CN101082481A - Colorful encode grating visible sensation measurement method based on phase displacement - Google Patents
Colorful encode grating visible sensation measurement method based on phase displacement Download PDFInfo
- Publication number
- CN101082481A CN101082481A CN 200710119129 CN200710119129A CN101082481A CN 101082481 A CN101082481 A CN 101082481A CN 200710119129 CN200710119129 CN 200710119129 CN 200710119129 A CN200710119129 A CN 200710119129A CN 101082481 A CN101082481 A CN 101082481A
- Authority
- CN
- China
- Prior art keywords
- grating
- striation
- coding
- colorized
- chromatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
There is a sort of the grating seeing measure method with the colorized coding based on the move of the position, it use two colorized CCD camera and a colorized grating projector to form seeing senor that the coding grating close with the solid vision, the colorized grating projector cast the grating design to the measured object, the colorized grating adopt the interpolation method to progress absolutely arrange and code, the measured photo bar. The two colorized CCD camera screen severally a picture of the measured photo bar from the different angle, namely the grating code and the polar restraint can achieve the solid matching, thereby it can obtain the three-dimensional data of the surface of the measured object, it can realize the exact measure to the measured object by the several displacement of the grating design.
Description
Technical field
The invention belongs to the dimensional visual measurement technology, relate in particular to a kind of color-coded grating vision measuring method based on phase shift.
Background technology
Vision detection technology has wide range, noncontact, speed is fast, system flexibility good, the precision advantages of higher, is widely used in object dimensional topography measurement field.Visible detection method commonly used has: stereoscopic vision detecting method and structured light vision detection method.For stereoscopic vision detecting method, three-dimensional coupling is that stereoscopic vision detects the most key problem, but does not find general Stereo Matching Algorithm up to now yet, especially the surface is not had the measured object of obvious characteristic, is difficult to finish three-dimensional coupling.For the structured light vision detection method, it has fast, accurately, advantage such as anti-interference is good, and the structured light vision sensor structured light simple, economical, be easy to realize, be most widely used a kind of detection mode in the active vision detection.But the staking-out work of structured light vision sensor is comparatively loaded down with trivial details, often need obtain high precision unique point on the optical plane by external unit.When adopting grating structured light to measure, for grating structured light, the staking-out work of a plurality of optical planes is more loaded down with trivial details, and has the identification problem of a plurality of optical planes.
Chinese scholars has been carried out a large amount of research work to the coding method of grating structured light, generally the structure light coding method can be divided three classes: (1) time multicomponent coding; (2) spatial neighborhood coding; (3) direct coding.
Wherein, the time multicomponent coding is one of at present most widely used coded system, and it is correspondingly taken the image of different coding pattern and encode by throwing a series of different coding patterns on the measured object surface constantly in difference by video camera.This class coding method have living space two fens compiling methods, space n scale coding method, Gray code method etc., these methods all need to take several coded images, and data processing amount is big, and only is applicable to static measurement.
The spatial neighborhood coding method adopts piece image can finish coding, and the code value of certain point is decided by this point and adjacent on every side point thereof, comprises M sequential coding technology, colored binary coding method, monumented point coding method etc.Though these class methods only need piece image can finish coding, owing to be subjected to the restriction of resolution of video camera, grating at interval can not be too little, therefore, these class methods can only be carried out the thick lines measurement to object, can not obtain the three-dimensional data of some point of body surface, promptly can not finish the fine and close measurement of object.
