CN101694375B - Stereoscopic vision detecting method for measuring three-dimensional morphology on strong reflection surface - Google Patents

Stereoscopic vision detecting method for measuring three-dimensional morphology on strong reflection surface Download PDF

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CN101694375B
CN101694375B CN2009102362148A CN200910236214A CN101694375B CN 101694375 B CN101694375 B CN 101694375B CN 2009102362148 A CN2009102362148 A CN 2009102362148A CN 200910236214 A CN200910236214 A CN 200910236214A CN 101694375 B CN101694375 B CN 101694375B
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赵慧洁
姜宏志
李旭东
李冬
周杰
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Beihang University
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Abstract

A stereoscopic vision detecting method for measuring three-dimensional morphology on a strong reflection surface is provided. A traditional stereoscopic vision detecting method based on the sine stripe projection comprises steps of stripe projection, image collection, phase resolving, stereoscopic matching and three-dimensional recurrence, and the invention adds new technologies, such as bright-dark stripe projection, image collection in long exposure time, image synthesis within high dynamic range and the like in the steps of the strip projection and the image collection, which overcomes saturated or darker stripe images caused by the strong reflection surface, and can realize the non-contact optical measurement of three-dimensional morphology on the strong reflection surface such as metal. The detecting method has the characteristics of simpleness, flexibility and excellent reliability, and can be used for the optical non-contact measurement of three-dimensional morphology on the strong reflection surface such as metal.

Description

A kind of stereoscopic vision detecting method that is used for measuring three-dimensional morphology on strong reflection surface
Technical field
The present invention relates to a kind of stereoscopic vision detecting method that is used for measuring three-dimensional morphology on strong reflection surface, this method can realize noncontact optical measurement, can be used for measuring three-dimensional morphology on strong reflection surface such as metal, also can be used for the bigger body surface three-dimensional topography measurement of reflectance varies.The invention belongs to the optical three-dimensional measurement field.
Background technology
The typical non-contact optical active of stereoscopic vision detecting method conduct method for three-dimensional measurement based on the sine streak projection is widely used in numerous areas such as measuring three-dimensional morphology, reverse-engineering and quality testing.But when three-dimensional morphology on strong reflection surface such as measurement metal, the method for this active vision tends to lose efficacy.Main cause is, active vision is measured with the reflected light that correctly receives body surface as Fundamentals of Measurement, and the object (referring to Fig. 2) that has High Reflective Surface for metal etc., the strong reflection character of body surface makes image saturated or dark excessively, produce information distortion, cause measuring accuracy to decline to a great extent, even be difficult to normally measure.When projecting High Reflective Surface such as metal when sine streak, direct reflection and two kinds of reflective forms of diffuse reflection take place, corresponding high retroreflective regions and the Fei Gao retroreflective regions of producing, its corresponding camera photographs stripe pattern and shows as, at high retroreflective regions place stripe pattern saturated, can't measure (referring to Fig. 4), dark excessively, the measuring accuracy of striped reduces at non-high retroreflective regions place.
At this problem, different solutions has been proposed both at home and abroad.As when measuring the three-dimensional appearance of class mirror article surface, with display or on every side scenery etc. as projection source, utilize the picture of the projection source that one camera observed objects surface reflected to measure, the measuring accuracy of this method is not high, and accommodation is less.The testee surface characteristics that retroreflective regions also is not quite similar under different angles of utilizing are also arranged, avoid areas of specular reflection, utilize diffuse reflection to carry out the multi-angle local measurement, integral body is spliced into complete measured surface again, the method can be introduced error in whole splicing, influences measuring accuracy.Have again, utilize testee surface direct reflection and irreflexive different polarization characteristic, before the observation camera, install polaroid additional, utilize the polaroid filtering to have the direct reflection of polarization characteristic, only allowing diffuses enters the observation camera, thereby realizes measuring, but concerning body surfaces such as metal, a little less than diffusing, reduced measuring accuracy.In addition, adopt and spray certain powder to having strong reflecting surface, make testee present diffusing characteristic diffuser, be beneficial to optical three-dimensional measurement, still, the uncertainty of powder thickness has increased measuring error.
In a word, at present both at home and abroad in the non-contact optical of the three-dimensional morphology on strong reflection surface comparatively complete solution of neither one aspect the three-dimensional measurement initiatively, the present invention is directed to this problem and proposed a kind of easy, method fast and accurately.
