CN101806587A - Optical three-dimensional measurement method with absolute phase measurement - Google Patents
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Abstract
The invention belongs to the technical field of an optical three-dimensional sensor technology, particularly relating to an optical three-dimensional measurement method with absolute phase measurement. The invention provides a method which adopts a single assistant coding pattern, which combines the intercepting phase distributing characteristic with the coding pattern deforming characteristic in a phase coding project, and uses 3-value gray level coding, thereby improving the decoding reliability and simplifying the decoding algorithm. By adding a sine optical grating or a logic optical grating pattern with a space gray level coding pattern, the method realizes the absolute phase measurement to compute the three-dimensional feature and the space room of an object.
Description
Technical field
The invention belongs to the optical 3-dimensional field of sensing technologies, be specifically related to a kind of optical three-dimensional measuring method that adopts absolute phase to measure.
Background technology
Optical 3-dimensional sensing technology based on Structured Illumination is widely used in fields such as industrial detection, quality control, machine vision, video display stunt and biomedicines.One of key of this technology is the coupling of projection plane and video camera image planes corresponding point, utilizes color, gray scale, raster phase usually or utilizes the symbol of above-mentioned parameter coding or symbol sebolic addressing etc. is realized corresponding point matching.
Whether existing Structured Illumination three-dimensional sensing technology by relevant with color, can be divided into based on color with based on the encoding scheme of gray scale; By the parameter difference that is used to encode, can be divided into sinusoidal grating phase encoding scheme (claiming the sine streak projection scheme again) and light intensity encoding scheme.
The phase encoding scheme mainly contains phase measuring profilometer (DMP) and Fourier transform technology of profiling (FTP) etc.The absolute phase that needs in the phase encoding scheme to obtain grating could realize corresponding point matching, and then the three-dimensional appearance of object and locus can be measured.
Common absolute phase acquisition methods has at present:
(1) the space phase method of development.The grating of projection single-frequency is begun by a certain phase unwrapping starting point, adopts suitable algorithm to carry out phase unwrapping;
(2) time phase the method for development.The grating of two above different frequencies of projection utilizes the relation between these raster phases to carry out phase unwrapping;
(3) utilize auxiliary coding pattern to determine that the grating fringe level is inferior, launch phase place.
The branch that single width and several coding patterns are arranged again in (3) the kind method.Adopt several coding patterns can obtain reliable measurement result, coding/decoding method is simple, but Measuring Time is longer; And adopt the single width coding pattern can improve measuring speed, but ordinary solution code calculation complexity, reliability is low relatively.
Summary of the invention
The invention provides a kind of employing single width auxiliaring coding method of patterning, it uses 3 value gray-codeds in conjunction with blocking PHASE DISTRIBUTION characteristics and coding pattern deformation characteristics in the phase encoding scheme, improves decoding reliability, and has simplified decoding algorithm.Promptly adopt sinusoidal grating or Luo Qi grating pattern to add a width of cloth space gray-coded method of patterning and realize the absolute phase measurement, and then calculate the three-dimensional appearance and the locus of object.
Concrete technology path of the present invention is:
A kind of optical three-dimensional measuring method that adopts absolute phase to measure may further comprise the steps:
1), one is equipped with the projector of grating to object projective structure light pattern;
2), a video camera is taken the deformation pattern that is reflected by object in the another location;
3), deformation pattern that object is reflected resolves, and obtains the coordinate of putting on the projection plane corresponding with point on the video camera image planes;
4), calculating object measurement point coordinate according to geometric relationship carries out three-dimensionalreconstruction, the acquisition object three-dimensional image;
It is characterized in that
The described structured light patterns of step 1) comprises grating pattern and space gray-coded pattern,
This space gray-coded pattern is made up by following steps:
A), space gray-coded pattern is made of some bands corresponding with grating fringe, the width of band is identical with fringe period;
B, utilize in the band gray-value variation rule to determine a group of coded symbols along strip direction;
C), the pseudo-random sequence that is made up by this group of coded symbols is determined space gray-coded pattern.
Described pseudo-random sequence construction method comprises following steps:
A), the picked at random number equals the coded identification of length of window from a group of coded symbols of appointment, constitutes initiation sequence;
B), from this group of coded symbols 1 symbol of picked at random, add to and form new sequence after the sequence that has made up;
C), judge whether this new sequence meets the following conditions;
Subsequence more than or equal to length of window is unique,
No repeated encoding symbol in the subsequence that equals length of window arbitrarily,
As meet, check then whether whole sequence length is not less than the grating fringe number, if satisfy, make up and finish, otherwise change b) step,
As do not meet, then the firm coded identification of adding of deletion is changeed b) step.
The gray-scale value of described space gray-coded pattern comprises 3 grades.
