CN101063605A - Real time three-dimensional vision system based on two-dimension colorama encoding - Google Patents
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Abstract
This invention relates to one real time three-dimensional visual system based on two-dimensional color light coding, which comprises the following parts: digital player to project light mode board onto object; cameral to get image; microprocessor to form color modulation and 3D reconstruction and the processor comprises color set module to form color set as P= {c1, c2, c3, ...ci, ...}, i>=3 with ci for special light wave or color; coding module to select element from set for special coding combination with only field; coding word output module to coding the projection parts to output beam; 3D coordinate computation module to get the image relative light mode board and to get 3D space coordinate.
Description
(1) technical field
The present invention relates to a kind of real-time three-dimensional system.
(2) background technology
In a coding structure photosystem, the optical mode plate that is used for light scene is through specially designed, and each pixel all has its specific code on the template image, so, direct mapping that need be during realization from code to the corresponding pixel coordinate.These codes are some simple numerical normally, can represent these image mapping codes by gray scale, color or geometry in particular.Usually, if the quantity of encoded point is many more, coded word will be many more, and be mapped to these codes on the corresponding figure also just difficult more.Broad research such as Batlle the visual mapping techniques that grows up in 10 years in the past, and coding is divided into three kinds of time multi-resolution method, neighborhood compiling method and direct methods etc.The time multi-resolution method produces coded word by the visual time series of mapping, so each map architecture is all very simple.The neighborhood compiling method replaces coded word with unique pattern, but has increased the complexity of figure.Directly rule is coded word of each pixel definition.
Based on the time multi-resolution method of time-multiplexed technology, be one of the most general strategy of sequential coding.This image can be realized high-precision measurement, and this mainly is owing to two reasons: at first, because the codebases that those composite patterns are mapped to very little (usually just binary number), therefore be a kind of simple code mode of distinguishing in coded word each other of being easy to.Secondly, by a process from coarse to fine, when image by Continuous Mappings the time, the position of pixel is also progressively accurately imported.The advantage of this technology is to be easy to carry out, and finishes high spatial resolution and accurate three-dimensional measurement.But its main drawback is that this technology is just inapplicable when moving object needs many pattern Mapping.Excellent precision can be obtained based on mapping rastered picture input gray level code technique, but maximum resolution can not be reached.In order to obtain big resolution, the technology based on gray-coded and phase shift is carried out use, and its major defect is will be with a large amount of mapping patterns (greater than 24 width of cloth).If maximum spatial resolution is not the main target of using, be the quantity minimization of mapping image, Bian Ma light mapping techniques is just proper so.This method has promptly obtained higher degree of accuracy, has reduced the image quantity that needs mapping with exponential form simultaneously.
The direct coding technology is created a kind of figure so that can both come mark to each pixel by the information above it.The coded word of certain point just is comprised in the greyscale pattern of a uniqueness like this.People such as Griffin and Salvi have brought reference frame of great use in this technical work of doing to us recently.In order to reach uniqueness, not only used large-scale color value but also adopt periodically.Can realize in theory though arrive very high three-dimensional information resolution, because the existence of noise makes that the distance between the coded word is almost nil.Moreover the color of image does not depend on just that the color of video also depends on the color of body surface itself, so the reference picture that needs at least to take more than one is used for three-dimensional reconstruction, so these technology also are not suitable for the reconstruction and the analysis of dynamic scene.
The spatial neighbor compiling method is another the main method in the structured light system.This method is concentrated all coding modes in a pattern, crossing coded word with figure image point mark can obtain from contiguous some analysis around it.The comparison difficulty yet its decoding stage becomes is because sometimes the spatial neighbor zone may be lost and be produced the three-dimensional computations mistake.Usually, those visualization feature that accumulate in neighborhood regional structure that is those gray scales and color.The spatial neighbor technology can be divided into three classes: nonnormal compiling method, De Bruijn sequence and M battle array.The advantage that these technology are compared with time-multiplexed technology is that these strategies allow to measure the surface of moving object.Yet because this method must be compressed in the same images, spatial resolution is lower.In addition, thus the local surfaces slickness that will suppose testee guarantees correct gray scale decoding.