Summary of the invention
The object of the present invention is to provide a kind of stereoscopic vision detecting method that is used for measuring three-dimensional morphology on strong reflection surface, to overcome the initiatively stripe pattern problem of dtmf distortion DTMF of method for three-dimensional measurement when measuring three-dimensional morphology on strong reflection surface of existing non-contact optical.
Technical solution of the present invention is: a kind of stereoscopic vision detecting method that is used for measuring three-dimensional morphology on strong reflection surface, comprise that striped projection and image acquisition, phase place are resolved, solid is mated and three-dimensional reproduction, it is characterized in that described striped projection may further comprise the steps with image acquisition:
(1) throw bright even light earlier, adopt a plurality of time shutter photographic images respectively, deposit in successively among the image sequence PJ, the dark evenly light of projection adopts a plurality of time shutter photographic images respectively again, deposits in successively among the image sequence PJ;
(2) ask for algorithm according to mask images, calculate with step (1) in the captured corresponding mask images sequence of image sequence PJ Mask;
(3) throw bright fringes earlier, adopt a plurality of time shutter shooting, collectings to be loaded with the High Reflective Surface image of striped respectively, deposit in successively among the image sequence P, throw dark fringe again, adopt a plurality of time shutter to gather the High Reflective Surface image that is loaded with striped respectively, deposit in successively among the image sequence P;
(4) adopt the image composition algorithm, with a plurality of bright, dark fringe image sequence P captured in the step (3), synthetic stripe pattern PG with high dynamic range.
Wherein, the brightness of the bright even light in the step (1) is identical with the brightness of bright fringes high light, and the brightness of dark evenly light is identical with the brightness of dark fringe high light.
Wherein, a plurality of time shutter of described employing take, be according to the time shutter from long to weak point, take successively.
Wherein, the mask images in the step (2) is asked for algorithm and is,
When i=1,
Figure G2009102362148D00031
When i>1,
Figure G2009102362148D00032
In the formula, i, j are the sequence number of image in image sequence PJ, are the natural numbers greater than 0, PJ i, PJ jBe the i among the image sequence PJ, j width of cloth image, Mask iBe the i width of cloth mask images in the mask images sequence, Mask iBe and PJ iCorresponding mask images, PJ i(x, y), PJ j(x y) is image PJ i, PJ jAt coordinate (x, the gray-scale value of y) locating, Mask i(x y) is and PJ i(x, y) (MaxGray is the mask gray threshold to corresponding mask images for x, the mask value of y) locating at coordinate.
Wherein, the image composition algorithm in the step (4) is, the gray-scale value PG of arbitrfary point in the image of high dynamic range (x y), calculates according to following formula,
PG ( x , y ) = Σ i = 1 n Mask i ( x , y ) · P i ( x , y )
In the formula, n takes total degree bright, dark fringe, P for adopting a plurality of time shutter i(x y) is i width of cloth image P iAt point (x, the gray-scale value of y) locating, Mask i(x y) is and i width of cloth mask images Mask iIn point (x, mask value y).
Principle of the present invention is: or stripe pattern problem of dtmf distortion DTMF that stripe pattern excessively dark saturated at the High Reflective Surface stripe pattern, the present invention adopts bright dark fringe projection, images acquired of many time shutter, high dynamic range images synthetic, and it is saturated or stripe pattern is dark excessively to overcome stripe pattern that High Reflective Surface causes.By the projection bright fringes, the non-high retroreflective regions striped brightness that has improved High Reflective Surface improves stripe pattern and crosses the secretly influence to measuring; By the projection dark fringe, reduced the high retroreflective regions striped brightness of High Reflective Surface, reduce the saturated possibility of stripe pattern; Adopt method of many time shutter and image composition algorithm, gather and generate the stripe pattern of high dynamic range, improve the brightness range that camera can correctly be gathered, reduce the saturated and dark excessively possibility of stripe pattern of stripe pattern; According to above principle, can realize the correct collection of High Reflective Surface stripe pattern, avoid the stripe pattern distortion, guarantee the correctness of measuring.
The present invention's advantage compared with prior art is: (1) is widely used in the measuring three-dimensional morphology of various High Reflective Surface, and adaptability is strong.(2) need not to add any new hardware, method is easy, quick, realizes that cost is lower.(3) can guarantee the measuring accuracy of High Reflective Surface, the measurement accuracy height.