Fig. 1 is an optical grating projection three-dimension measuring system synoptic diagram.It is made of projector and video camera.O
p, O
cBe respectively projector and video camera photocentre, (x
P0, y
P0), (x
C0, y
C0) be respectively the image coordinate of projector and video camera principal point.P
p, P
cCorresponding point for a pair of projection plane and video camera image planes.P is the measurement point on the body surface, and its coordinate is (X
w, Y
w, Z
w).Launch sinusoidal grating or Luo Qi grating by projector, video camera is taken the deforming stripe that is reflected by body surface in the another location.By finding the solution the image absolute phase that photographs, obtain the coordinate of putting on the projection plane corresponding with point on the video camera image planes.At last by PO
cO
pIn the triangle that constitutes, calculate the P point coordinate according to geometric relationship, and then recover object dimensional pattern and locus.
The basic design philosophy of gray space coding pattern is:
At first the gray space coding pattern is divided into some bands corresponding with projected fringe, the width of band is identical with fringe period, i.e. the one-period of a corresponding striped of band.
Utilize in the band along the intensity profile rule of the strip direction class symbol of encoding.
Use the pseudo-random sequence that constitutes by this class symbol to determine the general structure of pattern then.
Wherein, pseudo-random sequence should satisfy following condition:
(1) in sequence, be unique more than or equal to the subsequence of length-specific (being called length of window);
(2) in equaling the subsequence of length of window, random length do not have replicator.It such as length of window 4 sequence " ABDECFADBE FDBECDABFECBDEFBDCEABCDAECFBDE ".
The coding method of symbol is: according to whether change along the strip direction gray scale, gray-scale value and change rule such as amplitude and encode.For example, adopt 3 grades of gray scales to encode, be expressed as 0,1,2.Along strip direction gray scale no change, can think that also Changing Pattern is: 0-0,1-1,2-2, symbol of every kind of gray-scale value coding, 3 symbols of can encoding.Along the periodically two-value variation of strip direction gray scale, according to the gray-scale value difference of these two variations, 3 symbols of can encoding are respectively: 0-1, and 0-2, the 1-2 two-value changes.Comprehensive above-mentioned two class situations, 6 symbols of can encoding altogether can be expressed as respectively: A (0-0), B (1-1), C (2-2), D (0-1), E (0-2), F (1-2).
Fig. 2 gives an example for coding pattern, surpasses the raster phase saltus step line that the point of π is formed by connecting by adjacent phase hit absolute value and is positioned at the band center.
The decoding algorithm scheme that the present invention adopts is as follows:
The coding pattern that actual measurement obtains as shown in Figure 3, the brighter line of color is the saltus step line among the figure.Because the phase hit line is positioned at the band center, it is less that its gray scale is influenced by adjacent ribbons, and band is out of shape with the saltus step line.Sinusoidal grating striped corresponding codes can be determined by coding pattern grey scale change situation on the analysis saltus step line.Decoding algorithm is as follows:
(1) removes of the influence of body surface reflectivity to coded image;
(2) according to threshold value coded image being carried out three values quantizes;
(3) along saltus step line computation grey level histogram, the some proportion of a certain gray scale just confirms that greater than threshold value this gray scale exists;
(4) recover code according to coding rule.
Description of drawings
Fig. 1 is an optical grating projection 3-D imaging system synoptic diagram of the present invention
The coding pattern synoptic diagram that Fig. 2 gives an example for the present invention
The actual measurement coding pattern synoptic diagram that Fig. 3 gives an example for the present invention
Fig. 4 is sine of the present invention and encode grating synoptic diagram
Fig. 5 is inventor's face expression shape change measurement result synoptic diagram
Fig. 6 is a complex scene measurement result synoptic diagram of the present invention
Embodiment
Embodiment 1
A kind of optical three-dimensional measuring method that adopts absolute phase to measure may further comprise the steps:
1), one is equipped with the projector of grating to object projective structure light pattern;
2), a video camera is taken the deformation pattern that is reflected by object in the another location;
3), deformation pattern that object is reflected resolves, and obtains the coordinate of putting on the projection plane corresponding with point on the video camera image planes;
4), calculating object measurement point coordinate according to geometric relationship carries out three-dimensionalreconstruction, the acquisition object three-dimensional image;
It is characterized in that
The described structured light patterns of step 1) comprises grating pattern and space gray-coded pattern,
This space gray-coded pattern is made up by following steps:
A), space gray-coded pattern is made of some bands corresponding with projected fringe, the width of band is identical with fringe period;
B, utilize in the band gray-value variation rule to determine a group of coded symbols along strip direction;
C), the pseudo-random sequence that is made up by this group of coded symbols is determined space gray-coded pattern.
