CN103438833A - Color coded stripe patterns used for three-dimensional shape measurement - Google Patents
Color coded stripe patterns used for three-dimensional shape measurement Download PDFInfo
- Publication number
- CN103438833A CN103438833A CN2013104141023A CN201310414102A CN103438833A CN 103438833 A CN103438833 A CN 103438833A CN 2013104141023 A CN2013104141023 A CN 2013104141023A CN 201310414102 A CN201310414102 A CN 201310414102A CN 103438833 A CN103438833 A CN 103438833A
- Authority
- CN
- China
- Prior art keywords
- striped
- candy strip
- predetermined
- coloud coding
- color
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses one or more color coded stripe patterns used for optically and three-dimensionally measuring object shapes. In one mode of implementation, the color coded stripe patterns comprise a plurality of stripes with modulated strength. The color coded stripe patterns are configured as follows: independent stripes selected from the stripes comprise color lines on the stripe width; the width of the color lines is narrower than the stripe width in general, so that the color lines have generally similar strength on the line width; the colors of the independent stripes excluding color lines are generally uniform on the independent stripes; the stripe colors are generally different from the line colors; the colors of all the stripes are generally similar, thus the main parts of the color coded stripe patterns can provide generally uniform illumination colors for projection of the objects.
Description
Technical field
The present invention relates to the three-dimensional measurement of object shapes, its based on by one or more candy strip optical projection to object and analyze the stripe pattern from final one or more distortions of object reflection.
Background technology
In the art, can carry out by following method the 3-d shape measurement of object: utilize projector to project on object by one or more candy strips and the depth profile of the stripe pattern calculating object shape based on from object reflection and one or more distortions of being caught by video camera subsequently subsequently.In order to increase the spatial resolution of shape measure, each candy strip can comprise the striped of periodic arrangement, each striped adds that by modulating function (this modulating function for or enough approach sine or cosine function) certain constant is modulated on intensity, thereby the intensity of modulation is always non-negative.That is, each striped is modulated by sinusoidal substantially on intensity.
Utilize the candy strip of Sine Modulated substantially 3-d shape measurement be summarized in KARPINSKY, N. and ZHANG, S. introduce to some extent in " High-resolution; the real-time3D imaging with fringe analysis " literary composition in the realtime graphic on August 6th, 2010 is processed magazine the 5th volume the 3rd phase 1-12 page, by reference this article integral body is incorporated herein.The stripe pattern of distortion can be modeled as usually:
Wherein, I (x, y) is the strength level that coordinate (x, y) is located to observe, and I ' (x, y) is the mean intensity on the distortion stripe pattern, I " (x, y) is intensity modulated, and
it is phase place.Particularly, the value on all coordinates of distortion stripe pattern is
phase diagram be used to the depth profile of calculating object shape.In the art, it has been generally acknowledged that, it is fuzzy that the calculating of the strength level based on observing in distortion stripe pattern or a plurality of this image may only cause having 2 π
value, this is owing to calculating
the time relate to arctan function.Therefore,
usually be interpreted as:
The θ (x, y) of span between-π to π can calculate by the strength level of observing, and is that the N (x, y) of integer is called as fringe order.In the art, the collection of θ (x, y) value is cited as wrapped phase figure usually, and phase diagram
be called as alternatively Phase Unwrapping Algorithm figure.Generally speaking, need to calculate fringe order with " untiing (unwrap) " this wrapped phase figure, to obtain Phase Unwrapping Algorithm figure.
Fringe order relates to the quantity of the original position fringe period apart in special stripe and its candy strip in the distortion stripe pattern.The method of auxiliary definite fringe order is at SU, W.-H. open in " the Color-encoded fringe projection for3D shape measurements " literary composition in optics letter the 5th volume the 20th phase 13167-13181 page on October 1st, 2007, by reference this article integral body is incorporated herein.In the method, the sine streak pattern is superimposed with the cromogram formed by a plurality of colored bands that are disposed in order together.Two adjacent colored bands have different substantially colors, thereby provide distinguishing mark for striped after by the object distortion.The width of colored band can be close to the width of striped.Thus, can after colored, sinusoidal candy strip is by the object distortion, obtain fringe order to form the stripe pattern of colour, distortion.The strength component of the stripe pattern of colour, distortion is used to calculate wrapped phase figure.Yet because the surface of object has different reflex responses to the light of different colours usually, the existence of the multiple color in the color fringe pattern has been incorporated into interference in the strength component of stripe pattern of colored, distortion.This makes the distribution of strength component the distortion that modeling is caused by object shapes by halves, has reduced thus the precision of the three-dimensional measurement of object shapes.
In this area, need a kind of design of improved candy strip under the instruction of SU, thereby improved design makes it possible to calculate fringe order, can maintain measuring accuracy simultaneously.
Summary of the invention
The invention provides a kind of for the optical means of measuring object shape dimensionally.