The characteristics that the direct coding method utilizes the characteristic information of each pixel in the piece image to have uniqueness are encoded, but because a large amount of color or half-tone information are adopted in this coding method, or utilize and periodically finish coding, therefore responsive to noise ratio.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of color-coded grating vision measuring method based on phase shift, has solved the difficult problem of stereoscopic vision detecting method neutral body coupling, has improved the compactness extent of measurement data simultaneously.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of color-coded grating vision measuring method based on phase shift, this method may further comprise the steps:
A, two colorful CCD cameras of employing and a chromatic grating projector are formed vision sensor, and demarcate the inner parameter and the external parameter of two colorful CCD cameras;
B, generate the chromatic grating pattern arranged in certain sequence and to its coding, and by the grating projector to measured object projection chromatic grating pattern; Wherein the coding method of chromatic grating pattern is: with n (n=2,3,4 ...) colored bars of individual different colours adopts insertion to arrange entirely, obtains n! Individual arrangement; Insert (n-1) that the back constitutes from n-1 striation then! Select 2 adjacent arrangements in the arrangement arbitrarily, insert n striation in these 2 arrangements, constitute 2n arrangement, each is arranged with the striation of n different colours; Again this 2n is arranged in a row, constitutes n kind different colours, quantity is 2n
2Individual striation sequence; Any striation can utilize adjacent other n-1 root striation in this striation sequence, discerns according to different colors, obtains unique coding;
C, two colorful CCD cameras are taken the measurement optical strip image respectively;
D, the encode grating image that photographs is decoded, obtain every striation unique encoding value on the image;
E, choose two width of cloth images in the image that two video cameras are taken, search is satisfied the point of the identical and polar curve constraint of coding simultaneously as a pair of match point, according to the binocular tri-dimensional vision model, resolves the body surface three-dimensional data.
Preferably, the described CCD camera of step c is taken and is measured after the optical strip image, and this method further comprises: the chromatic grating pattern carries out phase shifts one time, and the step of repeating step c to the raster pattern phase shifts afterwards is until satisfying the mobile end condition.
Preferably, described mobile end condition is: raster pattern phase shifts one-period.
Preferably, choosing two width of cloth images described in the step e is: two width of cloth images of choosing the same phase grating of two CCD cameras shootings.
Color-coded grating vision measuring method based on phase shift provided by the invention has following advantage and characteristics:
1, the present invention is incorporated into encode grating in the binocular stereo vision, utilizes encode grating to determine match point, has solved in the stereoscopic vision detecting method three-dimensional coupling key issue when no obvious characteristic measured object measured;
Rule when 2, the present invention utilizes insertion to arrange entirely sorts to the striation of different colours, only needs piece image can finish the coding of grating structured light, and lower to the requirement of measuring equipment, is simple and easy to realize;
3, the encode grating pattern can be offset with a plurality of outs of phase, thereby can take multiple measurements, and therefore can realize the densification of body surface is measured.
Description of drawings
Fig. 1 is the overview flow chart that the present invention is based on the color-coded grating vision measuring method of phase shift;
Fig. 2 is the vision sensor structural representation;
Fig. 3 is a grating production process synoptic diagram;
Fig. 4 is a grating phase shift synoptic diagram;
Fig. 5 is the measurement result figure of grating when not carrying out phase shift;
Fig. 6 is the measurement result figure of grating when carrying out a phase shift.
Embodiment
The present invention is further described in more detail below in conjunction with accompanying drawing.
The present invention is based on the color-coded grating vision measuring method of phase shift, as shown in Figure 1, specifically may further comprise the steps:
Step 101: utilize two colorful CCD cameras and a chromatic grating projector to constitute vision sensor.
As shown in Figure 2, two ccd video cameras constitute a binocular tri-dimensional sense sensor, add a chromatic grating projector again and promptly constitute the vision sensor that an encode grating combines with binocular stereo vision.
Step 102: demarcate the inner parameter of two colorful CCD cameras and the external parameter of two colorful CCD cameras.
Here, the concrete demarcation mode of inner parameter can referring to Z.Y.Zhang " A flexible newtechnique for camera calibration[R] (Microsoft Corporation, NSR-TR-98-71,1998); The concrete demarcation mode of external parameter can not repeat them here referring to " multisensor machine vision calibration system and the applied research " of the Luo Ming of University Of Tianjin.
Step 103: generate the chromatic grating pattern of arranging in certain sequence,, and pass through the grating projector to measured object projection chromatic grating pattern to the raster pattern coding that generates.
