CN102831642A - System and method for object surface reconstruction - Google Patents
System and method for object surface reconstruction Download PDFInfo
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- CN102831642A CN102831642A CN201210332221XA CN201210332221A CN102831642A CN 102831642 A CN102831642 A CN 102831642A CN 201210332221X A CN201210332221X A CN 201210332221XA CN 201210332221 A CN201210332221 A CN 201210332221A CN 102831642 A CN102831642 A CN 102831642A
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Abstract
The invention relates to a system and a method for object surface reconstruction. The system comprises an illumination component, an image sensor, a controller and a data processing unit, wherein the illumination component comprises a light source and a mirror surface reflecting device, and is used for forming a linear array structural light pattern in a target area; the image sensor is used for gradual exposure to shoot a projective image of the structural light pattern of at least a part of area in the target area; the controller is used for controlling an exposure region of the image sensor to be synchronized with a structural light projective region of the mirror surface reflecting device; and the data processing unit is used for receiving and obtaining the projective image and a shift value of the structural light pattern in a pre-shot standard image in real time, and is used for calculating three-dimensional cloud data of the object in the target area. By the adoption of the system and the method, a preset structural light pattern is projected in the target area according to the requirement, the synchronized exposure of the image sensor is controlled to shoot the projective image of at least a part of area in the target area, the projective image is compared with the standard image, the three-dimensional depth data of the object in the target area is calculated, and thus real-time moving data of a moving object is obtained.
Description
The application for the applying date be that January 27, application number in 2011 are 201110029945.2, name is called the dividing an application of application for a patent for invention of " system and method that a kind of body surface is rebuild ".
Technical field
The present invention relates to the three-dimensional image reconstruction technique, more particularly, relate to the system and method that a kind of body surface is rebuild.
Background technology
Cloud data is to utilize 3-D scanning equipment that body surface is carried out Direct Sampling and the point that obtains, and these points are that the three-dimensional model surface is initial, also are the most directly to represent.Through analyzing cloud data, can rebuild the geometric jacquard patterning unit surface of model.
The method that the object point cloud obtains is a lot, and common method utilizes structure light image information to obtain cloud data, also has the binocular of employing visible light image information to obtain data.The existing speckle structured light that projects based on the method for speckle carries out the method for three-dimensional reconstruction, and its speckle pattern is fixing in its pattern maker not to be changed, because speckle is higher to the equipment requirements of imageing sensor, and the dirigibility of equipment is relatively poor.
Summary of the invention
The technical matters that the present invention will solve is; Thereby to the immobilize relatively poor defective of dirigibility of and equipment higher of the existing speckle structured light that projects based on the method for speckle to the equipment requirements of imageing sensor; Provide a kind of and can control specular-reflection unit as required; Thereby generate the structured light patterns be suitable for measuring object, and the system and method rebuild of synchro control imageing sensor body surface that required zone is scanned.
The technical solution adopted for the present invention to solve the technical problems is: construct the system that a kind of body surface is rebuild, it is characterized in that, comprising:
Light fixture comprises light source and specular-reflection unit, and said specular-reflection unit is used for through adjustment minute surface attitude, and the light that said light source is sent reflexes to the structured light patterns that the target area forms the linear array shape;
Imageing sensor is used for progressively making public to take in the said target area projected image of the linear array shape pattern of subregion at least;
Controller, the view field of structured light of exposure area and the reflection of said specular-reflection unit that is used to control said imageing sensor is synchronous;
Data processing unit; Be connected with said imageing sensor; Receive in real time the projected image of said structured light patterns, and obtain the structured light patterns shift value in the benchmark image of said projected image and shooting in advance, calculate the three dimensional point cloud of object in the said target area.
Preferably, when said light source adopted pointolite, said specular-reflection unit adopted 2-D vibration mirror; When said light source adopted line source, said specular-reflection unit adopted the one dimension galvanometer.
Preferably, said one dimension galvanometer or 2-D vibration mirror adopt the MEMS galvanometer.
