CN102322823A - Phase grade self-coding-based optical three-dimensional measurement method - Google Patents
Phase grade self-coding-based optical three-dimensional measurement method Download PDFInfo
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Abstract
The invention discloses a phase grade self-coding-based optical three-dimensional measurement method. In the traditional phase measurement technology, generally additional coding patterns need to be projected to realize three-dimensional profile measurement of an isolated object. The method comprises the following steps of: providing sinusoidal stripes, the digital projection of which has phase grade coding information; constructing a code sequence, the total length of which is equal to the projected stripe period sum, by using the differential value or the slope value of phase distribution as a coding channel and using each stripe period as a coding unit; constructing a code sub sequence by using a plurality of adjacent periods; searching the position of the code sub sequence in the total code sequence to determine the phase grade of the period so as to obtain absolute phase distribution of the object to be measured; and finally, reconstructing a three-dimensional profile of the object to be measured according to the phase height relationship. The method can complete three-dimensional information acquisition of the object without projecting the additional coding patterns, and is particularly suitable for quick three-dimensional profile measurement of the isolated object.
Description
Technical field
The present invention relates to the optical 3-dimensional sensing technology, particularly relate to based on phase measuring profilometer the 3 d shape of space isolated objects is measured.
Background technology
The three-dimensional object surface profile measurement, promptly 3 d shape is measured, and is significant in fields such as machine vision, biomedicine, industrial detection, rapid shaping, video display stunt, production quality control.The optical 3-dimensional sensing technology and since its have noncontact, precision high, be easy to advantage such as control automatically and obtain to develop on a large scale very much.Existing optical 3-dimensional method for sensing mainly comprises: triangulation, Moire fringe technique (Moir é Topography; Abbreviation MT), Fourier transform profilometry (Fourier Transform Profilometry; Abbreviation FTP), space phase detection technique (Spatial Phase Detection; Abbreviation SPD), phase measuring profilometer (Phase Measuring Profilometry; Be called for short PMP) etc., these methods all are the space structure light fields that receives the modulation of article dignity shape through demodulation, to obtain the elevation information of article dignity shape.Wherein the most frequently used space structure light field three-dimensional sensing method is Fourier transform profilometry and phase measuring profilometer.Fourier transform profilometry realizes through the deforming stripe image being carried out steps such as Fourier transform, frequency domain filtering and inverse Fourier transform.Phase measuring profilometer need be come reconstruction of three-dimensional face shape from multiframe phase shift striated pattern; Have very high precision, but in traditional phase measurement, when measuring discontinuous object; Phase unwrapping is a difficult problem; Usually need the extra coding pattern of projection this moment, combine with Gray's code method etc. like the time phase method of development or sine streak projection, but since projection the additional coding pattern make these methods not be suitable for quick three-dimensional measurement to discontinuous object scene.
Summary of the invention
The present invention is directed to conventional phase measures in the technology of profiling; When measuring discontinuous object, need the extra coding pattern of projection, the sine streak that adopts the projection of digital projection equipment to have phase level time coded message is proposed; With the differential value of PHASE DISTRIBUTION or slope as coding pass; Therefore completion need not the extra coded image of projection to the coding of each fringe order, can accomplish the 3 d shape of the discontinuous object in space is measured.
The object of the invention adopts following technical proposals to realize:
Design has the PHASE DISTRIBUTION of coded message; Distribution produces the N frame phase shift sine streak (N >=3) that is used for the projection of digital projection equipment according to encoding phase, and in encoding phase distributed, each fringe period was as a coding unit; Code value is 1 or 0; The plus or minus of corresponding encoding phase differential value of difference or slope value, thus design structure goes out the code sequence that a total length equals the projected fringe periodicity, accomplishes the coding to each fringe order; When measuring; Projection N frame phase shift bar graph; Calculate according to phase shift algorithm again and block PHASE DISTRIBUTION, confirm the current period code value, then this code value is adjacent some cycle code values and forms a code subsequence by its differential value or slope value; Through searching the position of this subcode sequence in the code sequence of design in advance; Just can confirm the level time of current period, thereby the absolute phase that obtains object under test distributes, and can accomplish the 3 d shape reconstruction of object under test again according to known phase place and height relationships; The last local phase error that adopts Hilbert transform modifying factor coding to cause again.Compare with traditional phase measuring profilometer, new method does not need the extra coded image of projection, is particularly useful for the quick three-dimensional surface shape measurement of isolated objects.