The method comprises a predetermined candy strip is projected on object or by a more than predetermined candy strip and one after the other projects on object.A more than predetermined candy strip can be derived from a reference stripe pattern that has the out of phase skew for the predetermined candy strip of difference, and each phase deviation means the position skew of the striped in the reference stripe pattern.Therefore, object makes one or more predetermined candy strip distortions, generates thus one or more distortion stripe patterns.The method also comprises analyzes one or more distortion stripe patterns to estimate Phase Unwrapping Algorithm figure, and this Phase Unwrapping Algorithm figure characterizes one or more intensity distributions of one or more distortion stripe patterns.Therefore, can obtain by Phase Unwrapping Algorithm figure the depth profile of object shapes.
Each in one or more predetermined candy strips includes a plurality of stripeds periodically disposed thereon.Each striped has width of fringe, and intensity is modulated on width of fringe.Preferably, intensity is substantially by Sine Modulated.Particularly, at least one in one or more predetermined candy strips also is configured to the candy strip of coloud coding.
The candy strip of coloud coding is by following configuration.The independent striped of selecting from striped comprises the colored lines that are positioned on width of fringe.The line thickness of these colour lines is narrower than width of fringe substantially, thereby has similar intensity substantially on the online bar width of colored lines.Its intensity of location positioning of colored lines.Colored lines have line color.The striped color that does not comprise the independent striped of colored lines is uniform substantially on independent striped.The striped color is different from line color substantially.In addition, streaky striped color is similar substantially.Thus, the major part of the candy strip of coloud coding can provide for the projection to object substantially illumination color uniformly.
Preferably, the selection of the position of the colored lines of the independent striped of the candy strip of coloud coding makes: in this position, separately between in maximum intensity 0.2 times to 0.8 times of the intensity of striped on its width of fringe.In addition, the selection of the position of the colored lines in all stripeds of the candy strip of coloud coding can so that: in these positions, all stripeds of the candy strip of coloud coding have substantially similarly intensity.Alternatively, the selection of these positions can be so that all stripeds of the candy strip of coloud coding be unique.
In one approach, the line color of two stripeds of arbitrary neighborhood is different substantially, is provided for thus the auxiliary differentiation information of determining fringe order during estimating Phase Unwrapping Algorithm figure.
In another kind of method, it is that pseudo-random sequence or its periodically repeat that the streaky line color of the ordered sequence of the line color of jointly form selecting in the candy strip of coloud coding is configured to make ordered sequence.
In another embodiment, used N predetermined candy strip, wherein N is greater than 1.Each in the individual predetermined candy strip of N has the striped of equal number.Each striped has the striped numbering.Particularly, selected M from N predetermined candy strip, wherein, M is greater than 1 and be less than or equal to N.Each in the predetermined candy strip of M selection is configured to the candy strip of coloud coding.The line color that has the relevant striped of identical striped numbering in the predetermined candy strip that M is selected has formed the code word of the relevant striped under this striped numbering jointly.In addition, for the first relevant striped arbitrarily and the code word difference substantially of the second relevant striped arbitrarily, wherein, the first and second relevant stripeds are adjacent on striped, are provided for thus the auxiliary differentiation information of determining fringe order during estimating Phase Unwrapping Algorithm figure.
If being object shapes, any in one or more distortion stripe patterns make the candy strip distortion of coloud coding and the stripe pattern of the coloud coding of the distortion that generates, preferably, the method also comprises the stripe pattern of the coloud coding of distortion is resolved into to strength component image and color component images.When estimating wrapped phase figure, the strength component image is useful.When untiing wrapped phase figure with generation Phase Unwrapping Algorithm figure, color component images is useful.
The present invention also provides a kind of candy strip to generate subsystem, and it is configured to be used in the system for the three-dimensional measurement object shapes.This candy strip generates subsystem and comprises the one or more processors that are configured to generate one or more predetermined candy strips, and wherein, one or more predetermined candy strips configure as described above like that.
The present invention also provides a kind of system for the three-dimensional measurement object shapes.This system comprises and generates subsystem, projector, video camera and data process subsystem as disclosed candy strip above.Projector projects object for the one or more predetermined candy strip that candy strip is generated to the subsystem generation.Video camera obtains the one or more distortion stripe patterns by one or more predetermined candy strip distortions are generated while being used on projecting object.Data process subsystem is configured for the one or more distortion stripe patterns estimation Phase Unwrapping Algorithm figure that obtain by analyzing video camera, this Phase Unwrapping Algorithm figure characterizes one or more intensity distributions of one or more distortion stripe patterns, and this data process subsystem is also for the depth profile according to Phase Unwrapping Algorithm figure calculating object shape.
The accompanying drawing explanation
Fig. 1 shows the candy strip according to the coloud coding of exemplary embodiment of the invention.
Fig. 2 a shows the example of the candy strip of coloud coding, and wherein, the position of colored lines makes these colored lines have substantially similarly intensity in candy strip.
Fig. 2 b shows the example of the candy strip of coloud coding, and wherein, the intensity of candy strip in the position of colored lines is different substantially.
Fig. 3 shows when the candy strip of a plurality of coloud codings and selects the line color of colored lines to form the example of code word during for the three-dimensional measurement of object.