Preferably, said data processing unit calculates the coordinate array of every lines in said projected image and the said benchmark image linear array at first respectively; Then, utilize the displacement of lines number of coordinates set of calculated lines; At last, be Δ X through following formula computation structure light pattern shift value
nThe distance z of impact point;
Wherein, B is the distance at the center of imageing sensor and galvanometer device, and f is the equipment lens focus of said imageing sensor, and L is the distance of the standard flat at the benchmark image place chosen.
Preferably, said data processing unit is in structured light line thickness direction, and the barycentric coordinates of calculating the maximum gradation value pixel are the lines coordinate; Perhaps said data processing unit directly calculates the coordinate of the centre coordinate of live width as lines in structured light line thickness direction.
The invention also discloses the method that a kind of body surface is rebuild, it is characterized in that, may further comprise the steps:
S1, through the control specular-reflection unit, the light that light source is sent reflexes to the target area and forms the structured light patterns of linear array shape;
S2, utilize imageing sensor progressively to make public taking in the said target area projected image of the structured light patterns of subregion at least, and it is synchronous to control the view field of structured light of exposure area and the reflection of said specular-reflection unit of said imageing sensor;
S3, receive the projected image of said structured light patterns in real time, and obtain said projected image and the benchmark image taken in advance in shift value, calculate the three dimensional point cloud of object in the said target area.
Preferably, when light source described in the said step S1 adopted pointolite, said specular-reflection unit adopted 2-D vibration mirror; When said light source adopted line source, said specular-reflection unit adopted the one dimension galvanometer.
Preferably, the one dimension galvanometer or the 2-D vibration mirror that are adopted among the said step S1 are the MEMS galvanometer.
Preferably, wherein, said step S3 further comprises:
S31, calculate the coordinate array of every lines in said projected image and the said benchmark image linear array respectively;
S32, utilize the displacement of lines number of coordinates set of calculated lines;
S33, be Δ X through following formula computation structure light pattern shift value
nThe distance z of impact point;
Wherein, B is the distance at the center of imageing sensor and galvanometer device, and f is the equipment lens focus of said imageing sensor, and L is the distance of the standard flat at the benchmark image place chosen.
Preferably, said step S31 comprises:
In structured light line thickness direction, the barycentric coordinates of calculating the maximum gradation value pixel are the lines coordinate; Perhaps
In structured light line thickness direction, the centre coordinate that directly calculates live width is as the lines coordinate.
The system and method that the body surface of embodiment of the present invention is rebuild; Have following beneficial effect: the present invention can project preset structured light patterns through the control specular-reflection unit as required; And the projected image of subregion is at least obtained in the target area in the exposure synchronously of control chart image-position sensor; Compare the three dimensional depth data of utilizing principle of triangulation to calculate object in the target area with benchmark image; These three dimensional depth data can real-time update, thereby obtains the real time kinematics data of moving object.
Description of drawings
To combine accompanying drawing and embodiment that the present invention is described further below, in the accompanying drawing:
Fig. 1 is the index path of the system that rebuilds of body surface according to the preferred embodiment of the invention;
Fig. 2 is the synoptic diagram of the benchmark image taken of the system that rebuilds of body surface according to the preferred embodiment of the invention;
Fig. 3 is the synoptic diagram of the projected image taken of the system that rebuilds of body surface according to the preferred embodiment of the invention;
Fig. 4 is the method flow diagram rebuild of body surface according to the preferred embodiment of the invention.
Embodiment
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and through embodiment.It is understandable that specific embodiment described herein only is used to explain the present invention, but not to qualification of the present invention.Also need to prove in addition,, only show the step relevant in the accompanying drawing but not all processes with the present invention for the ease of describing.
See also Fig. 1, the index path of the system that rebuilds for body surface according to the preferred embodiment of the invention.As shown in Figure 1, the system that the body surface that this embodiment provides is rebuild mainly comprises light fixture 10, imageing sensor 20, data processing unit 30 and controller (not shown).
