CN102322823B - 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, namely 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 the advantage such as automatically control 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, be called for short MT), Fourier transform profilometry (Fourier Transform Profilometry, be called for short FTP), Spatial phase measurement art (Spatial Phase Detection, be called for short SPD), phase measuring profilometer (Phase Measuring Profilometry, be called for short PMP) etc., these methods all are the space structure light fields that is subjected to the modulation of three-dimensional article dignity shape by demodulation, to obtain the elevation information of three-dimensional 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 by the deforming stripe image being carried out the steps such as Fourier transform, frequency domain filtering and inverse Fourier transform.Phase measuring profilometer need to be come reconstruction of three-dimensional face shape from multiframe phase shift striated pattern, has very high precision, but in traditional phase measurement, when measuring discontinuous objects, phase unwrapping is a difficult problem, usually need the extra coding pattern of projection this moment, as time phase the method for development or sine stripe projection combine with Gray's code method etc., but since projection extra coding pattern so that these methods are not suitable for the quick three-dimensional measurement to the discontinuous objects scene.
Summary of the invention
The present invention is directed to conventional phase measures in the technology of profiling, when measuring discontinuous objects, need the extra coding pattern of projection, propose to adopt the digital projection device projection to have the sine streak of phase level time coded message, with the differential value of PHASE DISTRIBUTION or slope as coding pass, finish the coding to each fringe order, therefore need not the extra coded image of projection, can finish the 3 d shape of space discontinuous objects is measured.
Purpose of the present 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 digital projection device projection according to encoding phase, in encoding phase distributes, each fringe period is as a coding unit, code value is 1 or 0, the plus or minus of the 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, finishes 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, determine the current period code value by its differential value or slope value, then this code value is adjacent some cycle code values and forms a code subsequence, by searching the position of this subcode sequence in the code sequence of in advance design, the level that just can determine current period is inferior, thereby the absolute phase that obtains object under test distributes, and can finish the 3 d shape reconstruction of object under test according to known phase place and height relationships again; The last local phase error that adopts again Hilbert transform modifying factor coding to cause.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 the following advantages:
1, in PHASE DISTRIBUTION, so that when carrying out optical three-dimensional measurement, do not need the extra coded image of projection, the absolute phase that can obtain object under test distributes with phase level time information coding in the present invention;
2, the present invention can adjust code sequence length according to the size of object under test, 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.
Fig. 3 is the three frame phase shift bar graphs based on phase level time own coding of mentioning among the present invention, wherein a) the first frame bar line, b) the second frame bar line, c) the 3rd frame bar line, d) block phase place, e) block phase section and encoded radio, f) block phase differential.
Fig. 4 is the phase measurement error that coded message is introduced 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 for launching phase place and traditional phase shift result.
Fig. 5 is for adopting Hilbert transform correction local phase error, (a) Cosine fringe wherein, (b) Cosine fringe section, (c) sine streak, (d) sine streak section, (e) block PHASE DISTRIBUTION, (f) phase place goes on foot the poor of phase shift results with tradition 3 after the Hilbert transform correction.
Fig. 6 is measurement procedure figure 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 described in further detail.
The light path that the Method for Phase Difference Measurement of phase level time own coding adopts is similar to traditional phase measuring profilometer optical path.Fig. 1 is the 3-D imaging system synoptic diagram, system is made of projector and video camera, projector is launched sine streak, video camera is taken the deforming stripe of being modulated by object surface appearance in the another location, the image calculation that photographs by analysis goes out PHASE DISTRIBUTION, and the 3 d shape that can reconstruct object under test according to phase place and height relationships again distributes.
Treat projection N frame phase shift sine streak figure by what computing machine generated, its intensity distributions can be expressed as:
Wherein a is DC component, and b is degree of modulation, and p is fringe period, and N is the phase shift frame number, n=0, and 1 ..., N-1 represents 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, because phase-shifting technique adopts inverse trigonometric function to calculate phase place, so that PHASE DISTRIBUTION is expressed as φ between [π, π]
w, therefore, can adopt and block PHASE DISTRIBUTION φ
wSubstitute continuous phase φ, for generation of 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 for the treatment of 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 finished 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 take the full cycle phase shift of three frames as example illustrates coding thinking of the present invention, here select the positive and negative code value of judging fringe period of differential value of PHASE DISTRIBUTION, 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, wherein Fig. 2 a-c is bar graph, Fig. 2 d is for blocking PHASE DISTRIBUTION, Fig. 2 e is the sectional view that blocks PHASE DISTRIBUTION, Fig. 3 is three frame phase shift bar graphs according to the encoding phase distribution generation of in advance design, wherein Fig. 3 a-c is bar graph, 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 ", 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 consist of a sub-code sequence by current period and adjacent some cycle coded messages thereof again, and the code subsequence that constructs has uniqueness, namely in whole code sequence, only occur once, by mating with whole code sequence, can determine that each cycle level is inferior.According to known code sequence, be 4 at Fig. 3 neutron code sequence length, if the subcode sequence of a fringe period is " 1111 " so, by mating at whole code sequence, this fringe period level is inferior as can be known is 1, cycle level corresponding to " 1110 " time is 2, and cycle level corresponding to " 1100 " time is 3 etc.
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 adopts 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 by 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 by 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 with coded message, and then according to phase calculation method as previously described, can finish the 3 d shape of object under test and measure.