Existing structured light system single file bar code commonly used, the benefit of this method is a problem of having simplified coupling greatly, but shortcoming is the striped that can only obtain a data point in each visual cinestrip.For the expedited data gatherer process, can adopt the multirow striped to replace.The space of four greyscale pattern of humans such as Osawa-time scan method, when taking pictures with camera, grey codes miscellaneous is mapped to object with the time series form.The advantage of this method is that the process of having quickened the acquisition three-dimensional image has also been simplified matching problem simultaneously.But it still needs to take several images several times continuously and comes the generation time sequence code.In order to reduce the quantity of input imagery, produce the color fringe pattern, take in each viewpoint with camera simultaneously.Someone has used the structure light source of not corrected to penetrate various color fringe forms, and in conjunction with color structured light and stereoscopic vision, only uses a camera to arrest the picture of mapping candy strip, carries out the edge coupling then in image.
System compares with structured light, and this uses the system of linear striped LCD or DLP projector to have an advantage, is exactly that the point of measuring the object of equal number in a scene needs less image.But it still needs several width of cloth pictures (normally 8 to 12 width of cloth) could restore the image of a three-dimensional scenic.So its speed and application have been subjected to certain restriction, usually, can only be used for rebuilding stationary body.For dynamic scene, can only obtain a pictures to observe the three-dimensional information of moving object.In this case, obtain just desirable very of three-dimensional image with a pictures.
(3) summary of the invention
Low for the reconstruction efficient that overcomes existing three dimensional vision system, system speed is limited, the deficiency of dynamic image real-time difference, the present invention discloses the special comb mesh pattern of a kind of employing and realizes that three-dimensional image rebuilds.The real-time three-dimensional system that this is a kind of efficient height, system speed is fast, real-time is good based on two-dimentional colorama coding.
The present invention's technical scheme that is adopted of dealing with problems is:
A kind of real-time three-dimensional system based on two-dimentional colorama coding comprises a digital projector, in order to optical mode plate is projected on the object; One video camera is in order to obtain image; One microprocessor, in order to form color modulation light and to carry out three-dimensional reconstruction, described microprocessor includes: a color set module, in order to form color set: P={c1, c2, c3 ... ci, ..., i 〉=3, wherein ci represents a kind of light wave or color of specific wavelength; One coding module in order to selecting element from described color set, and carries out the synthetic coded word of specific code set, and the field of described coded word has uniqueness; One coded word output module is in order to correspond to optical projection device one by one with output beam with described coded word; One three-dimensional coordinate computing module corresponds to optical mode plate and calculates three dimensional space coordinate in order to the image that will obtain, and in the described coding module, in order to according to color set P, constructs a horizontal code sequence the longest:
S
h＝[c
1，c
2，c
3，...，c
m] (1)
Wherein, m is the length of sequence, and is right for the color of any vicinity, and it satisfies formula (2):
c
i≠c
i+1， 1≤i＜m (2)；
And the combination T of any three adjacent colors
H3i=[c
ic
I+1c
I+2] in sequence unique existence, referring to formula (3):
T
h3i≠T
h3j， i≠j，1≤i，j≤m-2 (3)
The maximal value S of video sequence length
hBe Length (S
h)=p (p-1) (p-1)+2;
Construct a vertical series the longest again:
S
v＝[c
1，c
2，c
3，...，c
n] (4)
Wherein n is the length of sequence, and is right for random color wherein, and it not only satisfies formula (2), also satisfies uniqueness condition:
[c
i?c
i+1]≠[c
j?c
j+1]，i≠j，1≤i，j≤m-1 (5)
By the vertical series that P color produces, the maximal value S of its length
vBe Length (S
v)=p (p-1)+1; The longest vertical series that the longest video sequence that produces according to P color and P-1 color produce is by convolution algorithm structure color mapped matrix S, referring to (6):
S＝S
hS
v (6)；
This matrix S satisfies:
Condition 1:
Condition 2:
Wherein, x
IjBe the color screen lattice point that i is capable and j is listed as in the color mapped matrix S, word w
IjBe a five-tuple sequence { x
Ij, x
I, j-1, x
I-1, j, x
I, j+1, x
I+1, j.
Further, described color mapped matrix is a comb mesh pattern, has the minor increment of setting between per two adjacent colored grid point colors.
Further again, the rule of described convolution algorithm is: first row of matrix is by S
hDefinition, second row are by being that mould adds S with p
vFirst element to S
hEach element in go to create out, wherein modulo operation only set 1, do not comprise 0 element among the 2.....p}, the third line is by being that mould adds S with p
vSecond element to S
hEach element in go to create out, and the like.
