CN103968782B - A kind of real-time three-dimensional measuring method based on colored sinusoidal structured pumped FIR laser - Google Patents
A kind of real-time three-dimensional measuring method based on colored sinusoidal structured pumped FIR laser Download PDFInfo
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- CN103968782B CN103968782B CN201410220705.4A CN201410220705A CN103968782B CN 103968782 B CN103968782 B CN 103968782B CN 201410220705 A CN201410220705 A CN 201410220705A CN 103968782 B CN103968782 B CN 103968782B
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Abstract
The present invention is a kind of real-time three-dimensional measuring method based on colored sinusoidal structured pumped FIR laser in three-dimensional sensing technology.Using projection arrangement by single width colour sinusoidal light encoded pattern projection to body surface, record the colored structures light image of deformation respectively using two photographic devices, color separated is carried out to every width colored structures light image and obtains the corresponding monochromatic structure light image of tri- passages of R, G, B, and two respective phases of photographic device are calculated by monochromatic structure light image, phase matched is carried out using the epipolar-line constraint relation of two photographic devices so as to obtain the instantaneous three-dimensional coordinate of body surface.The present invention can realize that real-time three-dimensional measures.The method of the present invention has many advantages, such as that the disturbing factors robustness such as uneven to colour brightness, Color Channel couples, projector equipment is non-linear are good, and measuring accuracy is high.
Description
Technical field
The present invention relates to optical triangle method technology, more particularly to by projecting single width color structured light coding pattern reality
Now the real-time three-dimensional of target object surface is measured.
Background technology
The present invention relates to a kind of real-time optical method for three-dimensional measurement.Real-time three-dimensional measurement technology can measure stationary object and fortune
The three-dimensional data on animal body surface, the substantially limitation from testee motion state.Phase measuring profilometer（phase
measuring profilometry, PMP）It is a kind of active method for three-dimensional measurement of classics, but this method is needed to target
Object projects the sinusoidal structured light pattern more than 3 width or 3 width with phase shift, it is difficult to meet requirement of real-time.Peisen S.
Huang et al. is in paper " Color-encoded digital fringe projection technique for high-
speed three-dimensional surface contouring[J]. Optical Engineering, 1999, 38
(6):It is proposed in 1065-1071 " sinusoidal structured light pattern of 3 width in PMP with phase shift respectively with a width multicolour pattern
R, G, B tri- Color Channels represent, thus need to only project a width multicolour pattern, can preferably meet requirement of real-time.It should
Method projects the structured light patterns of a width coloud coding, 3 Color Channel difference with a projector to target object first
It is phase intervals3 panel height frequency sinusoidal structured light patterns；Secondly, scene is projected with a colour imagery shot shooting, and it is right
Camera image carries out color separated and obtains 3 width gray-level structure light images, and color compensating for coupling is contained in color separation process
With the operation of colour brightness equalization；Wrapped phase finally is calculated with this 3 width gray-level structure light image, and using space phase
The method of development obtains absolute phase；Camera and the correspondence of projector is obtained using absolute phase, and then utilizes triangle principle
Obtain the three-dimensional coordinate of target object.Its method is primarily present following defect：（1）Measuring accuracy is limited.Phase measurement is subject to
The unfavorable factors such as colour brightness imbalance, Color Channel coupling, the non-linear, ambient noise of projector influence, although bright to color
Degree is uneven, Color Channel coupling is compensated, but still unavoidably there are error, so obtained phase and three-dimensional
Data accuracy is not high.（2）Spatial domain phase unwrapping method applicable elements are more harsh, as the discontinuous geometric jacquard patterning unit surface of target object can
It can cause phase unwrapping mistake.How while real-time is ensured, and the higher accuracy and stabilization of three-dimensional measurement can be reached
Property, it can solve this key issue using the scheme referred to of the present invention.
The content of the invention
The purpose of the present invention is be directed to be currently based on colored sinusoidal light coding pattern method for three-dimensional measurement it is anti-interference
The defects of ability is weak, measuring accuracy is low, phase unwrapping is unstable, provide a kind of phase measuring profilometer coloud coding with
The real-time three-dimensional measuring method that passive stereo vision is combined, this method can reach higher three while real-time is ensured
Tie up measurement accuracy.
The purpose of the present invention is what is realized using following technical proposals：
Using projection arrangement, single width sinusoidal light coloud coding pattern is projected into body surface, multicolour pattern R,
G, tri- channel patterns of B are fundamental frequency sinusoidal structured light pattern, and the phase difference between adjacency channel pattern is, use two
Photographic device records the colored structures light image of deformation simultaneously respectively, and carrying out color separated to every width colored structures light image obtains
R, the corresponding monochromatic structure light image of tri- passages of G, B, according to the phase measuring profilometer formula three width structure lights isolated
Image calculates the phase of each photographic device, and the epipolar-line constraint obtained by photographic device calibrating parameters between two photographic devices closes
System carries out phase matched with the epipolar-line constraint relation of two photographic devices and obtains two photographic devices to correspond to point coordinates, finally according to two
The calibrating parameters and coordinate correspondence of photographic device calculate the three-dimensional coordinate of target object surface.