Fig. 4 shows the process flow diagram according to one embodiment of the present invention, and this process flow diagram shows the step of utilizing the candy strip of one or more coloud codings in the three-dimensional measurement of object.
Fig. 5 show according to one embodiment of the present invention for optically, the system of measuring object shape dimensionally.
Embodiment
The candy strip that is used for projecting on object is a kind of image that generally includes pel array.Each pixel has take the light beam that color and strength level be feature.It is feature that color be take the spectral content of the light beam in the human eye visual range.Because candy strip is mainly used in the imaging purpose, rather than seen by people, therefore in instructions and the claims of enclosing, the luminous intensity level that intensity refers to aspect radiation power rather than the luminous flux aspect is measured, the luminous intensity level of measuring aspect luminous flux defines with reference to human eye.Because candy strip can be generated by projector, thereby adopted this definition of intensity.Projector is accepted input by the RGB with the binary word specified pixel (red, green, blue) component usually.For example, the R=0 of the first pixel, G=255 and B=0, the R=0 of the second pixel, G=0 and B=255, wherein the red, green and blue component of R, G and B difference represent pixel.By the selection of RGB component as mentioned above, projector prepares to generate the first and second pixels, each pixel has substantially similarly radiated power level, thereby, according to definition used herein, these two pixels that so generate have substantially similarly strength level.Yet the luminous flux level of these two pixels differs widely.
As used in instructions and the claims of enclosing, " feature " of candy strip characterized by color and intensity.This feature can be independent striped, lines, point, pixel, zone or appear at any things on candy strip.Particularly, feature is by light beam or the representative of a plurality of light beam or the described color formed and described intensity sign, and this feature has described color and described intensity.Because candy strip is generated by projector usually, thereby to come the zone of the complete darkness of representative feature with black be nonsensical, wherein, do not produce the zone that light represented or formed complete darkness.In the complete darkness zone in particular cases, be defined as follows in this article: the complete darkness zone has the zero intensity level, and is the color selection color of the non-dark area in next-door neighbour complete darkness zone.By get rid of black when meaning the complete darkness zone, for instance, there is substantially illumination color uniformly when projecting object (even candy strip may comprise the fraction with one or more complete darkness zone due to the sinusoidal modulation substantially of intensity) and become clear expressing candy strip.
In the three-dimensional measurement of object shapes, a predetermined candy strip is projected onto on object, or a more than predetermined candy strip is not one after the other projecting on object in the same time.Then, object makes one or more predetermined candy strip distortions.Generate thus one or more distortion stripe patterns.Analyze one or more distortion stripe patterns to estimate Phase Unwrapping Algorithm figure.Phase Unwrapping Algorithm figure characterizes one or more intensity distributions of one or more distortion stripe patterns.Then, can obtain by Phase Unwrapping Algorithm figure the depth profile of object shapes.
The invention discloses the configuration of one or more predetermined candy strips.Each in one or more predetermined candy strips includes a plurality of stripeds periodically disposed thereon.Striped can be quoted and identify by the striped number.Each striped has width of fringe, and the light intensity of each striped on width of fringe by Sine Modulated.Preferably, above-mentioned light intensity is substantially by Sine Modulated.Yet, the invention is not restricted to utilize sine function when modulate light intensity.Also can use the non-sinusoidal function.In the situation that use a more than predetermined candy strip, a plurality of candy strips like this can be derived from a reference stripe pattern that has the out of phase skew for the predetermined candy strip of difference, and each phase deviation means the position skew of the striped in the reference stripe pattern.For instance, referring to the KARPINSKY of three this predetermined candy strips of above-mentioned generation and the article of ZHANG.In disclosed configuration, at least one in one or more predetermined candy strips also is configured to the candy strip of coloud coding.The candy strip of coloud coding has been inherited the characteristics of the one or more predetermined candy strips of above-mentioned configuration, and combines following additional features.
Fig. 1 shows the configuration according to the candy strip of the coloud coding of exemplary embodiment of the invention.The candy strip 100 of coloud coding comprises a plurality of stripeds of periodic arrangement.As shown in Figure 1, arrange striped 110,120,130 in the mode of periodicity, order.
Take striped 120 as the representative striped of showing.Striped 120 has width of fringe 122.As mentioned above, the light intensity of striped 120 modulated on width of fringe 122 (utilizing modulating function).In addition, striped 120 certain position on width of fringe 122 comprises colored lines 125.The line thickness of colored lines 125 is narrower than width of fringe 122 substantially, thereby colored lines 125 have substantially similarly light intensity on line thickness.The light intensity of colored lines 125 is not optional, and its selection makes to meet and utilizes the light intensity on modulating function modulation stripe width 122.Thereby, its light intensity of the location positioning of colored lines 125.For reality, consider, preferably, the selection of the position of colored lines 125 makes this position, between in maximum intensity 0.2 times to 0.8 times of the intensity of striped 120 on width of fringe 122.Colored lines 125 have line color.Except colored lines 125, the striped color of the remainder of striped 120 is roughly even on striped 120.The striped color is different from line color substantially.Because colored lines 125 are narrower than width of fringe 122 substantially, therefore, the major part of striped 120 is configured to utilize monochromatic light (striped color) to illuminate object.Although colored lines 125 shown in Figure 1 are continuous lines, the present invention is not limited only to this configuration.Colored lines 125 may not be totally continuous on whole striped 120.For example, colored lines 125 can be dotted lines.Select to depend on for the line style of type of colored lines 125 form of the candy strip 100 of coloud coding.