The present invention compared with prior art has following advantage:
1, the present invention is coded in phase level time information in the PHASE DISTRIBUTION, makes when carrying out optical three-dimensional measurement, does not need the extra coded image of projection, and the absolute phase that can obtain object under test distributes;
2, the present invention can be according to the size of object under test, and adjustment code sequence length realizes the measurement to the different size object;
3, the present invention combines with high speed projection and recording unit, is particularly suitable for realizing the rapid movement surface shape measurement of isolated objects.
Description of drawings
Fig. 1 is the light path synoptic diagram of system.
Fig. 2 is three traditional frame phase shift bar graphs, a) the first frame bar line wherein, and b) the second frame bar line, c) the 3rd frame bar line d) blocks phase place, e) blocks phase section.
The three frame phase shift bar graphs based on phase level time own coding of Fig. 3 for mentioning among the present invention, a) the first frame bar line wherein, b) the second frame bar line, c) the 3rd frame bar line d) blocks phase place, e) blocks phase section and encoded radio, f) blocks phase differential.
The phase measurement error that Fig. 4 introduces for coded message among the present invention, wherein (a) ~ (d) is three frame bar graphs and blocks phase place, (e) ~ (h) for bar graph with block phase section and striped encoded radio, (i) poor as a result for launching phase place and traditional phase shift.
Fig. 5 is for adopting Hilbert transform correction local phase error, wherein (a) cosine striped, (b) cosine striped section; (c) sine streak; (d) sine streak section (e) blocks PHASE DISTRIBUTION, and (f) phase place goes on foot the poor of phase shift results with tradition 3 after the Hilbert transform correction.
Fig. 6 is a measurement process flow diagram of the present invention.
Fig. 7 is the measurement result among the embodiment, a) the first frame bar line wherein, and b) the second frame bar line, c) the 3rd frame bar line d) blocks phase place, e) absolute phase.
Embodiment
Below in conjunction with accompanying drawing, principle of work and embodiment the present invention is done further explain.
The light path that the phase measurement method of phase level time own coding is adopted is similar with traditional phase measuring profilometer measurement light path.Fig. 1 is the 3-D imaging system synoptic diagram; System is made up of projector and video camera; Projector is launched sine streak; Video camera is taken by the deforming stripe of object surface appearance modulation in another position, and the image calculation that photographs through analysis goes out PHASE DISTRIBUTION, can reconstruct the 3 d shape distribution of object under test again according to phase place and height relationships.
Treat projection N frame phase shift sine streak figure by what computing machine generated, its intensity distributions can be expressed as:
Wherein a is a DC component, and b is a degree of modulation, and p is a fringe period, and N is the phase shift frame number, n=0, and 1 ..., N-1 representes n frame bar graph.X is the projector pixel coordinate, if make φ=2 π x/p, φ is the same with x so is dull continuous distribution.In fact,, make PHASE DISTRIBUTION, be expressed as φ between [π, π] because phase-shifting technique adopts inverse trigonometric function to calculate phase place
w, therefore, can adopt and block PHASE DISTRIBUTION φ
wSubstitute continuous phase φ, be used to produce the standard sine stripe of wanting projection, its intensity distributions is:
In phase level time own coding technology, at first design encoding phase, generate the N frame phase shift striped of treating projection according to encoding phase.In encoding phase, with each cycle as a coding unit, its encoded radio is 1 or 0, the respectively differential value plus or minus that distributes of corresponding phase, or slope value plus or minus is accomplished the free token coding to fringe order.When measuring, projection N frame phase shift sine streak image in order calculates according to phase-shifting technique and to block phase place, does corresponding decoding again, thereby obtains the absolute phase of object under test.
