CN101303229A - Structure light 3D measuring technology based on edge gray code and line movement - Google Patents
Structure light 3D measuring technology based on edge gray code and line movement Download PDFInfo
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Abstract
The invention relates to a 3D measurement technique of structured light based on edge Gray code and line shift. The technique of optical 3D measurement belonging to noncontact measurement is one of the most effective means for acquiring 3D information of objects, and is mainly advantaged by noncontactness with surfaces of target objects and high sampling density. Among optical 3D measurement techniques, the structured light coding method is most widely applicable to the fields of 3D reconstruction and industrial measurement. The 3D measurement method of structured light based on edge Gray code and line shift of the invention comprises extracting edges and centers of strips of each frame of image prior to intensity binarization using the sub-pixel positioning technique, using the points on the edges and the centers as the sampling points, then solving the Gray code according to the gray-scale value 0 or 1 in the image after intensity binarization, and finding a correspondence relationship between the edges of the intensity image and the coded pattern. The invention is applicable to 3D measurement techniques.
Description
Technical field:
The present invention relates to a kind of computer vision measurement technology and system, 3D information acquisition and reconstruct, be specifically related to a kind of structure light 3 D measuring technology that moves based on edge gray code and line.
Background technology:
In the design of Modern Industry Products and producing, the three-dimensional measurement that carries out for the spatial information that extracts product is popular question of common concern, has has researched and developed multiple method for three-dimensional measurement and instrument at present.Wherein of paramount importance developing direction is the 3 D visual detection technique, and this three-dimensional non-contact measurement technology based on visual concept is to be the 3D shape that object is recovered on the basis with the resulting figure of three-dimensional visual sensor, image.This technology can be measured body shape and product model in industries such as medical science, archaeology, clothes, shoemaking, engraving, artificial limbs, can measure the complicated technology product that do not allow to contact or bullet, plastic material shape of products, particularly all press for and use this measuring technique in CAD, CAM, reverse-engineering (RE), quick original shape fields such as (RP), this relates to all conglomeraties such as automobile making, communication, household electrical appliances, toy, mould, space flight and five metals, and it has wide application prospect in commercial production and actual life.
The optical three-dimensional measurement technology is to obtain object dimensional information one of the most effective means, it belongs to non-cpntact measurement, need not contact measured object surface and high sampling density is its major advantage, in the optical three-dimensional measurement technology, the structure light coding method is fast with its accuracy height, measuring speed, low cost and other advantages has a wide range of applications in fields such as three-dimensionalreconstruction, commercial measurements.
The direction of giving priority to of 3 D visual detection technique comprises methods such as structured light, stereo-picture, Moire technique, holography method, laser radar at present, and wherein the structured light method has shown the advantage on resolution and measuring speed.
The structured light method is the light that the projector sends to be formed forms such as point, line, coding pattern invest scenery through optical system, on scenery, form pattern and the video camera picked-up is arranged, then calculate, obtain the depth image on scenery surface according to trigonometry and sensor construction parameter, further calculate the D coordinates value of object plane by image.
Compare the structured light scanning method of incident point, Line beam, structure light coding method phase projects coding pattern, improve measuring speed greatly and solved scan pattern and obscured problem, under by the prerequisite of demarcating the acquisition systematic parameter, determine image sampling point and strip encoding zone in itself and object plane sampled point, the coding pattern is mapped, be the subject matter of structure light coding research, coding method can be divided into time encoding, space encoding and direct coding, each tool advantage of three.
Space encoding be pattern that a width of cloth is encoded by certain mode to projects, obtain a width of cloth corresponding codes image, coded image and coded system contrast are encoded, thereby solve both correspondence problems.Space encoding has the advantage that is suitable for kinetic measurement, but has the shortcomings such as influence that resolution is lower, be subjected to the inconsistent and color of scenery surface reflectivity.
Time encoding is that a plurality of different coding patterns are successively projected body surface chronologically, obtain the respective coding image sequence, coded video sequences combined decode, thereby solve the correspondence problem of projective patterns and images acquired, this type of amplification has accuracy height, resolution advantages of higher.Present more employing Gray code or Gray code phase shift time encoding method.The former encodes simply, but has the discontinuous shortcoming of projectional angle spatial division in the decode procedure, and the latter has solved the projectional angle continuous problem, but does not have substantial raising for spatial point accuracy of measurement, sampling density.