Described pseudo-random sequence construction method comprises following steps:
A), the picked at random number equals the coded identification of length of window from a group of coded symbols of appointment, constitutes initiation sequence;
B), from this group of coded symbols 1 symbol of picked at random, add to and form new sequence after the sequence that has made up;
C), judge whether this new sequence meets the following conditions;
Subsequence more than or equal to length of window is unique,
No repeated encoding symbol in the subsequence that equals length of window arbitrarily,
As meet, check then whether whole sequence length is not less than the grating fringe number, if satisfy, make up and finish, otherwise change b) step,
As do not meet, then the firm coded identification of adding of deletion is changeed b) step.
The gray-scale value of described space gray-coded pattern comprises 3 grades.
Concrete experimental procedure is as follows:
According to pixel columns, the grating computation of Period pseudo-random sequence length of projector, adopt preceding method structure pseudo-random sequence;
According to the gray-coded pattern coding method of aforesaid space, design and each symbol corresponding codes band;
According to the code sequence of structure, coding unit is arranged in order, obtain at last and pseudo-random sequence corresponding codes pattern;
Grating and coding pattern that design is obtained project on the testee, and take deformed grating and the coding pattern of being modulated by object appearance with video camera simultaneously;
Behind intact all patterns of projection, find the solution the phase place of blocking of grating, and block phase place with the coding pattern decoding that photographs in conjunction with what obtain, calculate absolute phase, obtain the three-dimensional appearance and the locus of object at last.
The employing length of window is 3 sequence:
" ABDECFACDCEFBEADFEBCAEDAFDBFCBADEFCABEDC F ", symbol is worth gray-codeds with 3.At first carry out the dynamic process experiments of measuring with π phase shift Fourier transform technology of profiling in conjunction with coding pattern, the grating cycle is 18 pixels.Writing speed is per second 60 frame three-dimensional datas.Fig. 4 (a), Fig. 4 (b), Fig. 4 (c) overlap grating for one of design, and Fig. 4 (a) is a sinusoidal grating, and Fig. 4 (b) is the dephased sinusoidal grating of π, and Fig. 4 (c) is an encode grating.
Fig. 5 is for laughing at people's face measure of the change result in the process.Adopt five step phase-shift methods to measure the scene of forming by some isolated objects in conjunction with coding pattern then.Fig. 6 (a) is tested scene photo, and wherein wall and plaster statue are apart from about 690mm; Fig. 6 (b) is a measurement result; Fig. 6 (c) is the result behind the removal wall.As seen adopt this method can measure the three-dimensional appearance and the locus of complex scene reliably, and the bigger measurement depth of field is arranged.
Claims (3)
1. optical three-dimensional measuring method that adopts absolute phase to measure may further comprise the steps:
1), one is equipped with the projector of grating to object projective structure light pattern;
2), a video camera is taken the deformation pattern that is reflected by object in the another location;
3), deformation pattern that object is reflected resolves, and obtains the coordinate of putting on the projection plane corresponding with point on the video camera image planes;
4), calculating object measurement point coordinate according to geometric relationship carries out three-dimensionalreconstruction, the acquisition object three-dimensional image;
It is characterized in that
The described structured light patterns of step 1) comprises grating pattern and space gray-coded pattern, and this space gray-coded pattern is made up by following steps:
A), space gray-coded pattern is made of some bands corresponding with grating fringe, the width of band is identical with fringe period;
B), utilize in the band gray-value variation rule to determine a group of coded symbols along strip direction;
C), the pseudo-random sequence that is made up by this group of coded symbols is determined space gray-coded pattern.
2. optical three-dimensional measuring method according to claim 1 is characterized in that described pseudo-random sequence construction method comprises following steps:
A), the picked at random number equals the coded identification of length of window from a group of coded symbols of appointment, constitutes initiation sequence;
B), from this group of coded symbols 1 symbol of picked at random, add to and form new sequence after the sequence that has made up;
C), judge whether this new sequence meets the following conditions;
Subsequence more than or equal to length of window is unique,
No repeated encoding symbol in the subsequence that equals length of window arbitrarily,
As meet, check then whether whole sequence length is not less than the grating fringe number,
If satisfy, make up and finish, otherwise change b) step,
As do not meet, then the firm coded identification of adding of deletion is changeed b) step.
3. optical three-dimensional measuring method according to claim 1 is characterized in that described space gray-coded pattern comprises ash in class III degree value.
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| CN101504277A (en) * | 2009-02-26 | 2009-08-12 | 浙江师范大学 | Method for acquiring object three-dimensional image by optical three-dimensional sensing |
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| 《中国优秀硕士学位论文全文数据库基础科学辑》 20080215 纪文丽 基于光栅投影方法的物体三维轮廓重构 第3.4节 1－3 , 第2期 2 * |
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