In addition, the streaky striped color of institute of the candy strip 100 of coloud coding is similar substantially.As the example shown in Fig. 1, striped 110,120,130 has substantially similarly striped color.Therefore, the major part of the candy strip 100 of coloud coding provides substantially illumination color uniformly for the projection on object, thus, with utilizing monochromatic candy strip, compares, and has maintained substantially similarly precision when three-dimensional measurement.Those skilled in the art can determine the preferred colors as the illumination color.For example, having high color rendering index (CRI) (CRI) white light is the preferred selection for the illumination color.
In all stripeds of the candy strip 100 of coloud coding, the position of colored lines is selected can be so that in these positions, and all stripeds of the candy strip 100 of coloud coding have substantially similarly intensity.Fig. 2 a shows an example, and wherein, the striped 210a-210i of the candy strip 200 of coloud coding has colored lines 215a-215i, and by being arranged in the similar position of each striped, these colored lines are similar substantially on intensity.Alternatively, colored lines can be by not being configured to have not unique strength level in similar position.Fig. 2 b shows an example, wherein, the striped 260a-260i of the candy strip 250 of coloud coding has colored lines 265a-265i, these lines in each striped in not unique position, thereby the strength level of colored lines 265a-265i is generally different.
The fundamental purpose of colored lines being introduced to the candy strip 100 of coloud coding is to provide the side information that allows different striped differentiation, thereby assist during estimating Phase Unwrapping Algorithm figure, determines fringe order.In order to allow to provide this differentiation information, in one approach, the line color of two stripeds of arbitrary neighborhood is different substantially.As the example shown in Fig. 1, the line color of the colored lines 125 of striped 120 is royal purple, and two adjacent stripeds (that is, striped 110 and striped 130) have colored lines 115,135, its line color is respectively scarlet and mazarine, all different from royal purple.Exist many kinds can for example, for predetermined arrangement and the rule of combination of arranging colored lines, De Bruijn sequence.
Be desirably in the possibility that reduces the line color of wrong identification striped in the distortion stripe pattern that the candy strip 100 by coloud coding generates.In order to realize this target, preferably, one or more colors that the line color of the striped of the candy strip 100 of coloud coding is selected to appearing on body surface have high substantially colour contrast.Before generating the candy strip 100 of coloud coding, the image of object may be at first by prescan and analysis, thereby determines the suitable color of the line color that will be used as striped.
In one embodiment, by the streaky line color in the candy strip 100 of following method selection coloud coding.At first these line colors are regarded as the common ordered sequence that forms the line color of selecting.It is that pseudo-random sequence or its periodically repeat that line color also is configured to make ordered sequence.Therefore, the cycle of pseudo-random sequence is less than or equal to the length of ordered sequence.Thus, in the stripe pattern of being produced by the object shapes distortion at the candy strip 100 by making coloud coding, special stripe can be discernible, even described special stripe departs from a plurality of stripeds in original position (being less than the cycle of pseudo-random sequence) in the candy strip 100 of coloud coding.If object has main uncontinuity (point on object and high part), even this, when large skew occurring, in the three-dimensional measurement of character at object of aid identification special stripe (and striped numbering), be favourable.For instance, the object of this type can be chest.When forming pseudo-random sequence, each element wherein is the color that is selected from one group of candidate color.Generally speaking, the quantity of candidate color is greater than 2, thus the normally multi-level sequence of pseudo-random sequence.For instance, the method that designs the multi-level pseudo-random sequence with desirable properties can find in US2007005673.
In general, the line color of the striped in the candy strip 100 of coloud coding is selected from the finite set of candidate color.Only use a disadvantage of the candy strip of a kind of coloud coding in one or more predetermined candy strips to be that the quantity of candidate color is preferably larger.The large collection of candidate color is preferably so that still can identify the large displacement of the special stripe in the stripe pattern of object distortion by increasing the interval of any two stripeds of sharing identical candidate color.Yet, for example, due to many physical constraints (requirement of high color contrast as above), usually be not easy to find the large collection of candidate color.