The Gray code line that the present invention proposes moves the structure light coding decoding and has improved above-mentioned technical indicator.
Summary of the invention:
The purpose of this invention is to provide a kind of elimination gray code decoder process meta transformed error, thereby improve the sampled point density that the image sampling dot density improves tested object plane, the sub-pix that has guaranteed image sampling point accurately the location and and the correspondence one by one of object plane sampled point; Reduce the testee surface slope, reflectivity is inconsistent and surround lighting to the structure light 3 D measuring technology that moves based on edge gray code and line of the influence of measuring.
Above-mentioned purpose realizes by following technical scheme:
A kind of structure light 3 D measuring technology that moves based on edge gray code and line, stripe edge in the preceding image of each width of cloth intensity binaryzation that adopts the sub-pixel positioning technology to extract, to put on the edge as the image sampling point, ask for Gray code by its gray-scale value in the image 0 or 1 after the intensity binaryzation then, utilize the Gray code code value to find the corresponding relation at edge in intensity image and the coding pattern.
The above-mentioned structure light 3 D measuring technology that moves based on edge gray code and line, during decoding, adopt inferior pixel localization method to extract informal voucher line center in each width of cloth intensity image, press on the center line point corresponding code value 0 or 1 in the image after Gray code intensity binaryzation then, ask for Gray code, and then find the corresponding relation of center line in intensity image and the coding pattern.
The above-mentioned structure light 3 D measuring technology that moves based on edge gray code and line, adopt several inverse dynamic thresholding methods,: adopt several inverse dynamic thresholding methods, at first coded image is carried out binaryzation, this need throw complete bright pattern of a width of cloth and the complete dark pattern of a width of cloth, the gray scale of the binaryzation rear high-lying coded image each point difference that equals high coding gradation of image and complete dark gradation of image before the binaryzation poor divided by complete bright gradation of image and full dark gray then, its value is between 0 and 1, throw the reference pattern of the inverse corresponding then with high coding pattern before the binaryzation, then the gray scale of time high coding image each point equals binaryzation last time the absolute value of gray scale smaller's difference was divided by the absolute value of the difference of high coding gradation of image and reference picture gray scale in high coding gradation of image and preceding high coding image of binaryzation and the reference picture gray scale after the binaryzation, and it is worth between 0 and 1.
This technical scheme has following beneficial effect:
1. the inventive method has been eliminated one of Gray code and has been separated code error, has kept Gray code simultaneously to the strong advantage of the precipitous part adaptive faculty of tested object plane.
2. the inventive method has obtained the image sampling point accuracy of inferior pixel level and the image sampling dot density of 0.5 width of fringe; Make object plane, image planes sampled point corresponding one by one, eliminated the quantization error that the decoding of pixel center exists.
3. the inventive method adopts several inverse dynamic thresholding methods, has reduced the testee surface slope, reflectivity is inconsistent and the influence of surround lighting to measuring.
4. the incident line moved pattern after the inventive method adopted projection Gray code pattern, moved the fringe center location in conjunction with Gray code stripe edge and line, thereby improved image sampling dot density to 0.5 width of fringe.The accuracy of image sampling point reaches inferior pixel level.
5. the inventive method is determined the Gray code stripe edge with inferior pixel localization method, according to the code value decoding of its corresponding position in high bit image, thereby eliminates gray code bits transformed error in the decode procedure.
The inventive method under equal conditions the Gray code line move in the pattern, informal voucher line spacing is 2 times and 3 times of straight binary code, therefore the adaptive faculty to the precipitous degree in testee surface improves 2 times and 3 times respectively, in addition, the influence that can adopt the structure of a plurality of video cameras of projector significantly to reduce the testee surface slope even to block.
7. the inventive method adopts several pattern dynamic thresholding methods, has reduced the influence of surround lighting to measuring.
Description of drawings:
Fig. 1 arranges sequence number for the Gray code stripe edge.