Specular-reflection unit 12 can be controlled its minute surface attitude by controller, and the light that said light source 11 is sent reflexes to the target area and forms preset structured light patterns.Preferably, specular-reflection unit can adopt one dimension galvanometer or 2-D vibration mirror, and the corresponding structured light patterns that generates is respectively linear array shape pattern or lattice-like pattern.When light source adopted pointolite, specular-reflection unit can adopt 2-D vibration mirror, and the structured light patterns of generation is linear array shape pattern or lattice-like pattern.When light source adopted line source, specular-reflection unit can adopt the one dimension galvanometer, and the pattern of generation is a linear array shape pattern.In addition, when light source adopts pointolite, can also convert pointolite into linear light through optical element earlier, generate linear array shape pattern through the one dimension galvanometer again.One dimension galvanometer or 2-D vibration mirror also can adopt MEMS (Micro-Electro-Mechanical Systems, MEMS) galvanometer, and rotary shaft galvanometer etc. can realize controlling the device of minute surface motion.MEMS is a kind of brand-new research and development field that must consider multiple physical field immixture simultaneously, and with respect to traditional machinery, their size is littler, and maximum is no more than one centimetre, even only is several microns, and its thickness is just more small.Employing is main material with silicon, excellent electrical properties, and the intensity of silicon materials, hardness and Young modulus and iron phase are worked as, and density and aluminium are similar, and pyroconductivity is near molybdenum and tungsten.Adopt and the similar generation technique of integrated circuit, can utilize mature technology, technology in the IC production in a large number, carry out in enormous quantities, low-cost production, cost performance is increased substantially with respect to tradition " machinery " manufacturing technology.The attitude of the minute surface 121 in the specular-reflection unit that one dimension galvanometer or 2-D vibration mirror constitute can be controlled through controller; Attitude through adjustment minute surface 121; The light that light source 11 is shone on the minute surface 121 reflexes to the target area; And projection forms the pattern of project organization light in the target area. for example 2-D vibration mirror projects the lattice-like pattern, and the one dimension galvanometer is a linear array shape pattern.
Describe in the face of each position component structure in the system of body surface reconstruction of the present invention down.Set up three-dimensional system of coordinate as shown in Figure 1, in this coordinate system, each device is installed.Coordinate system satisfies the right-hand rule among Fig. 1.
A. the X-direction of coordinate system is the line of camera lens photocentre C of galvanometer minute surface center P and the imageing sensor of original state as shown in the figure, and positive dirction is CP, and promptly as upwards being X axle positive dirction among Fig. 1, wherein B is the distance of PC.
The b.Z direction of principal axis is to pass the minute surface center P, and perpendicular to minute surface, and positive dirction is by minute surface center P definite object zone, as being to the right Z axle positive dirction among Fig. 1.
The c.Y direction of principal axis is to confirm according to the right-hand rule, in Fig. 1 be vertical paper inwards.
E. the photocentre axis of imageing sensor 20 is set to parallelly with the Z axle, and guarantees that there are common factor in the visual field of imageing sensor and projection target zone, and the lap of the angular field of view of emergent ray slewing area and imageing sensor camera lens is a measured zone.And the equipment lens focus of imageing sensor is f.
If f. the specular-reflection unit of this system adopts the one dimension galvanometer, minute surface 121 can be around the XP axle or around rotation of YP axle or vibration; If the employing 2-D vibration mirror, then minute surface can rotate or vibration simultaneously around diaxon simultaneously.In order to obtain above-mentioned vibration characteristics, can adopt existing MEMS one dimension or 2-D vibration mirror to realize, its emergent ray slewing area covers whole testee.
G. the data of imageing sensor 20 are transferred to data processing unit 30. through existing common data transfer mode
Realization flow and the principle of facing the system of body surface reconstruction of the present invention down describe.
1) according to above-mentioned positional structure each parts is assembled.Simultaneously can carry out integrated encapsulation to a certain degree, for example light source 11 and specular-reflection unit 12 integrated formation light fixture 10.
2) design of projection pattern:, in the target area, project lattice-like, linear array shape or the like image because the galvanometer system that the present invention adopts can utilize galvanometer posture changing characteristic at a high speed.Here mainly adopting the one dimension galvanometer to irradiate the linear array shape perhaps adopts 2-D vibration mirror to project dot matrix.