For the convenience of narrating; We are that example is explained coding thinking of the present invention with the full cycle phase shift of three frames; Here select the positive and negative code value of judging fringe period of differential value of PHASE DISTRIBUTION for use, same, can adopt also that the slope value of PHASE DISTRIBUTION is positive and negative judges the fringe period code value.Fig. 2 is three traditional frame phase shift bar graphs, and wherein Fig. 2 a-c is a bar graph, and Fig. 2 d is for blocking PHASE DISTRIBUTION; Fig. 2 e is the sectional view that blocks PHASE DISTRIBUTION; Fig. 3 is that wherein Fig. 3 a-c is a bar graph according to three frame phase shift bar graphs of the encoding phase distribution generation of design in advance, and Fig. 3 d is for blocking PHASE DISTRIBUTION; Fig. 3 e blocks the sectional view of PHASE DISTRIBUTION and the code value of each fringe period; Code sequence is " 1111000010011010 ", and Fig. 3 e blocks the differential value of PHASE DISTRIBUTION for this row, and the code value of positive and negative and each fringe period of differential value is corresponding.When measuring object under test, can from three frame deforming stripe figure, calculate the corresponding PHASE DISTRIBUTION of blocking according to phase shift algorithm:
By the positive and negative code value that just can judge each cycle that blocks the phase differential value; Can constitute a sub-code sequence by current period and adjacent some cycle coded messages thereof again; And the code subsequence that is constructed has uniqueness; Promptly in whole code sequence, only occur once,, can confirm that each cycle level is inferior through mating with whole code sequence.According to known code sequence; At Fig. 3 neutron code sequence length is 4; So if the subcode sequence of a fringe period be " 1111 ", through mating at whole code sequence, can know this fringe period level inferior be 1; " 1110 " corresponding cycle level time is 2, and " 1100 " corresponding cycle level time is 3 or the like.
Be designed for the code sequence that produces the encoding phase distribution, in order to satisfy the uniqueness of code subsequence, code sub-sequence length and whole code sequence length should satisfy following requirement:
Wherein k is the subcode sequence length, and M is whole code sequence length.If sine streak figure has 64 fringe period, then the subcode sequence length is greater than and equals 6, and when bar graph has 32 fringe period, the subcode sequence length needs more than or equal to 5.
Obtaining fringe period level time
mAfter, can recover the object under test absolute phase, the algorithm that is adopted is:
Here
φ c For continuous absolute phase distributes.
In phase level time own coding technology; When adopting three frame phase shifts; When being projection three width of cloth sine streak figure, can be superimposed upon in the width of cloth coloured image through three width of cloth sine streak figure that RGB color coupling process will include coded message, this moment, projector equipment only needed the colored sine streak image of projection one width of cloth; Again through the RGB color separation technique; Can from the colored sine streak image of the distortion that photographs, isolate three width of cloth sine streak figure, and then, can accomplish the 3 d shape of object under test and measure according to like the described phase calculation method of preamble with coded message.