Fig. 2 moves fringe center coding and decoding principle for Gray code stripe edge joint line.
The corresponding situation synoptic diagram of object plane sampled point and image planes sampled point when Fig. 3 is orthogonal projection.
Fig. 4 is several inverse dynamic thresholding methods.
The specific embodiment of the present invention:
Embodiment 1:
Existing time encoding method is that the basis is carried out projectional angle and divided or in conjunction with phase-shift method or vertical demixing method etc. projectional angle is further segmented on this basis with binary code, Gray code (Gray) sign indicating number all.Above method adopts pixel as the image sampling point, is referred to as the pixel center decoding.
Have the multidigit difference between the adjacent code value of binary code, be reflected in the decode procedure, promptly some pixel may repeatedly be in stripe edge in each width of cloth intensity image, so its code value may multidigit be judged by accident, and then to separate code error bigger if erroneous judgement is present in a high position.Have only a difference and every weight identical between the Gray code any two adjacent code values, be reflected in the decode procedure, be that any pixel at most for once is in stripe edge in each width of cloth intensity image, therefore its code value has only a quilt to judge by accident, and the position is had only one by the code error of separating that erroneous judgement causes arbitrarily.But separating code error for one aims at the influence really ask for projectional angle and is difficult to eliminate.
The present invention proposes the Gray code coding/decoding method based on stripe edge, purpose is to eliminate a bit error of Gray code pixel center decoding.This method adopts black and white Gray code striped coding pattern.During decoding, be that with above-mentioned difference employing sub-pixel positioning technology is extracted the stripe edge in each width of cloth intensity image (before the binaryzation), will put as the image sampling point on the edge based on the pixel center decoding.Ask for Gray code by its gray-scale value (0 or 1) in intensity image (after the binaryzation) then.Utilize Gray's code value to find the corresponding relation at edge in intensity image and the coding pattern.
As shown in Figure 1, be example to throw 4 width of cloth Gray code patterns, wherein comprise 2 altogether
4-1=15 edge.If will ask for the arrangement sequence number at certain edge in the 4th width of cloth intensity image, then ask for Gray code by the gray-scale value (0 or 1) of its (after the binaryzation) corresponding position in former width of cloth (i.e. 1,2,3 width of cloth) intensity image.Ask its corresponding edge to arrange sequence number by formula (1) again.
k＝2
n-i+((G
0G
1G
2…G
i-1)
2)
10·2
n-i+1 (1)
K=1 in the formula, 2......2
n-1 for arranging sequence number in the edge; N is the intensity image sum; I=1,2......n are the intensity image ordinal number; G
iRepresent the gray-scale value in the i width of cloth intensity image, wherein make G
0=0.
Utilize the Gray code value of point in these former width of cloth intensity images on the edge with the stripe edge correspondence in itself and the coding pattern based on the Gray code coding/decoding method of stripe edge, in Fig. 1, edge shown in the dotted line all is in the striped inside of former width of cloth intensity images but not marginal position, so its code value is difficult for being judged by accident.This method has been eliminated of existing based on the Gray code of pixel center in theory and has been separated code error.
Based on the Gray code of pixel center, there is the corresponding same pixel of a plurality of object plane sampled points, the situation that its gray scale can not accurately be judged; And, can obtain the sub-pix accuracy correspondence of image sampling point and object plane sampled point based on the Gray code of stripe edge.
Embodiment 2:
A transformed error has been eliminated in the decoding of Gray code edge, but has reduced the image sampling dot density to a certain extent.In theory when the stria width in the intensity image is 1 pixel, the decoding of Gray code edge could obtain and the identical image sampling dot density of pixel center decoding, the present invention proposes to continue 4 step of projection line and moves method of patterning, on the basis of Gray code edge decoding, the picture point sampling density is doubled, has guaranteed the inferior pixel accuracy location of image sampling point simultaneously.