3) images acquired information step:
A. take benchmark image.For example, at system of distance L=2000mm place, the 3*3m standard flat T vertical with the Z axle is set, the image of choosing this plane T photographs is a benchmark image.Though provided the distance of concrete benchmark image among this embodiment, the present invention is not limited to this, this area basic technology personnel can choose suitable plane according to actual conditions and take benchmark image.Utilize imageing sensor 20 gather linear array shape that light fixtures 10 project or dot pattern in the imaging of standard flat as benchmark image, and be kept in the storer 31 of data processing unit 30.
B. the projected image of photographic subjects.Behind object target approach zone, projection pattern shines on the body surface, and utilize the projection pattern of imageing sensor 20 collection target areas this moment, and for example linear array shape pattern sends to data processing unit 30;
4) surperficial cloud data reconstruction procedures:
See also Fig. 2 and Fig. 3, be respectively the benchmark image that system that body surface according to the preferred embodiment of the invention rebuilds takes and the synoptic diagram of projected image.As shown in Figure 2, this structured light patterns is the linear array shape, and the height of line is H, and width is W.Then correspondingly can calculate that the line-spacing between the n bar line is W in the linear array
nCan see among Fig. 3 that the lines in the linear array in the target object region will squint when target object gets into picture, side-play amount is S.All projective patterns are along with the increase of distance L, and squinting towards fixed-direction can appear in pattern, and side-play amount S diminishes gradually.And the maximal value of skew S must be less than the minimum period W of periodic pattern
nSide-play amount S can calculate acquisition to projected image and benchmark image analysis through data processing unit.
A. establish the image that the projected image that collects and benchmark image are m*n pixel.Structured light patterns with projection is that linear array light is example below, and the projected image that obtains is analyzed, and the analytical approach of the structured light patterns of employing lattice-like is identical with it.
At first, utilize image algorithm to calculate in projected image and the benchmark image coordinate array P of every line in the linear array respectively
n(i, j) and Q
n(i, j), wherein n represents the numbering of linear array center line, and (i j) is the coordinate of every bit on the line.At this and since in the image grey scale pixel value of structured light lines greater than the surrounding pixel gray-scale value, so can in background, tell the structured light lines.The present invention can adopt the way of Threshold Segmentation that the structured light lines are split.Because threshold setting, the structured light line thickness may be made up of one or more than one pixel, so can adopt in center of gravity or the live width of live width bright pixel coordinate to come the coordinate of representative structure light line.Wherein, in first method,, calculate the barycentric coordinates of maximum gradation value pixel, as the lines coordinate in structured light line thickness direction.In the second method,, directly calculate the centre coordinate of live width, as the coordinate of lines in structured light line thickness direction.After projected image and benchmark image alignment, pursue the coordinate that calculates the structured light lines of row respectively.If be the lattice-like pattern, then surpass the situation of a pixel for every profile in the dot matrix, calculate the barycentric coordinates of doing weight by gray threshold, as the coordinate of point.
B. utilize the lines array of pixels to calculate the displacement Δ X of lines
n(i, j)=P
n(i, j)-Q
n(i, j).Can be with the shift value of two structured light lines alignment by the coordinates computed of row.The side-play amount S of lines and Δ X in the target object zone among Fig. 3
n(i, j) corresponding.
C. utilize the ultimate principle of structural light measurement, data processing unit is Δ X through following formula computation structure light pattern shift value
nThe distance z of impact point;
Wherein, B is the distance at the center of imageing sensor and galvanometer device, and f is the equipment lens focus of said imageing sensor, and L is the distance of the standard flat at the benchmark image place chosen.The distance z of difference is the object dimensional cloud data that calculates in the projection pattern.
Because B, f and L can pre-set to the target object and the distance of different sizes in the above-mentioned formula, therefore the particular value of X ' for setting in the above-mentioned formula.When needs are directed against different target object project organization light pattern; The mirror status that only needs adjustment one dimension or 2-D vibration mirror; Just can obtain various structure light; For example linear array light or dot matrix light can also be adjusted the line-spacing of linear array light, thereby are convenient in the projected image of gathering, identify the zone at target object place.
