimensional imaging scene can obtain high phase quality, to improve Three-dimensional Gravity
Build the dynamic range to different reflecting rates.
The present invention also provides a kind of three-dimensional reconstruction systems of dynamic exposure, as shown in figure 3, Fig. 3 is to be implemented according to the present invention
The schematic diagram of the three-dimensional reconstruction system 300 of the dynamic exposure of example.The system includes image capture module 302, phase measurements module
304 and three-dimensional information processing module 306, it can be used for executing the three-dimensional rebuilding method 200 of dynamic exposure shown in Fig. 2.Specifically,
Image capture module 302 includes projector 102 shown in FIG. 1 and camera 104, for in the multiple location of pixels of body surface
Each location of pixels acquires image with multiple and different time for exposure, obtains multiple groups phase shift figure respectively.Phase measurements module 304 is used
Multiple groups wrapped phase and corresponding multiple modulation degree are obtained in being extracted respectively using phase shift method according to the multiple groups phase shift figure, with
And according to the multiple modulation degree, the multiple groups phase shift figure is synthesized into wrapped phase figure.Three-dimensional information processing module 306 is used for
Based on the wrapped phase figure, absolute phase is obtained according to phase-unwrapping algorithm, and by described in the reconstruction of three-dimensional reconstruction algorithm
The three-dimensional information of body surface.
The working principle of above-mentioned modules is as described above, is not repeated here herein.The three-dimensional of above-mentioned dynamic exposure
The modules of reconstructing system, which can be implemented as software, hardware or its mode combined, software section, can store in computer
In readable storage medium storing program for executing, such as ROM/RAM, disk, CD.
The three-dimensional rebuilding method and system of dynamic exposure of the invention utilize multiple-exposure, can to reflecting rate height variation compared with
Big scene obtains the phase shift figure of high quality, ensure that the effect of three-dimensional reconstruction.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, and the scope of the present invention is with appended
Claims define.Those skilled in the art in the case where not departing from spirit of that invention and principle, any modification for being made, replacement and
Modification etc., should be included within the scope of the present invention.
Claims (5)
1. a kind of three-dimensional rebuilding method of dynamic exposure characterized by comprising
Image is acquired with multiple and different time for exposure to each location of pixels of object, obtains multiple groups phase shift figure respectively；
According to the multiple groups phase shift figure, is extracted respectively using phase shift method and obtain multiple groups wrapped phase and corresponding multiple modulation degree；
According to the multiple modulation degree, the multiple groups phase shift figure is synthesized into wrapped phase figure；
Based on the wrapped phase figure, absolute phase is obtained according to phase-unwrapping algorithm；And
The all pixels position for traversing the object, the three-dimensional information of the body surface is rebuild by three-dimensional reconstruction algorithm,
Wherein include: with the step of multiple and different time for exposure acquisition images to each location of pixels of object
The number of exposure is determined by the wave crest number of light distribution histogram；And
Highest light intensity and corresponding time for exposure when according to the corresponding light intensity of each wave crest, projection light intensity uniform irradiation,
Come the plurality of different time for exposure corresponding to location of pixels for determining the object difference reflecting rate respectively each
Length.
2. the three-dimensional rebuilding method of dynamic exposure as described in claim 1, which is characterized in that the length meter of the time for exposure
Formula are as follows:
ti=Ii/I0*t0
Wherein, tiFor the time for exposure of i-th of wave crest, IiFor the corresponding light intensity of i-th of wave crest, I0And t0Respectively projection light is uniform
Highest light intensity and corresponding time for exposure under irradiation.
3. the three-dimensional rebuilding method of dynamic exposure as described in claim 1, which is characterized in that according to the multiple modulation degree,
The step of multiple groups phase shift figure is synthesized wrapped phase figure include:
For each location of pixels of the object, the size of more the multiple modulation degree selects maximum percentage modulation corresponding
Phase value of the wrapped phase as the location of pixels.
4. a kind of three-dimensional reconstruction system of dynamic exposure characterized by comprising
Image capture module, when for each location of pixels in the multiple location of pixels of body surface with multiple and different exposures
Between acquire image, respectively obtain multiple groups phase shift figure；
Phase measurements module, for according to the multiple groups phase shift figure, extracted respectively using phase shift method obtain multiple groups wrapped phase and
Corresponding multiple modulation degree, and according to the multiple modulation degree, the multiple groups phase shift figure is synthesized into wrapped phase figure；And
Three-dimensional information processing module is used to be based on the wrapped phase figure, obtains absolute phase according to phase-unwrapping algorithm, and
The three-dimensional information of the body surface is rebuild by three-dimensional reconstruction algorithm,
Wherein described image acquisition module includes:
Projector, for projecting sine streak structure light to the body surface；
Camera acquires image for each location of pixels to object with multiple and different time for exposure, obtains multiple groups phase respectively
Figure is moved,
Wherein the camera is arranged to determine the location of pixels of the object difference reflecting rate using light distribution histogram
The plurality of different time for exposure corresponding to each, the number of the exposure by the light distribution histogram wave crest
Number determines；And the length of the time for exposure is according to the corresponding light intensity of each wave crest, projection light intensity uniform irradiation
When highest light intensity and the corresponding time for exposure determine.
5. the three-dimensional reconstruction system of dynamic exposure as claimed in claim 4, which is characterized in that the phase measurements module for
Each location of pixels of the object, the size of more the multiple modulation degree select the corresponding wrapped phase of maximum percentage modulation
Phase value as the location of pixels.
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| CN108616727A (en) * | 2016-12-23 | 2018-10-02 | 光宝电子(广州)有限公司 | Exposal control method based on structure light and exposure-control device |
| US10753726B2 (en) * | 2017-03-26 | 2020-08-25 | Cognex Corporation | System and method for 3D profile determination using model-based peak selection |
| CN109405735B (en) * | 2017-08-18 | 2020-11-27 | 阿里巴巴集团控股有限公司 | Three-dimensional scanning system and three-dimensional scanning method |
| CN109819173B (en) * | 2017-11-22 | 2021-12-03 | 浙江舜宇智能光学技术有限公司 | Depth fusion method based on TOF imaging system and TOF camera |
| CN107894215B (en) * | 2017-12-26 | 2020-05-08 | 东南大学 | High dynamic range grating projection three-dimensional measurement method based on full-automatic exposure |
| CN108109201B (en) * | 2017-12-28 | 2021-11-30 | 深圳市易尚展示股份有限公司 | Three-dimensional reconstruction method and system for complex color surface object |
| CN113340236B (en) * | 2021-06-28 | 2023-02-24 | 四川大学 | High dynamic surface topography measuring method |
| CN114459380B (en) * | 2022-01-25 | 2023-06-02 | 清华大学深圳国际研究生院 | Method for acquiring folding phase, three-dimensional reconstruction method and system |
| CN117523106A (en) * | 2023-11-24 | 2024-02-06 | 广州市斯睿特智能科技有限公司 | Three-dimensional reconstruction method, system, equipment and medium for monocular structured light |
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