In phase level time own coding technology, difference according to code value, 4 kinds of combinations will be arranged, namely 11,10,01,00, wherein 10 and 01 has changed former monotonicity of blocking phase place, occurs flex point so that block PHASE DISTRIBUTION at-π or π place, some frame bar print image in the phase shift stripe pattern that generates thus will reduce at these regional fringe qualities, the local phase error finally occurs.Fig. 4 is for adopting three frame phase shifts to the measured data of planar object, wherein Fig. 4 (a) ~ (d) is three frame bar graphs and blocks phase place, Fig. 4 (e) ~ (h) is for bar graph and block phase section and striped encoded radio, and Fig. 4 (i) is poor for launching phase place and traditional phase shift result.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 occured at the position fringe quality that is encoded to 10 and 01 in second and third two field picture, thereby so that there is larger error in the phase measurement that should locate, shown in Fig. 4 (i).The main cause that causes this phenomenon is the low-pass filtering essence of optical system.In order to improve measuring accuracy of the present invention, need to carry out local phase and proofread and correct for this reason, we adopt the local phase of this position of Hilbert transform pairs just to revise in the present invention.
In phase-shifting technique, by formula
With
Can calculate the cos and the sin striped component that contain hardly flip-flop, such as Fig. 5 (a) with (c).According to known coded message and phase shift order as can be known, the less striped distortion effect of being encoded and causing of the cos striped component among Fig. 5 (a).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, Part Substitution p
1And p
2Between initial phase, correction result and traditional phase shift result's error distributes shown in Fig. 5 (f).Can find out through after the phase place correction, because phase encoding phase error that cause, shown in Fig. 4 (b) has been eliminated well, finally guarantee the quality of 3 d shape measurement data.
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.
The below has provided the present invention and has carried out embodiment of three-dimensional measurement with phase level time own coding technology, and the present invention is including but not limited to the content among this 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, be that projected fringe has 64 fringe period, therefore the subcode sequence length is at least otherwise less than 6, the uniqueness of each subcode sequence of guarantee, the code sequence of employing are " 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 according to the proposed method object under test distributes.
Measuring object is an isolated objects-fan blade, measurement result as shown in Figure 7, wherein Fig. 7 a-c is three frame phase shift bar graphs, Fig. 7 d is for blocking PHASE DISTRIBUTION, Fig. 7 e is that absolute phase distributes.If such isolated objects adopts traditional phase-shifting technique to rebuild, necessary projection projection mark pattern, the relativeness between the mark isolated area just can be finished 3 d shape and measure.
Claims (3)
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 for the treatment of projection, at first construct a code sequence, the corresponding fringe period of each code element, its symbol value is 0 or 1, consist of a code subsequence by the adjacent some code elements with it of each code element, so that each code subsequence is not repeated in whole code sequence, thereby guarantee its uniqueness, and each code subsequence position in whole code sequence be corresponding fringe period the level time, just can construct the PHASE DISTRIBUTION with coded message according to this code sequence, said coded message being loaded in the sine streak PHASE DISTRIBUTION for the treatment of projection, is according to the differential value of the PHASE DISTRIBUTION with coded message or the positive and negative corresponding relation of setting up symbol value and fringe period of slope; 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 is had phase place own coding information during measurement by the digital projection device projection, calculate according to phase-shifting technique and to block PHASE DISTRIBUTION, and extracted the coded message of each fringe period by the differential value that blocks PHASE DISTRIBUTION or slope value, can determine that each fringe period level is inferior, thereby the absolute phase that obtains object under test distributes, the 3 d shape that can finish object under test according to known phase place and height relationships is again rebuild, do not need the extra coded image of projection, be applicable to the quick three-dimensional surface shape measurement of isolated objects.
2. in accordance with the method for claim 1, it is characterized in that said the distribution by encoding phase generates phase shift sine streak figure, with in the formula of encoding phase distribution for generation of the phase shift sine streak, can construct arbitrary frame phase shift sine streak, comprise the full cycle phase shift sine streak figure of N frame and any step-length phase shift of N frame sine streak figure, wherein N 〉=3.
3. in accordance with the method for 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, three width of cloth sine streak figure that will include coded message by RGB color coupling process are superimposed upon in the width of cloth coloured image, projector equipment only needs the colored sine streak image of projection one width of cloth, by the RGB color separation technique, from the colored sine streak image of the distortion that photographs, isolate three width of cloth sine streak figure with coded message again.
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| JP3914638B2 (en) * | 1997-09-09 | 2007-05-16 | シーケーディ株式会社 | Shape measuring device |
| JP4931728B2 (en) * | 2007-08-08 | 2012-05-16 | シーケーディ株式会社 | 3D measuring device and board inspection machine |
| JP5391053B2 (en) * | 2009-12-24 | 2014-01-15 | ローランドディー．ジー．株式会社 | 3D shape measuring method and 3D shape measuring apparatus |
| CN101806587B (en) * | 2010-04-29 | 2012-12-12 | 浙江师范大学 | Optical three-dimensional measurement method with absolute phase measurement |
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| WO2016202562A1 (en) * | 2015-06-17 | 2016-12-22 | Hp Deutschland Gmbh | Fringe projection method, fringe projection device, and computer program product |
| CN107810384A (en) * | 2015-06-17 | 2018-03-16 | 惠普德国股份有限公司 | Fringe projection method, fringe projector apparatus and computer program product |
| CN107810384B (en) * | 2015-06-17 | 2020-11-20 | 惠普德国股份有限公司 | Stripe projection method, stripe projection apparatus, and computer program product |
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