Principle of work of the present invention is: according to color set of application design, comprise the mutually different color of specific kind in the color set, construct a horizontal code sequence and vertical code respectively with said method then, color mapped matrix S of regeneration; The structure light vision system projects the pairing light pattern of this color mapped matrix S in the scene by projector, and a video camera detects the distribution of color of object surface; The distribution of color can translate the pairing projection coordinate of each picture element in the image after decoding, utilize system calibration parameter (being two perspective transition matrixes of video camera and projector) again, just can carry out three-dimensional reconstruction to measure the three-dimensional coordinate of each visible point in the scene.Owing to only need obtain a width of cloth scene image in the system work process, and image also only needs handle in the part, so work efficiency is very high, can be used for the real-time three-dimensional system.
Template colorama mapping matrix S exports through digital projector, and the three-dimensional body in the scene just can be carried out quick three-dimensional reconstructing by the color distribution in the analysis image then by color modulation.
Beneficial effect of the present invention mainly shows: 1, only need read the single width image can measure three-dimensional scenic; 2, efficient height, system speed are fast; 3, dynamic real-time is good.
(4) description of drawings
Fig. 1 is typical grey codes method synoptic diagram.
Fig. 2 is the coded graphics of people such as Griffin design.
Fig. 3 is the coded graphics of people such as Salvi design.
Fig. 4 is the structural representation of system that the present invention realizes.
Fig. 5 is a comb mesh pattern synoptic diagram of the present invention.
Fig. 6 is the synoptic diagram by 32 * 212 comb mesh pattern of seven kinds of colors generations.
(5) embodiment
Below in conjunction with accompanying drawing the present invention is further described.
Fig. 1 is typical grey codes method synoptic diagram, and Fig. 2 and Fig. 3 are the designed in recent years coded graphicss of people such as Griffin and Salvi.Among the present invention, with reference to Fig. 4, Fig. 5, a kind of real-time three-dimensional system based on two-dimentional colorama coding comprises a digital projector, in order to optical mode plate is projected on the object; One video camera is in order to obtain image; One microprocessor, in order to form color modulation light and to carry out three-dimensional reconstruction, described microprocessor includes: a color set module, in order to form color set: P={c1, c2, c3 ... ci, ..., i 〉=3, wherein ci represents a kind of light wave or color of specific wavelength; One coding module in order to selecting element from described color set, and carries out the synthetic coded word of specific code set, and the field of described coded word has uniqueness; One coded word output module is in order to correspond to optical projection device one by one with output beam with described coded word; One three-dimensional coordinate computing module corresponds to optical mode plate and calculates three dimensional space coordinate in order to the image that will obtain, and in the described coding module, in order to according to color set P, constructs a horizontal code sequence the longest:
S
h＝[c
1，c
2，c
3，...，c
m] (1)
Wherein, m is the length of sequence, and is right for the color of any vicinity, and it satisfies formula (2):
c
i≠c
i+1， 1≤i＜m (2)；
And the combination T of any three adjacent colors
H3i=[c
ic
I+1c
I+2] in sequence unique existence, referring to formula (3):
T
h3i≠T
h3j，?i≠j，1≤i，j≤m-2 (3)
The maximal value S of video sequence length
hBe Length (S
h)=p (p-1) (p-1)+2;
Construct a vertical series the longest again:
S
v＝[c
1，c
2，c
3，...，c
n] (4)
Wherein n is the length of sequence, and is right for random color wherein, and it not only satisfies formula (2), also satisfies uniqueness condition:
[c
i?c
i+1]≠[c
j?c
j+1]，i≠j，1≤i，j≤m-1 (5)
By the vertical series that P color produces, the maximal value S of its length
vBe Length (S
v)=p (p-1)+1; The longest vertical series that the longest video sequence that produces according to P color and P-1 color produce is by convolution algorithm structure color mapped matrix S, referring to (6):
S＝S
hS
v (6)；
This matrix S satisfies:
Condition 1:
Condition 2:
Wherein, x
IjBe the color screen lattice point that i is capable and j is listed as in the color mapped matrix S, word w
IjBe a five-tuple sequence { x
Ij, x
I, j-1, x
I-1, j, x
I, j+1, x
I+1, j;
Further, described is comb mesh pattern with the color mapped matrix, and matrix S can output on the digital projector by computer, has setpoint distance between per two colour code words, thereby three-dimensional body is modulated by the template colorama.
The present invention has proposed a new method when grid pattern design, in case the perspective mapping matrix of the camera global coordinates structure relative with projector calculated from the scale of preliminary examination, owing to do not have matching problem, handle three-dimensional triangulation of sitting impact point and need only the simple computation linear equation.