The method that the present invention also correspondingly provides a kind of body surface to rebuild.See also Fig. 4, be the method flow diagram of rebuilding according to body surface in the preferred embodiment of the present invention.As shown in Figure 4, this method S400 starts from step S402:
Subsequently, in next step S404, through the control specular-reflection unit, the light that light source is sent reflexes to the target area and forms preset structured light patterns.This step mainly adopts light fixture to realize, and is as shown in Figure 1, and light fixture 10 comprises light source 11 and specular-reflection unit 12.The light source of this programme preferably adopts the semiconductor laser diode.
Specular-reflection unit 12 can be controlled its minute surface attitude by controller, and the light that said light source 11 is sent reflexes to the target area and forms preset structured light patterns.Preferably, specular-reflection unit can adopt one dimension galvanometer or 2-D vibration mirror, and the corresponding structured light patterns that generates is respectively linear array shape pattern or lattice-like pattern.When light source adopted pointolite, specular-reflection unit can adopt 2-D vibration mirror, and the structured light patterns of generation is linear array shape pattern or lattice-like pattern.When light source adopted line source, specular-reflection unit can adopt the one dimension galvanometer, and the pattern of generation is a linear array shape pattern.In addition, when light source adopts pointolite, can also convert pointolite into linear light through optical element earlier, generate linear array shape pattern through the one dimension galvanometer again.One dimension galvanometer or 2-D vibration mirror also can adopt MEMS (Micro-Electro-Mechanical Systems, MEMS) galvanometer, and rotary shaft galvanometer etc. can realize controlling the device of minute surface motion.The attitude of the minute surface 121 in the specular-reflection unit that one dimension galvanometer or 2-D vibration mirror constitute can be controlled through controller; Attitude through adjustment minute surface 121; The light that light source 11 is shone on the minute surface 121 reflexes to the target area, and projection forms the pattern of project organization light in the target area.For example 2-D vibration mirror projects the lattice-like pattern, and the one dimension galvanometer is a linear array shape pattern.
Set up three-dimensional system of coordinate as shown in Figure 1, in this coordinate system, each device is installed.Coordinate system satisfies the right-hand rule among Fig. 1.The X-direction of coordinate system is the line of camera lens photocentre C of galvanometer minute surface center P and the imageing sensor of original state as shown in the figure, and positive dirction is CP, and promptly as upwards being X axle positive dirction among Fig. 1, wherein B is the distance of PC.Z-direction is to pass the minute surface center P, and perpendicular to minute surface, and positive dirction is by minute surface center P definite object zone, as being to the right Z axle positive dirction among Fig. 1.Y direction is to confirm according to the right-hand rule, in Fig. 1 be vertical paper inwards.Light source 11 is launched collimation laser, and the laser axis and passes the center of reflecting surface on plane X PZ.The angle of laser axis and Z axle is relevant with the target area, is set to 45 degree in this method.If the specular-reflection unit of this method adopts the one dimension galvanometer, minute surface 121 can be around the XP axle or around rotation of YP axle or vibration; If the employing 2-D vibration mirror, then minute surface can rotate or vibration simultaneously around diaxon simultaneously.In order to obtain above-mentioned vibration characteristics, can adopt existing MEMS one dimension or 2-D vibration mirror to realize, its emergent ray slewing area covers whole testee.
Subsequently; In next step S406; Utilize imageing sensor progressively to make public taking in the said target area projected image of the structured light patterns of subregion at least, and it is synchronous to control the view field of structured light of exposure area and the reflection of said specular-reflection unit of said imageing sensor.Unique distinction of the present invention is by the view field of the structured light of the exposure area of controller control chart image-position sensor 20 and specular-reflection unit 12 reflections synchronous.That is to say; When linear structured light progressively is projected on the target area; Also make public the simultaneously zone of this linear light projection of imageing sensor 12; Therefore imageing sensor 12 can be only in the target area subregion at least, the specific region acquired projections image at the target object of for example pre-estimating place, and need not gather the image in all target areas.And can select to dispose the pattern that relatively low imageing sensor is gathered linear light.