Below specify among the present invention the chromatic grating pattern is carried out Methods for Coding, the concrete processing procedure of this coding method is:
Earlier with n (n=2,3,4 ...) colored bars of individual different colours adopts insertion to arrange entirely, as shown in Figure 3, first striation has only a kind of arrangement mode A, second striation can insert in former and later two positions of first striation, obtain two kinds of arrangement mode BA and AB, the 3rd striation inserts on the basis of BA and AB respectively, can insert three positions respectively, obtain six kinds of arrangement mode CBA, BCA, BAC, CAB, ACB, ABC, the rest may be inferred, obtains (n-1) after n-1 striation inserts! Individual arrangement, can obtain after n striation inserts n! Individual arrangement.
Insert (n-1) that the back constitutes from n-1 striation again! N striation inserted in optional 2 adjacent arrangements in the arrangement in these 2 arrangements, constitute 2n arrangement, and each is arranged with the striation of n different colours.
Then, this 2n is arranged in a row, constitutes n kind different colours, quantity is 2n
2Individual striation sequence.Any striation can utilize adjacent other n-1 root striation in this striation sequence, discerns according to different colors, obtains unique coding.
Generating the chromatic grating pattern of arranging in certain sequence described in this step is: generate by the tactic chromatic grating pattern of above-mentioned coding method.
Step 104: two colorful CCD cameras are taken the measurement optical strip image of process coding respectively
Step 105: all encode grating images that photograph are decoded, obtain every striation unique encoding value on the image.
Step 106: in two width of cloth images of the same phase grating that two video cameras are taken, search is satisfied the point of encode identical and polar curve constraint as a pair of match point, finishes three-dimensional coupling.
Step 107: resolve the body surface three-dimensional data according to the binocular stereo vision model.
Here, how to resolve and to adopt existing method to realize, no longer describe in detail herein.
In the above-mentioned treatment scheme, arbitrary position that can be after step 104 further increases step a:
Step a: the chromatic grating pattern carries out phase shifts one time, and the step of repeating step 104 to the chromatic grating pattern phase shifts again is until satisfying the mobile end condition.Here, described mobile end condition can be the full one-period of phase shifts.
For example, at step 104 back execution in step a, as shown in Figure 4, grating wavelength is d, interior mobile n time of one-period, the each offset d/n of chromatic grating pattern, repeated execution of steps 104 then, that is: raster pattern whenever moves once, and two colorful CCD cameras are just taken the one-shot measurement optical strip image respectively; Preferably, behind the full one-period of raster pattern phase shifts, stop to move execution in step 105.
And for example, execution in step a after step 106: chromatic grating carries out phase shifts one time in step 106 back, repeating step 104 is to step 106 afterwards, two colorful CCD cameras are taken the measurement optical strip image of process coding respectively, then all encode grating images that photograph are decoded, obtain every striation unique encoding value on the image.In two width of cloth images of the same phase grating that two video cameras are taken, search is satisfied the point of encode identical and polar curve constraint as a pair of match point, finishes three-dimensional coupling again.Preferably, behind the full one-period of raster pattern phase shifts, stop to move execution in step 107.