Description of drawings
Fig. 1 is used for the stereoscopic vision detecting method striped projection of measuring three-dimensional morphology on strong reflection surface and the process flow diagram of image acquisition for the present invention is a kind of;
Fig. 2 is the data flow diagram in the specific implementation process;
The stripe pattern that projects measured surface that Fig. 3 takes for camera;
Fig. 4 is the phase value result of Xie Xianghou;
Fig. 5 is the process of resolving of two-stage different cycles striped;
Fig. 6 is the stripe pattern that projects three grades of different cycles of measured surface;
Fig. 7 is for wanting to launch the result.
Among the figure, the sequence number of 1,2,3,4,5,6,7,8 presentation video sequences.80, the size of 40,20,10 expression camera exposure times, the unit millisecond.
Embodiment
A kind of stereoscopic vision detecting method that is used for measuring three-dimensional morphology on strong reflection surface of the present invention, on the basis of tradition based on the stereoscopic vision detection of sine streak projection, add new technologies such as bright dark fringe projection, images acquired of many time shutter, high dynamic range images be synthetic, it is saturated or stripe pattern is dark excessively to overcome stripe pattern that High Reflective Surface causes, effectively avoids the stripe pattern distortion.Concrete implementation step is as follows,
(1) throw bright even light earlier, adopt a plurality of time shutter photographic images respectively, deposit in successively among the image sequence PJ, the dark evenly light of projection adopts a plurality of time shutter photographic images respectively again, deposits in successively among the image sequence PJ.The brightness of bright even light is identical with the brightness of bright fringes high light, and the brightness of dark evenly light is identical with the brightness of dark fringe high light.A plurality of time shutter take, be according to the time shutter from long to weak point, take successively, a plurality of time shutter of employing be respectively 80,40,20,10} (unit: millisecond).
(2) ask for algorithm according to mask images, calculate with step (1) in the captured corresponding mask images sequence of image sequence PJ Mask.Formula is as follows,
When i=1,
When i>1,
In the formula, i, i are the sequence number of image in image sequence PJ, are the natural numbers greater than 0, PJ i, PJ jBe the i among the image sequence PJ, j width of cloth image, Mask iBe the i width of cloth mask images in the mask images sequence, Mask iBe and PJ iCorresponding mask images, PJ i(x, y), PJ j(x y) is image PJ i, PJ jAt coordinate (x, the gray-scale value of y) locating, Mask i(x y) is and PJ i(x, y) (MaxGray is the mask gray threshold to corresponding mask images for x, the mask value of y) locating at coordinate.Mask j(x, y)=0 (j=1,2 ..., i-1) condition can guarantee that the effect of mask images is the position of determining to take under the different exposure time valid pixel in the image that obtains, and effectively locating mask value is 1, and invalid place mask value is 0.
(3) throw bright fringes earlier, adopt a plurality of time shutter shooting, collectings to be loaded with the High Reflective Surface image of striped respectively, deposit in successively among the image sequence P, throw dark fringe again, adopt a plurality of time shutter to gather the High Reflective Surface image that is loaded with striped respectively, deposit in successively among the image sequence P.
The projection bright fringes has increased the striped brightness of diffuse reflection place in the image in High Reflective Surface, avoids stripe pattern dark excessively in non-high retroreflective regions, improves measuring accuracy.The projection dark fringe has reduced the striped brightness at the direct reflection place in the image in High Reflective Surface, avoids stripe pattern saturated in high retroreflective regions, guarantees to measure normally to carry out.Images acquired method of many time shutter has increased the dynamic range that camera is taken, and can receive the striped in the wideer brightness range, is suitable for striped brightness variation characteristics greatly on the High Reflective Surface.
(4) adopt the image composition algorithm, with a plurality of bright, dark fringe image sequence P captured in the step (3), synthetic stripe pattern PG with high dynamic range.
The image composition algorithm is, the gray-scale value PG of arbitrfary point in the image of high dynamic range (x y), calculates according to following formula,
PG ( x , y ) = Σ i = 1 n Mask i ( x , y ) · P i ( x , y )
In the formula, n takes total degree bright, dark fringe, P for adopting a plurality of time shutter i(x y) is i width of cloth image P iAt point (x, the gray-scale value of y) locating, Mask i(x y) is and i width of cloth mask images Mask iIn point (x, mask value y).