As shown in Figure 1; Because method of the present invention needs to gather the benchmark image of primary structure light before using first; Therefore in this step the relative position attitude of imageing sensor 20, specular-reflection unit 12 and light source 11 need with when taking benchmark image, remain unchanged, comprise skew and rotation here.If variation has appearred in relative position, just need gather benchmark image again.The photocentre axis of imageing sensor 20 is set to parallel with the Z axle, and guarantees that there are common factor in the visual field of imageing sensor and projection target zone, and the lap of the angular field of view of emergent ray slewing area and imageing sensor camera lens is a measured zone.And the equipment lens focus of imageing sensor is f.The data of imageing sensor 20 are transferred to data processing unit 30 through existing common data transfer mode.
Subsequently; In next step S408; Receive in real time the projected image of the structured light patterns that imageing sensor 20 takes, and utilize image algorithm to obtain the shift value in the benchmark image of said projected image and shooting in advance, calculate the three dimensional point cloud of object in the said target area.Can adopt data processing unit as shown in Figure 1 to realize this step.Data processing unit 30 is connected with imageing sensor 20; Receive the projected image of the structured light patterns of imageing sensor 20 shootings; And data processing unit 30 internal memories contain the benchmark image of taking in advance; Utilize image algorithm to obtain the shift value of the structured light patterns in said projected image and the benchmark image, calculate the three dimensional point cloud of object in the said target area.Therefore, data processing unit 30 may further include storer 31 and processor 32, and data processing unit 30 also has input/output device 33.Wherein storer 31 can be used for being stored in the benchmark image information of taking when not having target object.32 of processors can receive the projected image that imageing sensor is taken through input/output device 33, and from storer 31, obtain the said reference image information, carry out aforementioned calculation and processing, obtain three dimensional point cloud, realize the reconstruction of body surface cloud data.
At last, method S400 ends at step S410.
The specific operation process of facing the method for body surface reconstruction of the present invention down describes.
1) according to above-mentioned positional structure each parts is assembled.Simultaneously can carry out integrated encapsulation to a certain degree, for example light source 11 and specular-reflection unit 12 integrated formation light fixture 10.
2) design of projection pattern:, in the target area, project lattice-like, linear array shape or the like image because the galvanometer system that the inventive method adopts can utilize galvanometer posture changing characteristic at a high speed.Here mainly adopting the one dimension galvanometer to irradiate linear array perhaps adopts 2-D vibration mirror to project dot matrix.
3) images acquired information step:
A. take benchmark image.For example, at system of distance L=2000mm place, the 3*3m standard flat T vertical with the Z axle is set, the image of choosing this plane T photographs is a benchmark image.Though provided the distance of concrete benchmark image among this embodiment, the present invention is not limited to this, this area basic technology personnel can choose suitable plane according to actual conditions and take benchmark image.Utilize imageing sensor 20 gather linear array shape that light fixtures 10 project or lattice-like pattern in the imaging of standard flat as benchmark image, and be kept in the storer 31 of data processing unit 30.
B. the projected image of photographic subjects.Behind object target approach zone, projection pattern shines on the body surface, and utilize the projection pattern of imageing sensor 20 collection target areas this moment, and for example linear array shape pattern sends to data processing unit 30;
4) surperficial cloud data reconstruction procedures:
See also Fig. 2 and Fig. 3, be respectively the benchmark image that system that body surface according to the preferred embodiment of the invention rebuilds takes and the synoptic diagram of projected image.As shown in Figure 2, this structured light patterns is a linear array, and the height of line is H, and width is W.Then correspondingly can calculate that the line-spacing between the n bar line is W in the linear array
nCan see among Fig. 3 that the lines in the linear array in the target object region will squint when target object gets into picture, side-play amount is S.All projective patterns are along with the increase of distance L, and squinting towards fixed-direction can appear in pattern, and side-play amount S diminishes gradually.And the maximal value of skew S must be less than the minimum period W of periodic pattern
nSide-play amount S can calculate acquisition to projected image and benchmark image analysis through data processing unit.