For measuring method of the present invention is described, describe with a concrete practical measuring examples below.Present embodiment can adopt two MTC-73K11 type colorful CCD cameras to constitute the binocular tri-dimensional sense sensor, and a NECLT170+ type digital projector is as the chromatic grating projector.Utilize Visual C++6.0 development system Survey Software.This measuring system is measured the Venus plaster statue of the about 500mm of height, result such as Fig. 5, shown in Figure 6, and wherein, Fig. 5 is the measurement result of grating structured light when not carrying out phase shift, has shown the appearance of the plaster statue that this moment is measured; Fig. 6 has shown the appearance of the plaster statue that this moment is measured for grating structured light on the basis of Fig. 5 carries out once dephased measurement result, and grating structured light carries out phase shift more on this basis, can reach compactness and measure.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (4)
1, a kind of color-coded grating vision measuring method based on phase shift is characterized in that this method may further comprise the steps:
A, two colorful CCD cameras of employing and a chromatic grating projector are formed vision sensor, and demarcate the inner parameter and the external parameter of two colorful CCD cameras;
B, generate the chromatic grating pattern arranged in certain sequence and to its coding, and by the grating projector to measured object projection chromatic grating pattern; Wherein the coding method of chromatic grating pattern is: with n (n=2,3,4 ...) colored bars of individual different colours adopts insertion to arrange entirely, can obtain n! Individual arrangement; Insert (n-1) that the back constitutes from n-1 striation then! Select 2 adjacent arrangements in the arrangement arbitrarily, insert n striation in these 2 arrangements, constitute 2n arrangement, each is arranged with the striation of n different colours; Again this 2n is arranged in a row, constitutes n kind different colours, quantity is 2n
2Individual striation sequence; Any striation can utilize adjacent other n-1 root striation in this striation sequence, discerns according to different colors, obtains unique coding;
C, two colorful CCD cameras are taken the measurement optical strip image respectively;
D, the encode grating image that photographs is decoded, obtain every striation unique encoding value on the image;
E, choose two width of cloth images in the image that two video cameras are taken, search is satisfied the point of the identical and polar curve constraint of coding simultaneously as a pair of match point, according to the binocular tri-dimensional vision model, resolves the body surface three-dimensional data.
2, method according to claim 1, it is characterized in that, the described CCD camera of step c is taken and is measured after the optical strip image, this method further comprises: the chromatic grating pattern carries out phase shifts one time, the step of repeating step c to the raster pattern phase shifts afterwards is until satisfying the mobile end condition.
3, method according to claim 2 is characterized in that, described mobile end condition is: raster pattern phase shifts one-period.
4, according to claim 1,2 or 3 described methods, it is characterized in that, choose two width of cloth images described in the step e and be: two width of cloth images of choosing the same phase grating that two CCD cameras take.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101191294A CN100526799C (en) | 2007-07-16 | 2007-07-16 | Colorful encode grating visible sensation measurement method based on phase displacement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101191294A CN100526799C (en) | 2007-07-16 | 2007-07-16 | Colorful encode grating visible sensation measurement method based on phase displacement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101082481A true CN101082481A (en) | 2007-12-05 |
| CN100526799C CN100526799C (en) | 2009-08-12 |
Family
ID=38912170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101191294A Expired - Fee Related CN100526799C (en) | 2007-07-16 | 2007-07-16 | Colorful encode grating visible sensation measurement method based on phase displacement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100526799C (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101526340B (en) * | 2009-03-20 | 2010-09-01 | 东南大学 | Stripe color coding method for grating stripe images based on Gray code principle |