In concrete enforcement, adopt projector as the striped grenade instrumentation, therefore, throw bright even light and be the even light of projection white, the dark evenly light of projection is the red evenly light of projection, and the projection bright fringes is the projects white light striped, and the projection dark fringe is projection red light striped, the brightness of the even light of white is identical with the brightness of white light striped high light, and the brightness of red evenly light is identical with the brightness of red light striped high light.Adopting white light striped and red light striped as bright fringes and dark fringe respectively, is because the sensitivity that camera will be compared red light to the sensitivity of white light is big, therefore, can improve bright, dark fringe luminance difference on camera image.
Fig. 2 is the data flow diagram in the specific implementation process, can clearly find out the data stream of whole striped projection and image acquisition process.
Tradition based on the phase place in the stereoscopic vision detecting method of sine streak projection resolve, technology such as three-dimensional coupling and three-dimensional reproduction belong to known method, and are specific as follows:
Phase place is resolved and is comprised phase method and the phase demodulation method of separating.It is that the multilevel coding grating that the projector projects is calculated the phase encoding sign that phase place is resolved, and is the searching raising foundation of left and right sides camera match point cloud.
When grating is projected on the testee surface, body surface will on produce distortion, form deformed grating:
Its light distribution can be expressed as:
g(x,y)=a(x,y)+r(x,y)cos[φ(x,y)]
Wherein (x y) is the bias light majorant to a; (x y) is testee reflecting surface reflection coefficient to r.(x y) is the corresponding phase value of this point to φ.
Separate phase method and adopt four step phase-shift methods in the phase shift phase demodulation technique, at every turn with grating on the direction vertical with grid line the translation grid line cycle 1/4, obtain 4 width of cloth images, the intensity distribution function of i width of cloth image is:
g i(x,y)=a(x,y)+r(x,y)cos[Φ(x,y)+i*2π/N]
i=0,1,2,3
(x y) for phase shift is the phase value of 0 o'clock this point to Φ, and i*2 π/N represents the size of phase shift.
In the above on the basis of formula, by the simultaneous solution of four equations, can obtain phase place main value Φ (x, y):
Φ ( x , y ) = - arctg ( Σ i = 0 N - 1 g i ( x , y ) sin 2 πi N Σ i = 0 N - 1 g i ( x , y ) cos 2 πi N )
When N=4, corresponding phase shift is 0, pi/2, and π, 3 pi/2s, it is separated the phase formula and is:
Φ ( x , y ) = arctan g 3 ( x , y ) - g 1 ( x , y ) g 0 ( x , y ) - g 2 ( x , y )
Because arctan is the cycle with π, so the Φ that directly resolves out will be positioned on [pi/2, pi/2] interval.And in fact, the phase main value in the system is on [π, π] interval, is the cycle with 2 π, for head it off, can revise with following algorithm.If m=g 0-g 2(representing the value of cos Φ), n=g 3-g 1(representing the value of sin Φ) then:
If m>0, n>0, Φ ∈ [0, pi/2] then is so the Φ value remains unchanged;
If m>0, n<0, Φ ∈ [pi/2,0] then is so the Φ value also remains unchanged;
If m<0, n>0, Φ ∈ [pi/2,0] then, so Φ ∈ [pi/2, π] in fact is Φ=Φ+π;
If m<0, n<0, Φ ∈ [0, pi/2] then, in fact Φ ∈ [π. ,-pi/2], so Φ=Φ-π.
The stripe pattern that projects measured surface that Fig. 3 takes for camera, Fig. 4 is the phase value result of Xie Xianghou.
Above-mentioned phase value after separating mutually can not be directly used in three-dimensional coupling because of having the phase place volume repeatedly, need carry out phase unwrapping, makes phase value become a continuous monotonic sequence, and this process is called phase demodulation.
The phase demodulation method adopts heterodyne multifrequency phase demodulation method, needs the striped of three grades of different cycles of projection just can calculate correct phase value.Concrete principle is an example with resolving of two-stage different cycles striped, supposes that be λ by four step phase-shift methods to the cycle 1, λ 2(frequency is f 1, f 2) two-stage striped (exist certain a bit both phase main values be 0) the phase main value of trying to achieve be respectively φ 1(x, y), φ 2(x, y).According to heterodyne principle, can obtain for the cycle be λ b = λ 1 λ 2 λ 1 - λ 2 (respective frequencies is f 1-f 2) striped, (x, the phase value of y) locating are φ at point b(x, y)=φ 1(x, y)-φ 2(x, y), as shown in Figure 5.
If the cycle λ that calculates bCan cover whole visual field, promptly guarantee to have only in the visual field fringe period, can utilize multifrequency to separate the phase method φ 1(x, y) or φ 2(x y) carries out phase demodulation, otherwise need append projection striped number of times, increases the process of an iteration.