A. establish the image that the projected image that collects and benchmark image are m*n pixel.Structured light patterns with projection is that linear array light is example below, and the projected image that obtains is analyzed, and the analytical approach of the structured light patterns of employing lattice-like is identical with it.
At first, utilize image algorithm to calculate in projected image and the benchmark image coordinate array P of every line in the linear array respectively
n(i, j) and Q
n(i, j), wherein n represents the numbering of linear array center line, and (i j) is the coordinate of every bit on the line.At this and since in the image grey scale pixel value of structured light lines greater than the surrounding pixel gray-scale value, so can in background, tell the structured light lines.The present invention can adopt the way of Threshold Segmentation that the structured light lines are split.Because threshold setting, the structured light line thickness may be made up of one or more than one pixel, so can adopt in center of gravity or the live width of live width bright pixel coordinate to come the coordinate of representative structure light line.Wherein, in first method,, calculate the barycentric coordinates of maximum gradation value pixel, as the lines coordinate in structured light line thickness direction.In the second method,, directly calculate the centre coordinate of live width, as the coordinate of lines in structured light line thickness direction.After projected image and benchmark image alignment, pursue the coordinate that calculates the structured light lines of row respectively.If be the lattice-like pattern, then surpass the situation of a pixel for every profile in the dot matrix, calculate the barycentric coordinates of doing weight by gray threshold, as the coordinate of point.
B. utilize the lines array of pixels to calculate the displacement Δ X of lines
n(i, j)=P
n(i, j)-Q
n(i, j).Can be with the shift value of two structured light lines alignment by the coordinates computed of row.The side-play amount S of lines and Δ X in the target object zone among Fig. 3
n(i, j) corresponding.
C. utilize the ultimate principle of structural light measurement, data processing unit is Δ X through following formula computation structure light pattern shift value
nThe distance z of impact point;
Wherein, B is the distance at the center of imageing sensor and galvanometer device, and f is the equipment lens focus of said imageing sensor, and L is the distance of the standard flat at the benchmark image place chosen.The distance z of difference is the object dimensional cloud data that calculates in the projection pattern.
Because B, f and L can pre-set to the target object and the distance of different sizes in the above-mentioned formula, therefore the particular value of X ' for setting in the above-mentioned formula.When needs are directed against different target object project organization light pattern; The mirror status that only needs adjustment one dimension or 2-D vibration mirror; Just can obtain various structure light; For example linear array light or dot matrix light can also be adjusted the line-spacing of linear array light, thereby are convenient in the projected image of gathering, identify the zone at target object place.
In sum, the system and method that body surface of the present invention is rebuild, the some light or the linear light that at first light source irradiation are gone out shine on the specular-reflection unit.Through rotation of control specular-reflection unit and skew light is reflexed on the target area, form structured light patterns.When utilizing imageing sensor to obtain no object on the internal standard plane, target area the pattern of structured light as reference pattern.Behind object target approach zone, utilize the view field of structured light of exposure area and said specular-reflection unit reflection of imageing sensor control chart image-position sensor synchronous again, obtain in the target area structured light projection pattern of subregion at least.Data storage to data processing unit, is calculated the displacement information of two kinds of patterns, utilize principle of triangulation to calculate the three dimensional depth data of object then.This three dimensional depth data can real-time update, thereby obtains the real time kinematics data of moving object.And adopt galvanometer mode of the present invention, just can be to same set of equipment, adjustment projects the pattern of structured light according to diverse ways.This method and system can be applied in the real-time reconstruction of object, can use in the field of man-machine interaction, like virtual mouse; The man-machine interaction of body-building, the man-machine interface of game, the detection of mobile device objects in front; Human motion analysis, distance estimations and warning, intrusion alarm or the like aspect.
The present invention describes according to specific embodiment, but it will be understood by those skilled in the art that when not breaking away from the scope of the invention, can carry out various variations and be equal to replacement.In addition, for adapting to the specific occasion or the material of the present invention's technology, can carry out many modifications and not break away from its protection domain the present invention.Therefore, the present invention is not limited to specific embodiment disclosed herein, and comprises that all drop into the embodiment of claim protection domain.