| CN101201548B (en) * | 2007-12-07 | 2011-05-11 | 上海微电子装备有限公司 | Measuring system and method for focusing and leveling |
| CN102445165A (en) * | 2011-08-05 | 2012-05-09 | 南京航空航天大学 | Stereo vision measurement method based on single-frame color coding grating |
| CN102509298A (en) * | 2011-11-15 | 2012-06-20 | 四川大学 | Concentric circle grating and wedge-shaped grating target for camera calibration |
| CN102607465A (en) * | 2012-03-13 | 2012-07-25 | 西安交通大学 | Phase unwrapping method based on colored phase shift stripe secondary encoding |
| CN103310225A (en) * | 2012-03-14 | 2013-09-18 | 联想(北京)有限公司 | Multi-view visual matching method and system of images |
| CN103712638A (en) * | 2013-02-27 | 2014-04-09 | 叶秋诗 | Color absolute raster sensing device |
| CN103934211A (en) * | 2014-04-30 | 2014-07-23 | 重庆环视科技有限公司 | Stereoscopic vision-based three-dimensional product size sorting system |
| CN104156973A (en) * | 2014-08-26 | 2014-11-19 | 清华大学深圳研究生院 | Real-time three-dimensional video monitoring method based on stereo matching |
| CN106931910A (en) * | 2017-03-24 | 2017-07-07 | 南京理工大学 | A kind of efficient acquiring three-dimensional images method based on multi-modal composite coding and epipolar-line constraint |
| CN108344972A (en) * | 2017-10-27 | 2018-07-31 | 江苏理工学院 | Robotic vision system based on grating loss stereoscopic vision and air navigation aid |
| CN108592822A (en) * | 2017-12-04 | 2018-09-28 | 湖南大学 | A kind of measuring system and method based on binocular camera and structure light encoding and decoding |
| CN108592823A (en) * | 2017-12-04 | 2018-09-28 | 湖南大学 | A kind of coding/decoding method based on binocular vision color fringe coding |
| CN109887022A (en) * | 2019-02-25 | 2019-06-14 | 北京超维度计算科技有限公司 | A kind of characteristic point matching method of binocular depth camera |
| CN111023999A (en) * | 2019-12-26 | 2020-04-17 | 北京交通大学 | Dense point cloud generation method based on spatial coding structured light |
| CN112270715A (en) * | 2020-10-30 | 2021-01-26 | 浙江理工大学 | Artificial visual landmark and coding method thereof |
-
2007
- 2007-07-16 CN CNB2007101191294A patent/CN100526799C/en not_active Expired - Fee Related
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201548B (en) * | 2007-12-07 | 2011-05-11 | 上海微电子装备有限公司 | Measuring system and method for focusing and leveling |
| CN101526340B (en) * | 2009-03-20 | 2010-09-01 | 东南大学 | Stripe color coding method for grating stripe images based on Gray code principle |
| CN102445165A (en) * | 2011-08-05 | 2012-05-09 | 南京航空航天大学 | Stereo vision measurement method based on single-frame color coding grating |
| CN102445165B (en) * | 2011-08-05 | 2013-10-16 | 南京航空航天大学 | Stereo vision measurement method based on single-frame color coding grating |
| CN102509298A (en) * | 2011-11-15 | 2012-06-20 | 四川大学 | Concentric circle grating and wedge-shaped grating target for camera calibration |
| CN102607465B (en) * | 2012-03-13 | 2015-01-21 | 西安交通大学 | Phase unwrapping method based on colored phase shift stripe secondary encoding |
| CN102607465A (en) * | 2012-03-13 | 2012-07-25 | 西安交通大学 | Phase unwrapping method based on colored phase shift stripe secondary encoding |
| CN103310225B (en) * | 2012-03-14 | 2018-02-27 | 联想(北京)有限公司 | Matching process and system between a kind of image of multi-vision visual |
| CN103310225A (en) * | 2012-03-14 | 2013-09-18 | 联想(北京)有限公司 | Multi-view visual matching method and system of images |
| CN103712638A (en) * | 2013-02-27 | 2014-04-09 | 叶秋诗 | Color absolute raster sensing device |
| CN103934211A (en) * | 2014-04-30 | 2014-07-23 | 重庆环视科技有限公司 | Stereoscopic vision-based three-dimensional product size sorting system |
| CN104156973A (en) * | 2014-08-26 | 2014-11-19 | 清华大学深圳研究生院 | Real-time three-dimensional video monitoring method based on stereo matching |
| CN106931910B (en) * | 2017-03-24 | 2019-03-05 | 南京理工大学 | A kind of efficient acquiring three-dimensional images method based on multi-modal composite coding and epipolar-line constraint |
| CN106931910A (en) * | 2017-03-24 | 2017-07-07 | 南京理工大学 | A kind of efficient acquiring three-dimensional images method based on multi-modal composite coding and epipolar-line constraint |