In comb mesh pattern, the word figure that each light lattice and the neck lattice around it are formed is well-determined, and this is extremely important when reality.
Allow the P be a series of color source codes, P={1,2 ..., p} (for example, 1=is white, and 2=is red, and 3=is green, 4=indigo plant, etc.).These color source codes are assigned to the s-matrix of a m * n, and this matrix is from being mapped to the input imagery that scene gets on.We have defined a word, and this word is (i, j) 4 values adjacent with it from the coordinate of color value in S.If x
IjBe the colored point that the i in S is capable and j is listed as of appointment, the corresponding position of institute, w just represented in this word so
IjExpression sequence { x
Ij, x
I, j-1, x
I-1, j, x
I, j+1, x
I+1, j, wherein i ∈ 1,2 ..., m}, j ∈ 1,2 ..., n} (Fig. 5).If the value of all words all exists in the table among the S, each word directly defines a coordinate position in projector so.
By this method, the coordinate position of each definition all is unique in matrix, so coupling has just no longer become problem.That is to say that after image was mapped in the scene, the word value of each figure image point had been determined (by the calculating chart image point and the color distribution of consecutive point around it), like this, the matched position of certain figure image point in matrix is well-determined.
The step that coding method realizes is: at first, a given color set P, we construct a horizontal code sequence the longest as possible,
S
h＝[c
1，c
2，c
3，...，c
m] (1)
Wherein, m is the length of sequence.Right for any adjacent color, it satisfies formula (2):
c
i≠c
i+1，1≤i＜m (2)；
And the combination T of any three adjacent colors
H3i=[c
ic
I+1c
I+2] in sequence unique existence, referring to formula (3):
T
h3i≠T
h3j，i≠j，1≤i，j≤m-2 (3)
Theorem 1: video sequence S
hThe length maximal value be Length (S
h)=p (p-1) (p-1)+2.
This be because, for p kind color, the maximum quantity of independent tlv triple be p (p-1) (p-1), suppose that they can both link together, so the length of chain be exactly p (p-1) (p-1)+2.
This video sequence can produce by the random search method.The present invention has checked all colours number to be not more than 32 color set, and each color set can both produce a chain the longest.Owing under off-line state,, improve this algorithm so need not special emphasis as long as generation once and not influences the real-time performance of system works.
For example, at the set of four looks, its video sequence can be generated as:
S
h(4)＝[12421213132312343243413423214143142412]
Moreover, a given color set P, we manage to construct the longest vertical color list,
S
v＝[c
1，c
2，c
3，...，c
n] (4)
Wherein n is the length of sequence, and is right for random color wherein, and it not only satisfies condition (2), also satisfies uniqueness condition:
[c
i?c
i+1]≠[c
j?c
j+1]，i≠j，1≤i，j≤m-1 (5)
Theorem 2: adjacent color to condition with uniqueness under, vertical series S
vThe maximal value of its length is Length (S
v)=p (p-1)+1.This sequence can be produced by following form,
S
v＝[121314...1p，2324...2p，...，(p-1)p，1]
The proof of maximum length is similar with theorem 1.For p kind color, the maximum quantity that its independent color is right is p (p-1), supposes that they can both link up, and the length of chain is p (p-1)+1.In fact, the first of sequence [1213...1p] has comprised except [p1] all, and to contain 1 color right, it have 2 (p-1) individual and every pair all be unique, second portion [p2324...2p] has comprised all, and to contain 2 color right, that this part has increased by 2 (p-2) is right.According to this method with one 1 of the last increase of sequence, we find that in the sequence each is to all being unique.
For example, the set of given 4 color, the vertical row preface then is S
v(4)=[1213142324341].
Because vertical series works as mould and video sequence one, digital p can not appear in the vertical series.Therefore, this sequence is in fact lacked a kind of color than video sequence.If p produces video sequence with color, just to be used for producing corresponding length be (p-1) vertical series (p-2)+1 to p-1 numeral so.
At last, the color mapped matrix can be by maximum horizontal and vertical code sequence (S
hAnd S
v) produce, this makes maximum possible size [(p-1) (p-2)+2] * [p (p-1) of coded word
2+ 2] matrix is unique existence in matrix.First row of matrix is by S
hDefinition, second row are by being that mould adds S with p
vFirst element to S
hEach element in create out.Wherein modulo operation only set 1, do not comprise 0 element among the 2.....p}.(traditional modulo operation comprises 0 element.) the third line is by being that mould adds S with p
vSecond element to S
hEach element in create.By that analogy, by this method, can generate 8 * 38 color mapped matrix for one 4 look set.We are defined as convolution algorithm operation, S=S to said method
h S
v, can prove that each word is well-determined in matrix S.