Claims (10)
1. the system that body surface is rebuild is characterized in that, comprising:
Light fixture comprises light source and specular-reflection unit, and said specular-reflection unit is used for through adjustment minute surface attitude, and the light that said light source is sent reflexes to the structured light patterns that the target area forms the linear array shape;
Imageing sensor is used for progressively making public to take in the said target area projected image of the linear array shape pattern of subregion at least;
Controller, the view field of structured light of exposure area and the reflection of said specular-reflection unit that is used to control said imageing sensor is synchronous;
Data processing unit; Be connected with said imageing sensor; Receive in real time the projected image of said structured light patterns, and obtain the structured light patterns shift value in the benchmark image of said projected image and shooting in advance, calculate the three dimensional point cloud of object in the said target area.
2. the system that body surface according to claim 1 is rebuild is characterized in that, when said light source adopted pointolite, said specular-reflection unit adopted 2-D vibration mirror; When said light source adopted line source, said specular-reflection unit adopted the one dimension galvanometer.
3. the system that body surface according to claim 2 is rebuild is characterized in that, said one dimension galvanometer or 2-D vibration mirror adopt the MEMS galvanometer.
4. the system that body surface according to claim 2 is rebuild is characterized in that said data processing unit calculates the coordinate array of every lines in said projected image and the said benchmark image linear array at first respectively; Then, utilize the displacement of lines number of coordinates set of calculated lines; At last, be Δ X through following formula computation structure light pattern shift value
nThe distance z of impact point;
Wherein, B is the distance at the center of imageing sensor and galvanometer device, and f is the equipment lens focus of said imageing sensor, and L is the distance of the standard flat at the benchmark image place chosen.
5. the system that body surface according to claim 4 is rebuild is characterized in that, said data processing unit is in structured light line thickness direction, and the barycentric coordinates of calculating the maximum gradation value pixel are the lines coordinate; Perhaps said data processing unit directly calculates the coordinate of the centre coordinate of live width as lines in structured light line thickness direction.
6. the method that body surface is rebuild is characterized in that, may further comprise the steps:
S1, through the control specular-reflection unit, the light that light source is sent reflexes to the target area and forms the structured light patterns of linear array shape;
S2, utilize imageing sensor progressively to make public taking in the said target area projected image of the structured light patterns of subregion at least, and it is synchronous to control the view field of structured light of exposure area and the reflection of said specular-reflection unit of said imageing sensor;
S3, receive the projected image of said structured light patterns in real time, and obtain said projected image and the benchmark image taken in advance in shift value, calculate the three dimensional point cloud of object in the said target area.
7. the method that body surface according to claim 6 is rebuild is characterized in that, when light source described in the said step S1 adopted pointolite, said specular-reflection unit adopted 2-D vibration mirror; When said light source adopted line source, said specular-reflection unit adopted the one dimension galvanometer.
8. the method that body surface according to claim 7 is rebuild is characterized in that one dimension galvanometer that is adopted among the said step S1 or 2-D vibration mirror are the MEMS galvanometer.
9. the method that body surface according to claim 6 is rebuild is characterized in that,
Wherein, said step S3 further comprises:
S31, calculate the coordinate array of every lines in said projected image and the said benchmark image linear array respectively;
S32, utilize the displacement of lines number of coordinates set of calculated lines;
S33, be Δ X through following formula computation structure light pattern shift value
nThe distance z of impact point;
Wherein, B is the distance at the center of imageing sensor and galvanometer device, and f is the equipment lens focus of said imageing sensor, and L is the distance of the standard flat at the benchmark image place chosen.
10. the method that body surface according to claim 9 is rebuild is characterized in that said step S31 comprises:
In structured light line thickness direction, the barycentric coordinates of calculating the maximum gradation value pixel are the lines coordinate; Perhaps
In structured light line thickness direction, the centre coordinate that directly calculates live width is as the lines coordinate.
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