Shown in the left figure of Fig. 2, behind projection Gray code pattern, throw 4 width of cloth periodic lines successively and move candy strip.The line cycle of moving equates with the Gray code periodic width.Each line moves and comprises 1 informal voucher line, 3 black streakings in the cycle.Stria width equates that direction is parallel with Gray's code-bar line in informal voucher line width and the Gray code pattern.Adjacent two width of cloth patterns are striped distance of translation successively.During decoding, adopt inferior pixel localization method to extract informal voucher line center in each width of cloth intensity image.Press the code value (0 or 1) of some correspondence in Gray code intensity image (after the binaryzation) on the center line then, ask for Gray code, and then find the corresponding relation of center line in intensity image and the coding pattern.
By the left figure of Fig. 1 as can be known, informal voucher line center line all overlaps with the stria of Gray code zone center line in theory, therefore this method has following two advantages: 1. informal voucher line center line all is in the striped inside of Gray code intensity image but not marginal position, make its code value be difficult for being judged by accident, do not exist and separate code error; 2. eliminated in the decode procedure of pixel center the quantization error of bringing as the projectional angle of arbitrary pixel point in the zone with the projectional angle zone center line of stria correspondence.
In addition, line moves that informal voucher line spacing equates with minimum fringes spacing in the Gray code pattern in the pattern.Therefore, the two has identical adaptive faculty in the precipitous part of tested object plane.
By the right figure of Fig. 2 as can be known, Gray code stripe edge and line move fringe center and all do not overlap, at a distance of 0.5 width of fringe.Therefore the two can be brought up to 0.5 width of fringe by the single stripe width with the image sampling dot density in conjunction with decoding.When stria width was 2 pixels in intensity image, it is wide that the image sampling dot density is about 1 pixel; When the single stripe width was 1 pixel in intensity image, it is wide that the image sampling dot density is about 0.5 pixel.
The Gray code joint line of projection vertical direction moves pattern, can obtain the position line of some inferior pixel accuracy on this direction.But obtain the inferior pixel accuracy correspondence of image sampling point and measured object surface sample point, need throw one group of pattern with its quadrature again.The intersection point of two groups of quadrature position lines in intensity image with can to reach inferior pixel accuracy corresponding on the tested object plane.As shown in Figure 3, be inferior pixel accuracy position line intersection point decoding, the projective patterns intersection point can be corresponding one by one with the intensity image intersection point.
Embodiment 3:
Adopt several inverse dynamic thresholding methods.At first coded image is carried out binaryzation, this need throw complete bright pattern of a width of cloth and the complete dark pattern of a width of cloth, the gray scale of the 1st width of cloth coded image (binaryzation rear high-lying coded image) the each point difference that equals the 1st width of cloth coded image (binaryzation before high coding image) gray scale and complete dark gradation of image poor divided by complete bright gradation of image and full dark gray then, it is worth between 0 and 1.Throw the reference pattern 1 of the inverse corresponding then with the 1st width of cloth coded image (high coding image before the binaryzation), then the gray scale of the 2nd width of cloth coded image (binaryzation rear high-lying coded image) each point equals the absolute value of the absolute value of gray scale smaller's difference in the 2nd width of cloth coded image (binaryzation is the high coding image last time) gray scale and the 1st width of cloth coded image (high coding image before the binaryzation) and reference picture 1 gray scale divided by the difference of the 1st width of cloth coded image gray scale and reference picture 1 gray scale, and it is worth between 0 and 1.The rest may be inferred.All processing are all carried out at the binaryzation coded image, and the result has eliminated surround lighting and the inconsistent influence of surface reflectivity, and helps image binaryzation.The influence that the gray scale that this method has been emphasized black and white strip edge in the image is excessively asked for binary-state threshold is also solved.
Adjacent black and white strip when the lower right corner is depicted as decoding among the figure is judged by accident thereby produce because the phase counterdiffusion causes intensity contrast to reduce, and brings and separates code error.Adopt the decoding of black and white strip border, both can reach inferior pixel accuracy, can eliminate again because adjacent black and white strip is judged the code error of separating that brings by accident.
Figure below is that 6 width of cloth lines of projection move pattern.The white stripes pixel that moves right successively in every width of cloth pattern, circulation of 6 width of cloth image constructions.Pattern is moved for the single width line of projection in the lower left corner among the figure.