In phase level time own coding technology,, 4 kinds of combinations will be arranged according to the difference of code value; Promptly 11,10,01; 00, wherein 10 and 01 has changed former monotonicity of blocking phase place, makes that block PHASE DISTRIBUTION flex point occurs at-π or π place; Some frame bar print image in the phase shift stripe pattern that generates thus will reduce in these regional striped quality, the local phase error finally occurs.Fig. 4 is for adopting the measured data of three frame phase shifts to planar object, and wherein Fig. 4 (a) ~ (d) is three frame bar graphs and blocks phase place, and Fig. 4 (e) ~ (h) is for bar graph and block phase section and striped encoded radio, and Fig. 4 (i) is poor as a result for launching phase place and traditional phase shift.Can find out that the first frame bar graph is identical with the first frame bar graph of tradition 3 step phase shifts, second and third frame bar line has essential difference with the corresponding striped of tradition 3 step phase shifts.And reduction has taken place in the position striped quality that is encoded to 10 and 01 in second and third two field picture, thereby makes the phase measurement at this place exist than mistake, shown in Fig. 4 (i).The main cause that causes this phenomenon is the LPF essence of optical system.In order to improve measuring accuracy of the present invention, need carry out local phase and proofread and correct for this reason, we adopt Hilbert transform that the local phase of this position is just revised in the present invention.
In phase-shifting technique; Can calculate cos and the sin striped component that contains flip-flop hardly by formula
and
, like Fig. 5 (a) with (c).Can know the less striped distortion effect of being encoded and causing of the cos striped component among Fig. 5 (a) according to known coded message and phase shift order.In addition, with respect to 3 traditional step phase shifts, the sin striped component in the phase encoding is at the sampled point p on code element 10 conversion flex point both sides
1And p
2The place has changed shift direction, therefore at p
1And p
2Between the striped localized distortion appears.If cos striped component as standard, is selected the p shown in Fig. 5 (d)
1And p
2Place cycle A and B adopt Hilbert transform to calculate the sin striped component that makes new advances, and can calculate the PHASE DISTRIBUTION that makes new advances by inverse trigonometric function again, the local p that substitutes
1And p
2Between initial phase, correction result and traditional phase shift result's error profile is shown in Fig. 5 (f).Can find out through after the phase place correction,, finally guarantee the quality of 3 d shape measurement data because phase encoding phase error that cause, shown in Fig. 4 (b) has been eliminated well.
Eventually the above, among the present invention the generation of coding projection striped and measure in absolute phase computation process can represent with Fig. 6.
Provided the present invention below and carried out an embodiment of three-dimensional measurement with phase level time own coding technology, the present invention comprises but is not limited thereto the content among the embodiment.
In the present embodiment, built measuring system with LCD projector and video camera.The resolution of LCD is 1024 * 768 pixels; Resolution of video camera is 1280 * 1024 pixels; The cycle of projected fringe is 16 pixels, and promptly projected fringe has 64 fringe period, so the subcode sequence length is at least otherwise less than 6; Could guarantee the uniqueness of each subcode sequence, the code sequence of employing is " 11,111,100,000,010,000,110,001,010,001,110,010,010,110,011,010,011,110,101 011 10110 ".Only need obtain 3 frame phase shifted images in the measuring process, the absolute phase that can calculate object under test according to the proposed method distributes.
Measuring object is an isolated objects-fan blade, and measurement result is as shown in Figure 7, and wherein Fig. 7 a-c is three frame phase shift bar graphs, and Fig. 7 d is for blocking PHASE DISTRIBUTION, and Fig. 7 e is that absolute phase distributes.If such isolated objects adopts traditional phase-shifting technique to rebuild, necessary projection indicia patterns, the relativeness between the mark isolated area could be accomplished 3 d shape and measure.
Claims (4)
1. optical three-dimensional measuring method based on phase level time own coding; It is characterized in that coded message is loaded in the sine streak PHASE DISTRIBUTION of treating projection; At first construct a code sequence, the corresponding fringe period of each code element, its symbol value is 0 or 1; Constitute a code subsequence by the adjacent some code elements of each code element with it; Thereby make each code subsequence in whole code sequence, not repeat to occur guaranteeing its uniqueness, and each code subsequence position in whole code sequence is the level time of corresponding fringe period, just can constructs PHASE DISTRIBUTION with coded message according to this code sequence; And then generate corresponding phase shift sine streak figure according to the PHASE DISTRIBUTION that this has encoded; The phase shift sine streak figure that has phase place own coding information during measurement by the projection of digital projection equipment; Calculate according to phase-shifting technique and to block PHASE DISTRIBUTION; And therefrom extract the coded message of each fringe period; Can confirm each fringe period level time, thereby the absolute phase that obtains object under test distributes, can accomplish the 3 d shape reconstruction of object under test again according to known phase place and height relationships; The present invention does not need the extra coded image of projection, is particularly useful for the quick three-dimensional surface shape measurement of isolated objects.