Said method has provided the production method of the space encoding matrix of satisfy condition (7) and (8).This method is a kind of finte-state machine principle.After first row was determined, next every row then can produce by the digital conversion of its upper row.But this scheme also has two shortcomings, the one, the matrix shape that generates be not sometimes we want like that because its shape resembles one " long band ".For example, one four look set produces one 8 * 38 matrix, and one 5 look set produces one 14 * 82 matrix, and one 6 look set produces one 22 * 152 matrix, or the like.Actual digital projector throw in usually one wide: height is the image of 4: 3 or 16: 9.So we wish also to produce this matrix and foursquare encoder matrix.Yet, producing very difficulty of such matrix with the pure mathematics formula, we can address this problem with computer.Can find a maximum square formation satisfy condition (7) and (8) by program random search algorithm.
In example, we adopt the set of one 7 look, and it can produce 32 * 212 rectangular matrix and carry out the two-dimensional space coding.Fig. 5 is the partial colour light pattern after this matrix dyeing.
Claims (3)
1, a kind of real-time three-dimensional system based on two-dimentional colorama coding comprises a digital projector, in order to optical mode plate is projected on the object; One video camera is in order to obtain image; One microprocessor, in order to form color modulation light and to carry out three-dimensional reconstruction, described microprocessor includes: a color set module, in order to form color set: P={c1, c2, c3 ... ci, ..., i 〉=3, wherein ci represents a kind of light wave or color of specific wavelength; One coding module in order to selecting element from described color set, and carries out the synthetic coded word of specific code set, and the field of described coded word has uniqueness; One coded word output module is in order to correspond to optical projection device one by one with output beam with described coded word; One three-dimensional coordinate computing module corresponds to optical mode plate and calculates three dimensional space coordinate in order to the image that will obtain, and it is characterized in that: in the described coding module, in order to according to color set P, construct a horizontal code sequence the longest:
S
h＝[c
1，c
2，c
3，...，c
m] (1)
Wherein, m is the length of sequence, and is right for any adjacent color, and it satisfies formula (2):
c
i≠c
i+1，1≤i＜m (2)；
And the combination T of any three adjacent colors
H3i=[c
ic
I+1c
I+2] in sequence unique existence, referring to formula (3):
T
h3i≠T
h3j，i≠j，1≤i，j≤m-2 (3)
The maximal value S of video sequence length
hBe Length (S
h)=p (p-1) (p-1)+2;
Construct a vertical series the longest again:
S
v＝[c
1，c
2，c
3，…，c
n] (4)
Wherein n is the length of sequence, and is right for random color wherein, and it not only satisfies formula (2), also satisfies uniqueness condition (5):
[c
i?c
i+1]≠[c
j?c
j+1]，i≠j，1≤i，j≤m-1 (5)
Vertical series S by P color generation
v, the maximal value of its length is Length (S
v)=p (p-1)+1; The longest vertical series that the longest video sequence that produces according to P color and P-1 color produce is by convolution algorithm structure color mapped matrix S, referring to (6):
S＝S
hS
v (6)；
This matrix S satisfies:
Condition 1:
Condition 2:
Wherein, x
IjBe the color screen lattice point that i is capable and j is listed as in the color mapped matrix S, word w
IjBe a five-tuple sequence { x
Ij, x
I, j-1, x
I-1, j, x
I, j+1, x
I+1, j.
2, the real-time three-dimensional system based on two-dimentional colorama coding as claimed in claim 1, it is characterized in that: described color mapped matrix is a comb mesh pattern, has the minor increment of setting between per two adjacent colored grid point colors.
3, the real-time three-dimensional system based on two-dimentional colorama coding as claimed in claim 1 or 2, it is characterized in that: the rule of described convolution algorithm is: first row of matrix is by S
hDefinition; Second row is by being that mould adds S with p
vFirst element to S
hEach element in go to create, wherein modulo operation only set 1, among the 2.....p}, do not comprise 0 element; The third line is by being that mould adds S with p
vSecond element to S
hEach element in go to create, and the like.
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| CN101833775A (en) * | 2010-04-30 | 2010-09-15 | 长春理工大学 | Encoding method of light image with color structure |
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| DE19638727A1 (en) * | 1996-09-12 | 1998-03-19 | Ruedger Dipl Ing Rubbert | Method for increasing the significance of the three-dimensional measurement of objects |
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