Among Fig. 2, first width of cloth is the binary code projective patterns, and it is wide that black and white strip respectively accounts for 1 pixel, and adjacent informal voucher line spacing is 2; Second width of cloth is the Gray code projective patterns, and it is wide that black and white strip respectively accounts for 2 pixels, and the informal voucher spacing is 4; The 3rd width of cloth is that line moves projective patterns, and it is wide that black streaking accounts for 5 pixels, and it is wide that the informal voucher line accounts for 1 pixel, and informal voucher line spacing is 6.
Among Fig. 3, first width of cloth moves pattern for the single width line of projection.Second width of cloth is for to move image with the filtered line of convolution filter.The inferior pixel accuracy fringe center location of the 3rd width of cloth for obtaining with linear interpolation method.
Among Fig. 4, first width of cloth is a coding pattern, and second width of cloth is the reference pattern with corresponding encoded pattern inverse.Coding pattern and reference pattern corresponding point gray-scale value are subtracted each other and take absolute value, as this grey scale change scope in the back panel image.
Embodiment 4:
Move structured light time encoding method according to above Gray code line and can make 3D vision surface measurement reconfiguration system.Native system mainly is made up of the PC of the digital camera of the DLP projector, one or more capturing and coding images of a projection coding pattern, notebook computer that produces coding pattern, control system control and data processing, be characterized in not containing movement parts, pattern coding conveniently, and all parts can be buied on market all.System calibrating moves in the visual field by the standard flat that control has unique point, adopts photogrammetric method to finish.Existing technological level can satisfy the processing request of principle prototype and caliberating device fully.
Claims (3)
1. structure light 3 D measuring technology that moves based on edge gray code and line, it is characterized in that: the stripe edge in the preceding image of each width of cloth intensity binaryzation that adopts the sub-pixel positioning technology to extract, to put on the edge as the image sampling point, ask for Gray code by its gray-scale value in the image 0 or 1 after the intensity binaryzation then, utilize the Gray code code value to find the corresponding relation at edge in intensity image and the coding pattern.
2. the structure light 3 D measuring technology that moves based on edge gray code and line according to claim 1, it is characterized in that: during decoding, adopt inferior pixel localization method to extract informal voucher line center in each width of cloth intensity image, press on the center line point corresponding code value 0 or 1 in the image after Gray code intensity binaryzation then, ask for Gray code, and then find the corresponding relation of center line in intensity image and the coding pattern.
3. the structure light 3 D measuring technology that moves based on edge gray code and line according to claim 1 and 2, it is characterized in that: adopt several inverse dynamic thresholding methods, at first coded image is carried out binaryzation, this need throw complete bright pattern of a width of cloth and the complete dark pattern of a width of cloth, the gray scale of the binaryzation rear high-lying coded image each point difference that equals high coding gradation of image and complete dark gradation of image before the binaryzation poor divided by complete bright gradation of image and full dark gray then, its value is between 0 and 1, throw the reference pattern of the inverse corresponding then with high coding pattern before the binaryzation, then the gray scale of time high coding image each point equals binaryzation last time the absolute value of gray scale smaller's difference was divided by the absolute value of the difference of high coding gradation of image and reference picture gray scale in high coding gradation of image and preceding high coding image of binaryzation and the reference picture gray scale after the binaryzation, and it is worth between 0 and 1.
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| CN113532330A (en) * | 2021-08-28 | 2021-10-22 | 哈尔滨理工大学 | Three-dimensional measurement method for phase Gray code |
| CN113532330B (en) * | 2021-08-28 | 2022-10-04 | 哈尔滨理工大学 | Three-dimensional measurement method for phase gray code |
| CN114166150A (en) * | 2021-12-07 | 2022-03-11 | 海伯森技术（深圳）有限公司 | Stripe reflection three-dimensional measurement method, system and storage medium |
| CN114166150B (en) * | 2021-12-07 | 2022-06-21 | 海伯森技术（深圳）有限公司 | Stripe reflection three-dimensional measurement method, system and storage medium |
| CN114234849A (en) * | 2021-12-20 | 2022-03-25 | 广东工业大学 | Three-dimensional measurement method for modulating Gray code information at periodic edge |
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