| US10911672B2 (en) | 2017-03-24 | 2021-02-02 | Nanjing University Of Science And Technology | Highly efficient three-dimensional image acquisition method based on multi-mode composite encoding and epipolar constraint |
| CN108344972A (en) * | 2017-10-27 | 2018-07-31 | 江苏理工学院 | Robotic vision system based on grating loss stereoscopic vision and air navigation aid |
| CN108592822A (en) * | 2017-12-04 | 2018-09-28 | 湖南大学 | A kind of measuring system and method based on binocular camera and structure light encoding and decoding |
| CN108592823A (en) * | 2017-12-04 | 2018-09-28 | 湖南大学 | A kind of coding/decoding method based on binocular vision color fringe coding |
| CN108592822B (en) * | 2017-12-04 | 2020-01-07 | 湖南大学 | Measuring system and method based on binocular camera and structured light coding and decoding |
| CN108592823B (en) * | 2017-12-04 | 2020-01-07 | 湖南大学 | Decoding method based on binocular vision color stripe coding |
| CN109887022A (en) * | 2019-02-25 | 2019-06-14 | 北京超维度计算科技有限公司 | A kind of characteristic point matching method of binocular depth camera |
| CN111023999A (en) * | 2019-12-26 | 2020-04-17 | 北京交通大学 | Dense point cloud generation method based on spatial coding structured light |
| CN111023999B (en) * | 2019-12-26 | 2020-12-01 | 北京交通大学 | Dense point cloud generation method based on spatial coding structured light |
| CN112270715A (en) * | 2020-10-30 | 2021-01-26 | 浙江理工大学 | Artificial visual landmark and coding method thereof |
| CN112270715B (en) * | 2020-10-30 | 2024-01-23 | 浙江理工大学 | Artificial visual landmark and coding method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100526799C (en) | 2009-08-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100526799C (en) | Colorful encode grating visible sensation measurement method based on phase displacement | |
| CN102322823B (en) | Phase grade self-coding-based optical three-dimensional measurement method | |
| CN102445165B (en) | Stereo vision measurement method based on single-frame color coding grating | |
| CN106989695B (en) | Projector calibration method | |
| Pages et al. | Optimised De Bruijn patterns for one-shot shape acquisition | |
| CN101576379B (en) | Fast calibration method of active projection three dimensional measuring system based on two-dimension multi-color target | |
| CN109506589A (en) | A kind of measuring three-dimensional profile method based on light field imaging | |
| CN104197861B (en) | Three-dimension digital imaging method based on structure light gray scale vector | |
| CN110514143A (en) | A kind of fringe projection system scaling method based on reflecting mirror | |
| CN105160680A (en) | Design method of camera with no interference depth based on structured light | |
| CN103069250A (en) | Three-dimensional measurement apparatus, method for three-dimensional measurement, and computer program | |
| CN101089551A (en) | 3D measuring method based on two-dimensional code | |
| CN101504277A (en) | Method for acquiring object three-dimensional image by optical three-dimensional sensing | |
| CN101794461B (en) | Three-dimensional modeling method and system | |
| WO2012002152A1 (en) | Three-dimensional measurement apparatus, three-dimensional measurement method, and storage medium | |
| CN103868524A (en) | Speckle-pattern-based method and device for calibrating monocular measurement system | |
| EP2459960A1 (en) | Measuring apparatus, measuring method, and program | |
| CN110174079B (en) | Three-dimensional reconstruction method based on four-step phase-shift coding type surface structured light | |
| CN102184566A (en) | Micro projector mobile phone platform-based portable three-dimensional scanning system and method | |
| CN109443239A (en) | Structural light measurement method, apparatus, equipment, storage medium and system | |
| CN103299343A (en) | Range image pixel matching method | |
| CN103075960A (en) | Multi-visual-angle great-depth micro stereo visual-features fusion-measuring method | |
| CN107860337A (en) | Structural light three-dimensional method for reconstructing and device based on array camera | |
| CN101476882B (en) | Structured light three-dimensional detection method based on homography matrix | |
| CN104794718B (en) | A kind of method of single image CT center monitoring camera calibration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090812 Termination date: 20160716 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |