CN102269575A - Mapping-based phase matching method in vision measurement - Google Patents
Mapping-based phase matching method in vision measurement Download PDFInfo
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Abstract
The invention discloses a mapping-based phase matching method in vision measurement, which is characterized by comprising the following steps of: acquiring a picture of a subject to be shot by two cameras, and simultaneously projecting a sinusoidal fringe and a corresponding fringe demodulated phase line at the same frequency to a target object, obtaining a main relative phase value by using a 3-step phase-shifting way in a computer vision measurement technology, obtaining a final absolute phase value by using the demodulated phase line; by using the relationship between the main absolute phase value and a standard projection fringe, finishing N:N mapping of the absolute phase value obtained by the two cameras to finish coarse matching; and finishing the fine matching by using a sub-pixel technology. An epipolar constraint condition is not used in the method, therefore, the method is convenient to use in a multi-target measuring system and is suitable for a high-resolution camera; and the image matching is irrelative with a camera parameter, the matching precision does not depend on camera calibration precision, therefore, the matching precision and the speed are high, and the method is suitable for three-dimensional reconstruction and precision measurement of a large-size object.
Description
Technical field
The present invention relates to a kind of computer vision measurement technology, based on the phase matching method of mapping, be applicable to three-dimensional reconstruction and precision measurement in the area-structure light three-dimensional reconstruction system in especially a kind of vision measurement.
Background technology
Three-dimensional reconstruction is all obtained certain progress at home, abroad, and uses general in the reverse-engineering field.At present, wider based on the area-structure light reconstruction technique application of binocular, precision is higher, can satisfy the demand of high precision industrial detection, and industrialization.
Principle of work based on the binocular structured light reconstruction system of sinusoidal light is: by projector projects through the sinusoidal light of coding to body surface, because of body surface is uneven structured light is occured bending and deformation, by about two video cameras take and obtain being out of shape picture, the phase place main value that the phase algorithm obtains throwing striped is separated in utilization, then the phase place main value is launched, obtain absolute phase values; The absolute phase values that two video cameras obtain is respectively mated, and it is right to obtain match point, in conjunction with camera parameters information, utilizes camera model, separates the right three-dimensional information of invocation point, thereby realizes highdensity shape three-dimensional reconstruction of large scale.
A step the most key in the sinusoidal light method for reconstructing based on binocular is exactly the phase matching algorithm.In the binocular structured light measurement system, the video camera of diverse location is under identical time and condition, same measuring object is taken pictures, in image space, seek then same measuring object surface object point about corresponding picture point in two width of cloth images, this process is referred to as coupling.Matching algorithm all has research both at home and abroad, and basic thought is based on similarity measurement and continuity hypothesis.The present phase place gray scale matching algorithm of polar curve outside the sinusoidal structured optical arena is used more being based on.But when these methods are applied in high-resolution picture, will be very consuming time, performance is extremely low, and is unfavorable for expanding to and surpasses plural video camera.In the measuring process of taking pictures of reality, since phase displacement error, ambient light effects, the reflective characteristic of body surface material, camera lens distortion distortion, motion is blocked, and various factorss such as shade make that the coupling in the measuring process becomes a difficulty and a vital ring.
Matching process based on correlativity is comparatively simple at present, and also the matching process that is easy to realize on hardware, but this method is because reflective characteristic of body surface and ambient light effects, there are many uncertain factors in the gray scale correlativity in actual environment, cause matching precision lower, number of matches is less.Matching process based on feature is according to the characteristic information that extracts in the image, such as circle, and straight line, camber line, angle point, irregular patterns etc. mate, and this matching process precision is higher, but can only mate the three-dimensional data that obtains characteristic information.In these matching process, mostly, reduce matching range and improve precision by increasing constraint condition.Such as utilizing outer polar curve constraint, consistency constraint, unique constraints, continuity hypothesis, deviation gradient, multi-channel structure coupling etc.Such as the MPH matching algorithm of propositions such as S.B.Marapane, obtaining the coupling accuracy is about 85%.
Though present various matching process all obtains bigger progress, the matching process that is able to widespread use the most at present still is based on the matching process of outer polar curve.The method only needs to travel through the match point that can find correspondence on the polar curve outside.But this method need be calculated the outer polar curve equation of corresponding picture point, and travel through on the polar curve outside, need spended time bigger, particularly on the large scale image, it is very low that matching performance becomes, and this also is that present method for reconstructing CCD resolution based on grating generally all adopts one of reason about 1,300,000 pixels.
Summary of the invention
Purpose of the present invention: aim to provide a kind of phase matching method, it has simply, speed is fast, matching precision is high, is applicable to large sized object, high-resolution camera, supports many orders reconstructing system.
Service condition of the present invention is: indoor, avoid ambient light effects; Outdoor, morning or do not have under the sunlit condition at dusk and also can use, but precision can reduce; Do not have specific (special) requirements for the testee Facing material, do not have strong reflective situation and get final product; Do not require that the testee surface is that geometry is continuous.
In this vision measurement based on the phase matching method of mapping relations, its feature exists: utilize two video cameras to obtain the photo of subject, and throw simultaneously with the sine streak and the corresponding striped of frequency of the same race and separate phase line to object, by utilizing the step of three in computer vision measurement technology phase-shift method to obtain the relative phase main value, utilization is separated phase line and is obtained absolute phase values, the relation of absolute phase main value that utilization obtains and standard projection striped, the absolute phase values of two video camera gained is finished the mapping of N:N and finished thick coupling, utilization sub-pix technology is finished meticulous coupling.
Based on the phase matching method of mapping, its operating process is as follows in the kind vision measurement:
1) select a kind of sine streak of frequency and corresponding striped to separate phase line and carry out projection, projection level respectively and the striped of holding up are conciliate phase line,
2) use two ccd video cameras to take pictures, two video cameras respectively take 8 photos;
3) utilization three goes on foot phase-shift method raster image is separated phase, obtains the relative phase main value;
4) utilize and to separate phase line the phase place main value is launched, obtain the absolute phase main value;
5) utilize the absolute phase main value obtain and the relation of standard projection striped, the phase place main value of two video camera gained is finished the mapping of N:N, finish thick coupling;
6) utilization sub-pix technology is finished meticulous coupling.
This image matching method according to above technical scheme proposition based on mapping relations, do not use outer polar curve constraint condition, so very convenient many range estimations amount system that is used for, be suitable for very much high-resolution camera, and images match and camera parameters are irrelevant, just matching precision does not rely on the camera calibration precision, so matching precision is fast at a high speed, is suitable for the three-dimensional reconstruction and the precision measurement of large sized object.
Description of drawings
Fig. 1 for images match point to being the synoptic diagram that concerns of a N:N;
Fig. 2 is absolute phase computing method synoptic diagram;
Fig. 3 is a phase matching method schematic flow sheet of the present invention;
Fig. 4 is the left camera gained standard ball grating picture (vertically) of taking pictures;
Fig. 5 is the right camera gained standard ball grating picture (vertically) of taking pictures
Fig. 6 is the left camera gained standard ball grating picture (vertically) of taking pictures;
Fig. 7 is the right camera gained standard ball grating picture (vertically) of taking pictures;
Fig. 8 is the left camera gained standard ball grating picture (vertically) of taking pictures;
Fig. 9 is the right camera gained standard ball grating picture (vertically) of taking pictures;
Figure 10 vertically separates the phase line picture for the left camera gained of taking pictures;
Figure 11 vertically separates the phase line picture for the right camera gained of taking pictures;
Figure 12 is the left camera gained standard ball grating picture (level) of taking pictures;
Figure 13 is the right camera gained standard ball grating picture (level) of taking pictures;
Figure 14 is the left camera gained standard ball grating picture (level) of taking pictures;
Figure 15 is the right camera gained standard ball grating picture (level) of taking pictures;
Figure 16 is the left camera gained standard ball grating picture (level) of taking pictures;
Figure 17 is the right camera gained standard ball grating picture (level) of taking pictures;
Figure 18 separates the phase line picture for the left camera perpendicular level of gained of taking pictures;
Figure 19 separates the phase line picture for the right camera gained level of taking pictures;
Figure 20 is the standard ball three-dimensional plot;
Figure 21 is the left camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 22 is the right camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 23 is the left camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 24 is the right camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 25 is the left camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 26 is the right camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 27 vertically separates the phase line picture for the left camera gained mechanical component of taking pictures;
Figure 28 vertically separates the phase line picture for the right camera gained mechanical component of taking pictures;
Figure 29 is the left camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 30 is the right camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 31 is the left camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 32 is the right camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 33 is the left camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 34 is the right camera gained mechanical component grating picture (vertically) of taking pictures;
Figure 35 separates the phase line picture for the left camera gained mechanical component level of taking pictures;
Figure 36 separates the phase line picture for the right camera gained mechanical component level of taking pictures;
Figure 37 is the mechanical component three-dimensional plot.
Embodiment
The invention discloses a kind of phase matching method based on mapping relations, its feature exists: utilize two video cameras to obtain the photo of subject, and throw simultaneously with the sine streak and the corresponding striped of frequency of the same race and separate phase line to object, by utilizing the step of three in computer vision measurement technology phase-shift method to obtain the relative phase main value, utilization is separated phase line and is obtained absolute phase values, the relation of absolute phase main value that utilization obtains and standard projection striped, the absolute phase values of two video camera gained is finished the mapping of N:N and finished thick coupling, utilization sub-pix technology is finished meticulous coupling.
Its operating process is as follows:
1) select a kind of sine streak of frequency and corresponding striped to separate phase line and carry out projection, projection level respectively and the striped of holding up are conciliate phase line,
2) use two ccd video cameras to take pictures, two video cameras respectively take 8 photos;
3) utilization three goes on foot phase-shift method raster image is separated phase, obtains the relative phase main value;
4) utilize and to separate phase line the phase place main value is launched, obtain the absolute phase main value;
5) utilize the absolute phase main value obtain and the relation of standard projection striped, the phase place main value of two video camera gained is finished the mapping of N:N, finish thick coupling;
6) utilization sub-pix technology is finished meticulous coupling.
The present invention utilizes existing phase place phase demodulation technique, employing is based on the phase matching method of mapping, can improve the performance of phase matching greatly, improve the precision of phase matching, and can expand to a plurality of video cameras, the large scale picture that high-resolution camera obtains thereby knot has been determined carries out the slow problem of phase matching, makes the high resolving power real-time reconstruction become possibility.
Service condition of the present invention is: indoor, avoid ambient light effects; Outdoor, morning or do not have under the sunlit condition at dusk and also can use, but precision can reduce; Do not have specific (special) requirements for the testee Facing material, do not have strong reflective situation and get final product; Do not require that the testee surface is that geometry is continuous.
Level, vertical absolute phase values are tried to achieve in utilization of the present invention, in conjunction with the standard phase place of projector, utilize mapping relations, and the absolute phase of two video cameras is mated.Utilize mapping relations,, can determine a line u in the corresponding projector of a line in the corresponding projector of coordinate (U, V) of certain point in the camera review according to the absolute phase values of a direction
pPerhaps v
p
A vertical phase line can be in projector, determined if any vertical absolute phase values, its corresponding horizontal ordinate in projector can be obtained:
Wherein, (Uc, Vc) be on the image certain a bit, Φ
vBe the vertical absolute phase values of this point, N
vBe grating frequency, W is an optical grating projection instrument horizontal resolution.
Equally, can determine the phase line of a level by horizontal absolute phase values, can obtain it has corresponding ordinate in the projector:
Wherein, (Uc, Vc) be on the image certain a bit, Φ
hBe the vertical absolute phase values of this point, N
hBe grating frequency, H is the vertical resolution of optical grating projection instrument.
Video camera 1 is taken the level of projection and vertical striped respectively, obtains level and vertical absolute phase values, then in the camera review a bit (Uc, Vc) be mapped to projector image coordinate (Up, Vp).Equally, video camera 2 is taken the level of projection and vertical striped respectively, obtains level and vertical absolute phase values, in the camera review a bit (U ' c, V ' c) be mapped to projector image coordinate (Up, Vp).Then according to the projector image coordinate, realize (Uc, Vc) and the coupling of (U ' c, V ' c).
Foregoing is the inventive point that is different from prior art, the flow process that the present invention is applied to vision measurement as shown in Figure 3, vision measurement system comprises hardware and software, hardware mainly is to finish image acquisition, comprise two video cameras, projector, computing machine etc., software is finished Flame Image Process, the reconstruction of some cloud etc.
Projector to measuring object throw level respectively, vertically during grating, about two video cameras take pictures simultaneously, carry out then that relative phase calculates, phase unwrapping, obtain level, vertical absolute phase.
Relative phase calculates and adopts three step phase-shift methods, the phase place light intensity function:
Wherein:
Be environmental light intensity;
Three step phase shifts adopt phase-shift phase to be respectively ∏/4, and ∏ 3/4, and ∏ 5/4, and promptly three step phase shift formula are:
Phase developing method adopts the space phase method of deploying, can generally be expressed as: the phase value of more adjacent two points on expansion direction, if the difference of back point and preceding point less than-∏, then the phase value put of back should add 2 ∏; If difference is greater than ∏, then the phase value of back point should deduct 2 ∏.Space phase obtains absolute phase values after launching
The absolute phase values that obtains is predefined in the grating projector in advance, needs to obtain final absolute phase values with reference to predefined value.
If projected fringe is vertical striped, obtains vertically separating phase line accordingly and be
, then final absolute phase values is:
Similar, can get absolute phase values final on the horizontal direction and be:
After obtaining the final absolute phase values of level and vertical striped, just can carry out images match according to the present invention.
Because resolution of video camera often is higher than projector resolution, (Up, Vp) picture point in Dui Ying every width of cloth image is not only one, so the images match point that obtains is to being the relation of a N:N, as shown in Figure 1.
Finish after the N:N coupling, corresponding to a cell coordinate in the projector, its point in left image mapped is set N1, and its set at the point of right image mapped is N2, at first according to phase difference value quadratic sum minimum, finds the coupling of 1:1.
Suppose that p is a picture point among the N1, definition
, definition p, the condition of q coupling is:
Seeking { P, q } makes
All find its corresponding q point for each point among the N1, finish the coupling of 1:1 by following formula.Press U direction and V direction then respectively, carry out linear interpolation, carry out sub-pix and cut apart, obtain the meticulous coupling of 1:1 according to absolute phase values.Its process is as follows: suppose p, q} are that a match point is right,
, in the U direction, with
,
Be independent variable x,
,
Functional value y carries out linear interpolation, and is right
Carry out sub-pix and cut apart, obtain the accurate coupling of U direction
In like manner, can obtain the accurate coupling of V direction
Finally realized
With
Meticulous coupling.
Finish based on after the meticulous coupling of the image of sub-pix, again in conjunction with camera parameters, carry out a cloud and rebuild, each point is all by (x, y z) form, in order to describe the three-dimensional information of object Shape '.
Camera parameter is divided into intrinsic parameter and outer parameter.Intrinsic parameter is by f, sx, sy, u
0, v
0Form.Wherein, f is a camera master distance; s
x, s
yBe the physical size of camera CCD pixel at level and vertical direction; u
0, v
0Principal point for camera.
Intrinsic parameter has been formed the intrinsic parameter matrix:
Outer parameter is by a rotation matrix
With a translation vector [tx, ty, tz]
-1The 3X4 matrix of forming:
Wherein, [a
00, a
01, a
02]
-1Be the rotating vector around the x axle, [a
10, a
11, a
12]
-1Be the rotating vector around the y axle, [a
20, a
21, a
22]
-1Be rotating vector around the z axle; Tx is the axial translational movement of x, and ty is the translational movement on the y direction, and tz is the translational movement on the zy direction.
Outer parameter and intrinsic parameter are formed camera parameter jointly
According to technique scheme, present technique inventor carries out based on the phase matching method of mapping on probation to standard ball and general mechanical component.
One, be that example illustrates the imaging picture in the actual use of this phase matching method with next standard ball.
Wherein:
Fig. 4, Fig. 6, Fig. 8 are the left camera vertical phase grating picture of gained standard ball of taking pictures;
Fig. 5, Fig. 7, Fig. 9 are the right camera vertical phase grating picture of gained standard ball of taking pictures;
Figure 10 vertically separates the phase picture for the left camera gained standard ball of taking pictures;
Figure 11 vertically separates the phase picture for the right camera gained standard ball of taking pictures;
Figure 12, Figure 14, Figure 16 are the left camera horizontal grating picture of gained standard ball of taking pictures;
Figure 13, Figure 15, Figure 17 are the right camera horizontal grating picture of gained standard ball of taking pictures;
Figure 18 separates the phase line picture for the left camera perpendicular level of gained standard ball of taking pictures;
Figure 19 separates the phase line picture for the right camera perpendicular level of gained standard ball of taking pictures;
Figure 20 is for rebuilding the standard ball three-dimensional plot that the back obtains.
Two, be that example illustrates the imaging picture in the actual use of this phase matching method with next mechanical component.
Wherein:
Figure 21, Figure 23, Figure 25 are the left camera vertical phase grating picture of gained mechanical component of taking pictures;
Figure 22, Figure 24, Figure 26 are the right camera vertical phase grating picture of gained mechanical component of taking pictures;
Figure 27 vertically separates the phase picture for the left camera gained mechanical component of taking pictures;
Figure 28 vertically separates the phase picture for the right camera gained mechanical component of taking pictures;
Figure 29, Figure 31, Figure 33 are the left camera horizontal grating picture of gained mechanical component of taking pictures;
Figure 30, Figure 32, Figure 34 are the right camera horizontal grating picture of gained mechanical component of taking pictures;
Figure 35 separates the phase line picture for the left camera gained mark mechanical component level of taking pictures;
Figure 36 separates the phase line picture for the right camera perpendicular level of gained mechanical component of taking pictures;
Figure 20 is for rebuilding the mechanical component three-dimensional plot that the back obtains.
Claims (2)
1. phase matching method based on mapping relations, its feature exists: utilize two video cameras
Obtain the photo of subject, and throw simultaneously with the sine streak and the corresponding striped of frequency of the same race and separate phase line to object, by utilizing the step of three in computer vision measurement technology phase-shift method to obtain the relative phase main value, utilization is separated phase line and is obtained final absolute phase values, the relation of final absolute phase main value that utilization obtains and standard projection striped, the absolute phase values of two video camera gained is finished the mapping of N:N and finished thick coupling, utilization sub-pix technology is finished meticulous coupling.
2. based on the phase matching method of mapping, it is characterized in that: its operating process is as follows in a kind of vision measurement as claimed in claim 1:
1) select a kind of sine streak of frequency and corresponding striped to separate phase line and carry out projection, projection level respectively and the striped of holding up are conciliate phase line,
2) use two ccd video cameras to take pictures, two video cameras respectively take 8 photos;
Three step of utilization phase-shift method is separated phase to raster image, obtains the relative phase main value;
4) utilize and to separate phase line the phase place main value is launched, obtain final absolute phase main value;
5) utilize the absolute phase main value obtain and the relation of standard projection striped, the phase place main value of two video camera gained is finished the mapping of N:N, finish thick coupling;
6) utilization sub-pix technology is finished meticulous coupling.
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| CN110375675A (en) * | 2019-08-30 | 2019-10-25 | 易思维（杭州）科技有限公司 | Binocular optical grating projection measurement method based on space phase expansion |
| CN110375715A (en) * | 2019-07-15 | 2019-10-25 | 哈尔滨工业大学 | A kind of wide area highest priority confirmation method, device and computer storage medium applied to moonlet |
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| CN104103058B (en) * | 2013-04-01 | 2018-08-14 | 鸿富锦精密工业（深圳）有限公司 | Image matching system and method |
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| CN108776338A (en) * | 2018-06-19 | 2018-11-09 | 四川大学 | Signal source space method for sensing, device and active sensor-based system |
| CN110375715A (en) * | 2019-07-15 | 2019-10-25 | 哈尔滨工业大学 | A kind of wide area highest priority confirmation method, device and computer storage medium applied to moonlet |
| CN110375715B (en) * | 2019-07-15 | 2020-08-21 | 哈尔滨工业大学 | Wide-area key target confirmation method and device applied to small satellite and computer storage medium |
| CN110375675A (en) * | 2019-08-30 | 2019-10-25 | 易思维（杭州）科技有限公司 | Binocular optical grating projection measurement method based on space phase expansion |
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