Embodiments of the present invention relate to the collection of the less that uses candidate color, as long as used more than a kind of predetermined candy strip.In this embodiment, used N predetermined candy strip, wherein N is greater than 1.Each in the individual predetermined candy strip of N has the striped of equal number.Each striped has the striped numbering.Selected M pattern from these N predetermined candy strips, wherein, M is greater than 1 and be less than or equal to N.In addition, each in the predetermined candy strip of M selection is configured to the candy strip of coloud coding.The line color that has the relevant striped of identical striped numbering in the predetermined candy strip that M is selected has formed the code word of the relevant striped under this striped numbering jointly.Therefore, code word comprises M the line color of selecting.Particularly, the code word of any first relevant striped and any second relevant striped is different substantially, wherein, and the first and second relevant stripeds adjacent on striped (fringe-wise adjacent).Therefore, provide differentiation information with auxiliary definite fringe order during estimating Phase Unwrapping Algorithm figure.As used herein, the first relevant striped and the second relevant striped that is called as " adjacent on striped " means: have in any one and the second relevant striped in the striped that identical predetermined candy strip first is relevant corresponding one contiguous in position.
Fig. 3 provides the example according to the candy strip of three coloud codings of use of above-mentioned embodiment.For the purpose of showing, considered that striped is numbered 2 special stripe.Predetermined candy strip 310,320,330 (all candy strips all are configured to the candy strip of coloud coding) has respectively colored lines 312,322,332.The line color of colored lines 312,322,332 is respectively mazarine, green and yellow.The code word 350 that the line color of three colored lines 312,322,332 forms.Adjacent code word 340,360 is different from code word 350.Notice that four candidate color (redness, yellow, green and mazarine) are for predetermined candy strip 310,320,330.Therefore, select as code word arbitrarily 340,350,360 o'clock the total combination that 124=5 * 5 * 5-1 kind is possible.This shows, utilizes the collection of the less of candidate color that the large collection of possible code word combination can be provided, and allows thus special stripe larger displacement in the distortion stripe pattern that can be identified.
In one embodiment, the colored lines in all stripeds may by the colored lines of another kind of type (they jointly do not point to be parallel to substantially striped towards direction) replace.In this embodiment, the candy strip of coloud coding comprises a plurality of colored oblique lines, and every oblique line is crossed over two or more stripeds.Every colored oblique line towards be not parallel to substantially striped towards direction, thereby the independent striped of selecting from striped comprises a plurality of colored oblique line sections at striped separately.Arbitrfary point on colored oblique line section has the intensity of the location positioning on independent striped by point.Colored oblique line section jointly has line color.In this embodiment, being replaced by colored oblique line section except colored lines, other characteristics of the candy strip of coloud coding are similar to other embodiments disclosed herein substantially.
The invention also discloses for the optical means of three-dimensional measurement object shapes and the system of implementing accordingly the method, wherein, method and system all adopts the configuration of above-disclosed one or more predetermined candy strips.Fig. 4 has described and has utilized disclosed configuration to obtain the process flow diagram of the depth profile of object according to one embodiment of the present invention when the three-dimensional measurement.Fig. 5 shows the system 500 for the three-dimensional measurement of object.
In the first step 410 of optical means, generate one or more predetermined candy strips, wherein at least one is the candy strip of coloud coding.Candy strip in system 500 generates subsystem 510 for generating one or more predetermined candy strips (being meaned by candy strip 515).Usually, it is computing systems that candy strip generates subsystem 510, and it comprises one or more processors that are configured to generate one or more predetermined candy strips 515.
In next step 420, one or more predetermined candy strips are projected onto on object.In system 500, by the object 560 that utilizes projector 520 to generate the one or more predetermined candy strip 515 projection measurements that subsystem 510 obtains from candy strip, carry out this projection process.Object 560 is positioned on background 550 or before.Because background 550 is often used as reference planes, preferably, background 550 is smooth substantially.The existence of object 560 makes the one or more predetermined candy strip distortion of projector 520 projections, generates one or more distortion stripe patterns 535.
In another next step 430, obtain one or more distortion stripe patterns to be analyzed.In system 500, video camera 530 is for obtaining one or more distortion stripe patterns 535.The one or more distortion stripe patterns 535 that obtain are sent to data process subsystem 540 to be further processed.
If any in one or more distortion stripe patterns is the stripe pattern of coloud coding of distortion that is derived from the candy strip of coloud coding, the stripe pattern of the coloud coding of distortion is broken down into strength component image and color component images.When estimating wrapped phase figure, the strength component image is useful.When untiing wrapped phase figure with generation Phase Unwrapping Algorithm figure, color component images is useful.If the distortion stripe pattern of considering is not the candy strip that is derived from coloud coding, it only produces the strength component image.While after processing one or more distortion stripe patterns, obtaining all strength component images and color component images, can perform step 442,444.In step 442, the strength component image calculation wrapped phase figure based on obtaining.In step 444, the line color in the identification colors component image and/or code word.Determine fringe order based on recognition result.
After obtaining wrapped phase figure and definite fringe order, calculate Phase Unwrapping Algorithm figure in step 450.After this, the depth profile based on Phase Unwrapping Algorithm figure calculating object as step 460.
Can be by data process subsystem 540 execution steps 442,444,450,460.Data process subsystem 540 may be embodied as computing system.
The present invention can implement with other concrete forms, and does not break away from its spirit or essential characteristic.Therefore, present embodiment should be considered to be in all respects illustrative, and not restrictive.Scope of the present invention is limited by the claim of enclosing, rather than is limited by aforementioned specification, and therefore fall into meaning and all changes in scope of the equivalent of claim should be within the scope of the present invention.
Claims (20)
1. the optical means for the three-dimensional measurement object shapes comprises:
A predetermined candy strip is projected on object or by a more than predetermined candy strip and one after the other projects on object, thereby object makes one or more predetermined candy strip distortions, and generate thus the stripe pattern of one or more distortions; And
Analyze the stripe pattern of described one or more distortions to estimate to separate the phase diagram of parcel, this phase diagram of separating parcel characterizes one or more intensity distributions of the stripe pattern of described one or more distortions, thereby can obtain from the phase diagram of separating parcel the depth profile of object shapes;
Wherein:
Each in described one or more predetermined candy strip includes periodic arrangement a plurality of stripeds thereon, each striped there is width of fringe and on width of fringe intensity modulated; And
At least one position in described one or more predetermined candy strip also is configured to the candy strip of coloud coding;
And wherein the candy strip of coloud coding is arranged so that:
The independent striped of selecting from striped comprises the colored lines that are positioned on width of fringe, the line thickness of these colour lines is narrower than width of fringe substantially, thereby there is similar intensity substantially on the online bar width of colored lines, the intensity of colored lines is by the location positioning of colored lines, and colored lines also have line color.
2. the method for claim 1, wherein the candy strip of coloud coding also is arranged so that:
The striped color that does not comprise the independent striped of colored lines is that the striped color is different from line color substantially uniformly substantially on independent striped; And
Streaky striped color is similarly substantially, makes thus the major part of the candy strip of coloud coding that illumination color uniformly can be provided for the projection to object substantially.
3. the method for claim 1, wherein each in described one or more predetermined candy strips, each striped wherein substantially on width of fringe intensity by Sine Modulated.
4. the method for claim 1, wherein, the candy strip of coloud coding also is arranged so that the line color of two stripeds of arbitrary neighborhood is different substantially, is provided for thus the auxiliary differentiation information of determining fringe order during estimating to separate the phase diagram of parcel.
5. the method for claim 1, wherein:
The quantity of described one or more predetermined candy strips is N, wherein, N be greater than in 1, N predetermined candy strip each all there is the striped of equal number, each striped has the striped numbering;
Select M from N predetermined candy strip, wherein M is greater than 1 and be less than or equal to N, thereby each in the predetermined candy strip of M selection all is configured to the candy strip of coloud coding, in the predetermined candy strip that M is selected, the line color of the relevant striped of same striped numbering jointly forms the code word of the relevant striped under this striped numbering; And
For the first relevant striped arbitrarily with the code word of the second relevant striped is different substantially arbitrarily, wherein, the first and second relevant stripeds are adjacent on striped, are provided for thus the differentiation information of auxiliary definite fringe order during estimating to separate the phase diagram of parcel.
6. the method for claim 1, wherein, if use a more than predetermined candy strip, predetermined candy strip is derived from a reference stripe pattern that has the out of phase skew for the predetermined candy strip of difference, and each phase deviation means the position skew of the striped in the reference stripe pattern.
7. the stripe pattern of the method for claim 1, wherein analyzing described one or more distortions comprises:
If being object shapes, any one in the stripe pattern of described one or more distortions make the candy strip distortion of coloud coding and the stripe pattern of the coloud coding of the distortion that generates, the stripe pattern of the coloud coding of distortion is resolved into to strength component image and color component images, thereby can be when estimating the phase diagram of parcel the working strength component image, and can use at the phase diagram of untiing parcel color component images when producing the phase diagram of separating parcel.
8. the method for claim 1, wherein the selection of the position of the colored lines in the independent striped of the candy strip of coloud coding makes: in this position, separately between in maximum intensity 0.2 times to 0.8 times of the intensity of striped on its width of fringe.
9. the method for claim 1, wherein the selection of the position of the colored lines in all stripeds of the candy strip of coloud coding makes: in these positions, all stripeds of the candy strip of coloud coding have substantially similarly intensity.
10. the method for claim 1, wherein the selection of the position of the colored lines in all stripeds of the candy strip of coloud coding makes: in these positions, the candy strip of coloud coding streaky intensity be not unique.
11. a candy strip generates subsystem, it is disposed in the system of measuring object shape dimensionally, and this candy strip generates subsystem and comprises the one or more processors that are configured to generate one or more predetermined candy strips, wherein:
Each in described one or more predetermined candy strip includes periodic arrangement a plurality of stripeds thereon, each striped there is width of fringe and on width of fringe intensity modulated; And
At least one in described one or more predetermined candy strip also is configured to the candy strip of coloud coding;
And wherein the candy strip of coloud coding is arranged so that:
The independent striped of selecting from striped comprises the colored lines that are positioned on width of fringe, the line thickness of these colour lines is narrower than width of fringe substantially, thereby there is similar intensity substantially on the online bar width of colored lines, the intensity of colored lines is by the location positioning of colored lines, and colored lines also have line color.
12. candy strip as claimed in claim 11 generates subsystem, wherein, the candy strip of coloud coding also is arranged so that:
The striped color that does not comprise the independent striped of colored lines is that the striped color is different from line color substantially uniformly substantially on independent striped; And
Streaky striped color is similarly substantially, makes thus the major part of the candy strip of coloud coding that illumination color uniformly can be provided for the projection to object substantially.
13. candy strip as claimed in claim 11 generates subsystem, wherein, each in described one or more predetermined candy strips, each striped wherein substantially on width of fringe intensity by Sine Modulated.
14. candy strip as claimed in claim 11 generates subsystem, wherein, the candy strip of coloud coding also is arranged so that the line color of two stripeds of arbitrary neighborhood is different substantially, is provided for thus the auxiliary differentiation information of determining fringe order during estimating to separate the phase diagram of parcel.
15. candy strip as claimed in claim 11 generates subsystem, wherein:
The quantity of described one or more predetermined candy strips is N, wherein, N be greater than in 1, N predetermined candy strip each all there is the striped of equal number, each striped has the striped numbering;
Select M from N predetermined candy strip, wherein M is greater than 1 and be less than or equal to N, thereby each in the predetermined candy strip of M selection all is configured to the candy strip of coloud coding, in the predetermined candy strip that M is selected, the line color of the relevant striped of same striped numbering jointly forms the code word of this striped numbering; And
For the first relevant striped arbitrarily with the code word of the second relevant striped is different substantially arbitrarily, wherein, the first and second relevant stripeds are adjacent on striped, are provided for thus the differentiation information of auxiliary definite fringe order during estimating to separate the phase diagram of parcel.
16. candy strip as claimed in claim 11 generates subsystem, wherein, the selection of the position of the colored lines of the independent striped of the candy strip of coloud coding makes: in this position, separately between in maximum intensity 0.2 times to 0.8 times of the intensity of striped on its width of fringe.
17. candy strip as claimed in claim 11 generates subsystem, wherein, the selection of the position of the colored lines in all stripeds of the candy strip of coloud coding makes: in these positions, all stripeds of the candy strip of coloud coding have substantially similarly intensity.
18. candy strip as claimed in claim 11 generates subsystem, wherein, the selection of the position of the colored lines in all stripeds of the candy strip of coloud coding makes: in these positions, the candy strip of coloud coding streaky intensity be not unique.
19. one kind for the system of measuring object shape dimensionally, this system comprises:
Candy strip as claimed in claim 11 generates subsystem:
Projector, project object for the described one or more predetermined candy strips that candy strip generated to the subsystem generation;
Video camera, obtain the stripe pattern of the one or more distortions by described one or more predetermined candy strip distortion is generated on projecting object the time; And
Data process subsystem, its stripe pattern that is configured for described one or more distortions of obtaining by the analysis video camera estimates to separate the phase diagram of parcel, this phase diagram of separating parcel characterizes one or more intensity distributions of the stripe pattern of described one or more distortions, and this data process subsystem is also for the depth profile according to separating the phase diagram calculating object shape of wrapping up.
20. a candy strip generates subsystem, it is disposed in the system of measuring object shape dimensionally, and this candy strip generates subsystem and comprises the one or more processors that are configured to generate one or more predetermined candy strips, wherein:
Each in described one or more predetermined candy strip includes periodic arrangement a plurality of stripeds thereon, each striped there is width of fringe and on width of fringe intensity modulated; And
At least one in described one or more predetermined candy strip also is configured to the candy strip of coloud coding;
And wherein the candy strip of coloud coding is arranged so that:
The candy strip of coloud coding comprises many colored oblique lines, every colored oblique line is crossed at least two stripeds and orientation on the direction that is not parallel to substantially the striped orientation, thereby the independent striped of selecting from striped comprises a plurality of colored oblique line sections at this independent striped, arbitrfary point on colored oblique line section has the intensity of location positioning on independent striped by this, and colored oblique line section jointly has line color.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310414102.3A CN103438833B (en) | 2013-09-12 | 2013-09-12 | For optical means and the system of 3-d shape measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310414102.3A CN103438833B (en) | 2013-09-12 | 2013-09-12 | For optical means and the system of 3-d shape measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103438833A true CN103438833A (en) | 2013-12-11 |
| CN103438833B CN103438833B (en) | 2016-01-20 |
Family