Under the identical situation of zero phase (Fig. 5 mid point A), phase value and sine streak cycle are inversely proportional to:
Φ b ( x , y ) Φ 1 ( x , y ) = λ 1 λ b = λ 1 - λ 2 λ 2
Φ wherein 1(x, y), Φ b(x, y) cycle of being respectively is λ 1, λ bThe time the phase demodulation result because λ bCan cover whole visual field, its phase demodulation result equates with main value mutually, i.e. Φ b(x, y)=φ b(x, y).With this above equation substitution formula have:
Φ 1 ( x , y ) = λ 1 - λ 2 λ 2
Like this, can obtain the cycle is λ 1The time striped phase demodulation result, and in phase demodulation, about the phase value of two cameras can both be unified in a reference point A and go up (this phase value is zero).
Fig. 6 is the stripe pattern that projects three grades of different cycles of measured surface, and Fig. 7 is for wanting to launch the result, and that compares Fig. 4 separates the phase result, and phase value has become the continuous dull sequence that increases from left to right, can carry out follow-up solid coupling work.
Three-dimensional coupling is that the polar curve constraint is combined with phase encoding information, and it is right to obtain the corresponding match point of left and right sides camera, and concrete steps are as follows,
1. the phase place of ordering by P in the left phase diagram is found out its equiphase line at right phase diagram;
2. by the vision system structural parameters, calculate the polar curve of P point at right phase diagram;
3. equiphase line and polar curve intersect and obtain corresponding match point P '.
Known principle of triangulation is adopted in three-dimensional reproduction, and the left and right sides camera match point that obtains according to the solid coupling calculates three-dimensional point cloud to the inside and outside parameter with left and right sides camera.

Claims (1)

1. a stereoscopic vision detecting method that is used for measuring three-dimensional morphology on strong reflection surface comprises that striped projection and image acquisition, phase place are resolved, solid is mated and three-dimensional reproduction, and it is characterized in that: described striped projection may further comprise the steps with image acquisition:
(1) throw bright even light earlier, adopt a plurality of time shutter photographic images respectively, deposit in successively among the image sequence PJ, the dark evenly light of projection adopts a plurality of time shutter photographic images respectively again, deposits in successively among the image sequence PJ;
Wherein, the brightness of bright even light is identical with the brightness of bright fringes high light, and the brightness of dark evenly light is identical with the brightness of dark fringe high light;
Wherein, adopt a plurality of time shutter to take, be according to the time shutter from long to weak point, take successively;
(2) ask for algorithm according to mask images, calculate with step (1) in the captured corresponding mask images sequence of image sequence PJ Mask;
The mould image is asked for algorithm:
When i=1,
Figure FSB00000463604400011
When i>1,
Figure FSB00000463604400012
Wherein, j=1,2 ..., i-1;
In the formula, i, j are the sequence number of image in image sequence PJ, are the natural numbers greater than 0, PJ i, PJ jBe the i among the image sequence PJ, j width of cloth image, Mask iBe the i width of cloth mask images in the mask images sequence, Mask iBe and PJ iCorresponding mask images, PJ i(x, y), PJ j(x y) is image Pj i, PJ jAt coordinate (x, the gray-scale value of y) locating, Mask i(x y) is and PJ i(x, y) (MaxGray is the mask gray threshold to corresponding mask images for x, the mask value of y) locating at coordinate;
(3) throw bright fringes earlier, adopt a plurality of time shutter shooting, collectings to be loaded with the High Reflective Surface image of striped respectively, deposit in successively among the image sequence P, throw dark fringe again, adopt a plurality of time shutter to gather the High Reflective Surface image that is loaded with striped respectively, deposit in successively among the image sequence P;
(4) adopt the image composition algorithm, with a plurality of bright, dark fringe image sequence P captured in the step (3), synthetic stripe pattern PG with high dynamic range;
The image composition algorithm is: the gray-scale value PG of arbitrfary point in the image of high dynamic range (x y), calculates according to following formula,
PG ( x , y ) = Σ i = 1 n Mask i ( x , y ) · P i ( x , y )
In the formula, n takes total degree bright, dark fringe, P for adopting a plurality of time shutter i(x y) is i width of cloth image P iAt point (x, the gray-scale value of y) locating, Mask i(x y) is and i width of cloth mask images Mask iIn point (x, mask value y).
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