The present invention has the following advantages compared with prior art：
The present invention can reach the three-dimensional measurement of real-time high-precision.Since the method for present invention phase matched obtains two camera shootings
Correspondence between head, in the case where two camera hardware items are essentially identical, colour brightness is uneven, Color Channel coupling
Close, projector is non-linear etc., and influence of the factors to two camera corresponding points phases is also essentially identical, so as to above-mentioned disturbing factor pair
The accuracy influence of phase matched is smaller, so compared with the existing color coding phase measuring profilometer based on single camera,
The robustness for the disturbing factors such as the present invention is uneven to colour brightness, Color Channel couples, projector is non-linear is more preferable, can reach
Higher three-dimensional measurement accuracy.For the present invention using fundamental frequency sinusoidal structured light pattern, avoiding space phase expansion may simultaneously
The instability problem of appearance.
Description of the drawings
Fig. 1 is three-dimension measuring system structure chart of the present invention.
Fig. 2 is the work flow diagram of method for three-dimensional measurement of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, operation principle is described in further detail the present invention.
Attached drawing 1 is three-dimension measuring system structure chart of the present invention.The device of use has 1 CASIO XJ-M140 projector, throws
Shadow machine caches frame signPixel, projector's maximum output frequency are 150 frames/s；2 Prosilica GC650
Industry camera, resolution ratio arePixel, the maximum frequency that captures of camera is 62 frames/s.1 has Core i3
The computer of 3530 CPU, 4GB memory.Structured light projection and shooting process are controlled by computer.
Attached drawing 2 is real-time three-dimensional measuring method work flow diagram of the present embodiment based on colored sinusoidal structured pumped FIR laser.This
Example specific implementation step is as follows：
（1）Two cameras are demarcated, obtaining two camera sizes isProjection matrixWith。
（2）The colored sinusoidal light coding pattern of generation.The monochromatic pattern of wherein tri- passages of R, G, B can represent respectively
For：
Wherein,For projector's space coordinates,Tri- passages of R, G, B are corresponded to respectively
Monochromatic pattern existsThe gray value at place,It is the width in projector space,For the direct current point of structured light patterns
Amount,For the AC amplitude of structured light patterns, meet.Here structured light patterns parameter value is：,.In order to reduce the non-linear adverse effect to measurement of projector equipment, projecting
It is preceding that greyscale transformation is carried out to above-mentioned pattern to realize nonlinear compensation.The non-linear correction method method that we use is in paper
“Liu K, Wang Y, Lau D L, et al. Gamma model and its analysis for phase
measuring profilometry[J]. JOSA A, 2010, 27(3):553-562. " in be discussed in detail.This field
Technical staff be understood that nonlinear compensation be structural light three-dimensional measurement conventional steps.
（3）After on the colored sinusoidal light pattern projection of projector's handle to target object, two cameras of control are simultaneously
Target scene is shot, obtains two width colour sinusoidal structured light images.Every width coloured image obtains 3 after carrying out color separated
Width gray-level structure light image, is expressed as, whereinTable
Show camera sequence number, meet,Represent cameraSpace coordinates,Point
Do not represent that the monochromatic pattern of tri- passages of R, G, B for isolating existsThe gray value at place.Colored structures light image carries out
R, the method for G, B triple channel color separated is in paper " Color-encoded digital fringe projection
technique for high-speed three-dimensional surface contouring[J]. Optical
Engineering, 1999, 38(6):It is discussed in detail in 1065-1071 ", it is equal including color compensating for coupling and colour brightness
Weighing apparatusization.
（4）Each camera using it is individually separated go out 3 width structure light images decode to obtain phaseWith.Meter
Calculate phase formula be：
Wherein,It represents in serial numberCamera coordinate system under, in pixelThe phase value at place.
（5）According to the epipolar-line constraint relation of two camera shooting head plane corresponding points, each pixel on camera 1 is being taken the photograph
As first 2 plane correspondence polar curve on search out the equal correspondence point coordinates of phase.
The epipolar-line constraint relation of two camera shooting head plane corresponding points can be expressed as：
WhereinWithThe respectively secondly coordinate form of 1 plane of camera and 2 plane corresponding points of camera,,,For basic matrix, between two cameras of the matrix description
Relative geometrical relation.Basis matrix can be by camera projection matrixWithIt obtains, calculation formula is：
Wherein,,Represent camera projection matrix
The left sidePart,Represent camera projection matrixThe rightPart,
ForAntisymmetric matrix.
Basis matrix is obtainedAfterwards, to every bit in 1 plane of camera, can be obtainedIn 2 plane pair of camera
The polar curve answered, calculation formula are：, whereinIt representsIn the coefficient vector of the corresponding polar curve of 2 plane of camera.
Then in polar curveIt is upper search withLocate the equal sub-pixel point of phase.That is corresponding pointsWithMeet：
Sub-pixel phase matching method based on epipolar-line constraint is in paper " Wang Y, Liu K, Hao Q, et al.
Multicamera phase measuring profilometry for accurate depth measurement[C]//
Defense and Security Symposium. International Society for Optics and
Photonics, 2007:It is discussed in detail in 655509-655509-12 ".The correspondence of two cameras is obtained after phase matched
Coordinate relation.
（6）Point coordinates and camera projection matrix are corresponded to according to two camerasWithCalculate target object surface
Three-dimensional coordinate.Computational methods are in paper " Wang Y, Liu K, Hao Q, et al. Multicamera phase
measuring profilometry for accurate depth measurement[C]//Defense and
Security Symposium. International Society for Optics and Photonics, 2007:
It is discussed in detail in 655509-655509-12 ".
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (1)
1. single width colour sinusoidal light coding pattern and polar curve matching skill are used a kind of measurement suitable for three-dimensional sensing technology
The real-time optical method for three-dimensional measurement of art, which is characterized in that two cameras are demarcated, and are obtained by camera calibration parameter
To the epipolar-line constraint relation between two cameras, using projection arrangement, single width colour sinusoidal light encoded pattern projection is arrived
Body surface, the colour sinusoidal light coding pattern refer to that tri- passages of R, G, B are fundamental frequency, have identical DC component and shake
The sinusoidal structured light pattern of width, and the phase difference between adjacency channel pattern is 2 π/3, and change is recorded respectively using two cameras
The colored structures light image of shape carries out color separated to every width colored structures light image and obtains the corresponding list of tri- passages of R, G, B
Color structure light image, with the corresponding three width monochrome structure light image of colored structures light image according to phase measuring profilometer formula meter
Two respective phases of camera are calculated, phase matched are carried out according to the epipolar-line constraint relation of two cameras, i.e., to camera 1
Phase diagram on a point a, corresponding polar curve is determined on the phase diagram of camera 2 according to epipolar-line constraint relation, and in the polar curve
On search out with the approximately equal phase position of a phase values, to all pixels point on 1 phase diagram of camera by above-mentioned
Method operates, and obtains the coordinate correspondence of camera 1 and camera 2, and then according to camera calibration parameter and triangle principle
Obtain the three-dimensional coordinate of target object.
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| CN104296690A (en) * | 2014-10-24 | 2015-01-21 | 四川大学 | Multi-line structure light three-dimensional measuring method based on image fusion |
| CN104390607B (en) * | 2014-11-05 | 2017-04-19 | 南昌航空大学 | Phase encoding-based colorful structured light rapid three-dimensional measurement method |
| CN104634323B (en) * | 2015-02-15 | 2016-10-12 | 四川川大智胜软件股份有限公司 | A kind of multistage shooting tri-dimensional photographing system and method |
| CN104697469B (en) * | 2015-03-30 | 2017-11-10 | 四川大学 | The high dynamic method for three-dimensional measurement of saturation is judged using harmonic amplitude |
| CN105157613A (en) * | 2015-06-03 | 2015-12-16 | 五邑大学 | Three-dimensional fast measurement method utilizing colored structured light |
| CN106767405B (en) * | 2016-12-15 | 2019-07-05 | 深圳大学 | The method and device of the quick corresponding point matching of phase mapping assist three-dimensional imaging system |
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| CN106931910B (en) * | 2017-03-24 | 2019-03-05 | 南京理工大学 | A kind of efficient acquiring three-dimensional images method based on multi-modal composite coding and epipolar-line constraint |
| CN108120665A (en) * | 2017-12-28 | 2018-06-05 | 无锡奥芬光电科技有限公司 | The method and apparatus of monochromatic structure optical test molecule |
| CN110276838B (en) * | 2019-05-30 | 2023-04-28 | 盎锐（上海）信息科技有限公司 | Model acquisition method and device based on laser projector |
| CN111023999B (en) * | 2019-12-26 | 2020-12-01 | 北京交通大学 | Dense point cloud generation method based on spatial coding structured light |
| CN112082509A (en) * | 2020-08-19 | 2020-12-15 | 天津大学 | Rapid omnibearing three-dimensional measurement method |
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| CN101706264B (en) * | 2009-04-01 | 2012-11-21 | 姚征远 | Projection three-dimensional measuring device |
| CN101655358A (en) * | 2009-07-01 | 2010-02-24 | 四川大学 | Improved dynamic characteristic of phase measuring profilometry of cross compound grating by color coding |
| CN101825445B (en) * | 2010-05-10 | 2011-11-30 | 华中科技大学 | Three-dimension measuring system for dynamic object |
| CN101986098B (en) * | 2010-09-21 | 2012-02-22 | 东南大学 | Tricolor projection-based Fourier transform three-dimensional measuring method |
| CN102243103A (en) * | 2011-04-13 | 2011-11-16 | 西安交通大学 | Method for quickly measuring colors and three-dimensional profile of object |
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