2. according to the described method of claim 1; It is characterized in that saidly coded message being loaded in the sine streak PHASE DISTRIBUTION of treating projection; Be according to the differential value of PHASE DISTRIBUTION or the positive and negative corresponding relation of setting up symbol value and fringe period of slope; Differential value or slope are that positive fringe period symbol value is 1, and differential value or slope are 0 for negative fringe period symbol value, and vice versa.
3. according to the described method of claim 1; It is characterized in that said the distribution by encoding phase generates phase shift sine streak figure; Be encoding phase to be distributed be used for producing the formula of phase shift sine streak; Arbitrary frame phase shift sine streak be can construct, full cycle phase shift sine streak figure of N frame and any step-length phase shift of N frame sine streak figure etc. comprised, wherein N >=3.
4. according to the described method of claim 1; It is characterized in that said projection has the phase shift sine streak figure of phase place own coding information; When adopting three frame phase shifts; Be projection three width of cloth sine streak figure, can be superimposed upon in the width of cloth coloured image that projector equipment only needs the colored sine streak image of projection one width of cloth through three width of cloth sine streak figure that RGB color coupling process will include coded message; Through the RGB color separation technique, can from the colored sine streak image of the distortion that photographs, isolate three width of cloth sine streak figure again with coded message.
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| CN111947600A (en) * | 2020-07-24 | 2020-11-17 | 南京理工大学 | Robust three-dimensional phase unfolding method based on phase level cost filtering |
| CN112070842A (en) * | 2020-07-28 | 2020-12-11 | 安徽农业大学 | Multi-camera global calibration method based on orthogonal coding stripes |
| CN112070842B (en) * | 2020-07-28 | 2023-03-21 | 安徽农业大学 | Multi-camera global calibration method based on orthogonal coding stripes |
| CN112923870A (en) * | 2021-01-26 | 2021-06-08 | 四川大学 | Color object structured light three-dimensional measurement method based on phase shift and multi-bit code |
| CN114234850A (en) * | 2021-12-20 | 2022-03-25 | 广东工业大学 | Three-dimensional measurement method for modulation order phase at cycle edge |
| CN114234850B (en) * | 2021-12-20 | 2022-07-08 | 广东工业大学 | Three-dimensional measurement method for modulation order phase at cycle edge |
| CN114252026B (en) * | 2021-12-20 | 2022-07-15 | 广东工业大学 | Three-dimensional measurement method and system for modulating three-dimensional code on periodic edge |
| CN114252026A (en) * | 2021-12-20 | 2022-03-29 | 广东工业大学 | Three-dimensional measurement method and system for modulating three-dimensional code on periodic edge |
| CN114399599A (en) * | 2022-01-18 | 2022-04-26 | 四川大学 | Three-dimensional imaging method, three-dimensional imaging device, electronic equipment and computer-readable storage medium |
| CN114812438A (en) * | 2022-04-07 | 2022-07-29 | 四川大学 | Time multiplexing structured light coding and decoding method |
| CN114812438B (en) * | 2022-04-07 | 2023-03-14 | 四川大学 | Time multiplexing structured light coding and decoding method |
| CN114719781A (en) * | 2022-06-08 | 2022-07-08 | 广东工业大学 | Three-dimensional measurement method and related device |
| US11823405B1 (en) | 2022-06-08 | 2023-11-21 | Guangdong University Of Technology | Three-dimensional measurement method and related apparatus |
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