ID=49692529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310414102.3A Active CN103438833B (en) | 2013-09-12 | 2013-09-12 | For optical means and the system of 3-d shape measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103438833B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106461379A (en) * | 2014-04-11 | 2017-02-22 | 西门子公司 | Measuring depth of a surface of a test object by means of a coloured fringe pattern |
| CN108498066A (en) * | 2017-02-28 | 2018-09-07 | 爱博诺德（北京）医疗科技有限公司 | The method and apparatus of the topographic map of anterior surface of cornea for measuring eyes |
| CN110686599A (en) * | 2019-10-31 | 2020-01-14 | 中国科学院自动化研究所 | Three-dimensional measurement method, system and device based on colored Gray code structured light |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003097927A (en) * | 2001-09-26 | 2003-04-03 | Nec Corp | System and method for three dimensional mapping, and structured light barcode pattern used for them |
| US20070005673A1 (en) * | 2005-06-30 | 2007-01-04 | Peter Lablans | The Creation and Detection of Binary and Non-Binary Pseudo-Noise Sequences Not Using LFSR Circuits |
| CN101975558A (en) * | 2010-09-03 | 2011-02-16 | 东南大学 | Rapid three-dimensional measurement method based on color grating projection |
| CN102519394A (en) * | 2011-11-18 | 2012-06-27 | 东南大学 | High-adaptability three-dimensional measuring method based on color structured light |
| CN102878950A (en) * | 2012-08-14 | 2013-01-16 | 香港应用科技研究院有限公司 | System and method for 3D profile measurement |
-
2013
- 2013-09-12 CN CN201310414102.3A patent/CN103438833B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003097927A (en) * | 2001-09-26 | 2003-04-03 | Nec Corp | System and method for three dimensional mapping, and structured light barcode pattern used for them |
| US20070005673A1 (en) * | 2005-06-30 | 2007-01-04 | Peter Lablans | The Creation and Detection of Binary and Non-Binary Pseudo-Noise Sequences Not Using LFSR Circuits |
| CN101975558A (en) * | 2010-09-03 | 2011-02-16 | 东南大学 | Rapid three-dimensional measurement method based on color grating projection |
| CN102519394A (en) * | 2011-11-18 | 2012-06-27 | 东南大学 | High-adaptability three-dimensional measuring method based on color structured light |
| CN102878950A (en) * | 2012-08-14 | 2013-01-16 | 香港应用科技研究院有限公司 | System and method for 3D profile measurement |
Non-Patent Citations (2)
| Title |
|---|
| N KARPINSKY，S ZHANG: "High-resolution，real-time3D imaging with fringe analysis", 《REAL-TIME IMAGE PROC》, vol. 5, no. 3, 31 December 2012 (2012-12-31), pages 1 - 12 * |
| SU WH: "Color-encoded fringe projection for 3D shape measurements", 《OPTICS EXPRESS》, vol. 5, no. 20, 1 October 2007 (2007-10-01), pages 13167 - 13181 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106461379A (en) * | 2014-04-11 | 2017-02-22 | 西门子公司 | Measuring depth of a surface of a test object by means of a coloured fringe pattern |
| CN106461379B (en) * | 2014-04-11 | 2020-05-01 | 西门子公司 | Depth determination of a surface of an object to be examined by means of a colored stripe pattern |
| CN108498066A (en) * | 2017-02-28 | 2018-09-07 | 爱博诺德（北京）医疗科技有限公司 | The method and apparatus of the topographic map of anterior surface of cornea for measuring eyes |
| CN110686599A (en) * | 2019-10-31 | 2020-01-14 | 中国科学院自动化研究所 | Three-dimensional measurement method, system and device based on colored Gray code structured light |
| CN110686599B (en) * | 2019-10-31 | 2020-07-03 | 中国科学院自动化研究所 | Three-dimensional measurement method, system and device based on colored Gray code structured light |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103438833B (en) | 2016-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102519394B (en) | High-adaptability three-dimensional measuring method based on color structured light | |
| CN101061367B (en) | Three-dimensional measuring instrument, method, and program | |
| CN101813461B (en) | Absolute phase measurement method based on composite color fringe projection | |
| CN101975558B (en) | Rapid three-dimensional measurement method based on color grating projection | |
| KR102508717B1 (en) | Apparatus and method of texture mapping for dental 3D scanner | |
| Pages et al. | Optimised De Bruijn patterns for one-shot shape acquisition | |
| US6341016B1 (en) | Method and apparatus for measuring three-dimensional shape of object | |
| CN102878950B (en) | System and method for 3D profile measurement | |
| US9459094B2 (en) | Color-encoded fringe pattern for three-dimensional shape measurement | |
| CN108225217B (en) | Color body measuring three-dimensional profile method | |
| CN107610077A (en) | Image processing method and device, electronic installation and computer-readable recording medium | |
| CN107707839A (en) | Image processing method and device | |
| CN104677308A (en) | Three-dimensional scanning method for high-frequency two-value strip | |
| CN108592823A (en) | A kind of coding/decoding method based on binocular vision color fringe coding | |
| CN102519395B (en) | Color response calibration method in colored structure light three-dimensional measurement | |
| CN107481101A (en) | Wear the clothes recommendation method and its device | |
| CN107707831A (en) | Image processing method and device, electronic installation and computer-readable recording medium | |
| CN107610078A (en) | Image processing method and device | |
| CN106251376B (en) | One kind is towards colored structures pumped FIR laser and edge extracting method | |
| CN107734264A (en) | Image processing method and device | |
| CN103438833B (en) | For optical means and the system of 3-d shape measurement | |
| CN107705356A (en) | Image processing method and device | |
| JP2019185730A (en) | Image processing device, image processing method, and program | |
| Yin et al. | High-speed 3D profilometry employing HSI color model for color surface with discontinuities | |
| CN107682645A (en) | Image processing method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |