CN104197861A - Three-dimensional digital imaging method based on structured light gray level vector - Google Patents
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Abstract
The invention discloses a three-dimensional digital imaging method based on a structured light gray level vector. The three-dimensional digital imaging method comprises the steps of coding structured light to generate a coded pattern sequence of the structured light gray level vector, orderly projecting the coded pattern sequence to the surface of an object, collecting the coded pattern sequence modulated by the surface of the object by use of a binocular camera and then storing the modulated coded pattern sequence in a computer, performing gray level vector decoding based on multiplication and addition on the modulated coded pattern sequence and finding out all corresponding point pairs of the binocular camera based on the epipolar geometric constraint of the binocular camera, and performing calculation according to the calibration parameters of a three-dimensional digital imaging system and the found corresponding point pairs to obtain three-dimensional point cloud data. The three-dimensional digital imaging method based on the structured light gray level vector has the advantages of high resolution ratio, low calculated quantity and high measurement speed, and can be widely applied to the technical field of three-dimensional imaging.
Description
Technical field
The present invention relates to 3 Dimension Image Technique field, especially a kind of three-dimension digital imaging method based on structured light gray scale vector.
Background technology
Structural light measurement is a kind of noncontact, active measuring method.Its ultimate principle is that the structured light through coding is arrived to body surface by projector projects, distorts, then by imageing sensor collection distortion pattern, determine unique encoded radio by decoding after the depth information modulation through body surface.If determined the position relationship between these two binocular cameras of left camera and right camera, can utilize trigonometry principle to solve the surface three dimension depth information of object.The advantage such as structured light three-dimensional vision technology has noncontact, precision is high, visual field is large, real-time is good and antijamming capability is strong, is widely used in the fields such as industrial products rapid Design and detection, reverse-engineering, manikin manufacture, historical relic contour reconstruction and 3 D-printing.
Existing structural light three-dimensional measuring technique is mainly divided into two classes: spatial domain coding and time domain coding.Spatial domain coding often only needs projection one width pattern, and in pattern, the code word of every bit can draw according to the information (as pixel, color and geological information etc.) of point of proximity around it.But at decode phase, the information dropout of space point of proximity can cause the generation of error.Compare with time domain coding, spatial domain coding is applicable to the three-dimensional measurement of dynamic scene, but Measurement Resolution is low, and precision is poor.Time domain coding refers to according to time sequencing measuring several patterns of project objects, utilizes several pattern-informations to carry out encoding and decoding.The most frequently used time domain coding method is fringe projection phase-shift measurement method, and the method can obtain higher spatial resolution and measuring accuracy.But its in solving phase place process, need to solve arctan function and and carry out phase unwrapping, calculated amount is large and measuring speed is slow.
Summary of the invention
In order to solve the problems of the technologies described above, the object of the invention is: provide that a kind of precision is high, calculated amount is little and measuring speed is fast, the three-dimension digital imaging method based on structured light gray scale vector.
The technical solution adopted for the present invention to solve the technical problems is:
Three-dimension digital imaging method based on structured light gray scale vector, comprising:
A, structured light is encoded, the coding pattern sequence of generating structure light gray scale vector, described coding pattern is comprised of the two-value black and white strip that forms the periodicity gray scale gradual change striped of code area and form tag slot;
B, coding pattern sequence is projected to body surface in order, and adopt binocular camera collection to be subject to the coding pattern sequence after body surface modulation, then the coding pattern sequence after modulation is stored in computing machine;
C, the coding pattern sequence after modulation is carried out to the gray scale vector decoding based on multiply-add operation, and in conjunction with the polar curve geometrical constraint of binocular camera, find out all corresponding point pair of binocular camera;
D, according to the calibrating parameters of 3 D digital imaging system and the corresponding point that find to calculating, obtain three dimensional point cloud.
Further, described steps A, it is specially:
The region of every width coding pattern is divided into code area and tag slot, described code area consists of periodicity gray scale gradual change strip encoding, described tag slot consists of two-value black and white strip, wherein, in every width coding pattern, the periodicity gray scale gradual change strip encoding of code area is corresponding with the two-value black and white strip in other pattern identification districts in coding pattern sequence, and by coding pattern sequence, form unique coding by these two-value black and white strips, to distinguish different periodicity gray scale gradual change strip encodings; Pixel in each periodicity gray scale gradual change strip encoding region, is encoded by its gray-scale value, to distinguish each pixel.
Further, described step C, it specifically comprises:
C1, the coding pattern sequence after modulation is carried out to the gray scale vector decoding based on multiply-add operation, then by fringe area, divides and obtain with feature coding gray scale vector, calculate the gray feature encoded radio of each pixel in binocular camera;
C2, according to the polar curve geometrical constraint of the gray feature encoded radio that obtains and binocular camera, find out all corresponding point pair of binocular camera.
Further, described step C1, it specifically comprises:
C11, extract the border, tag slot of every width pattern in the coding pattern sequence after modulation, and superpose and obtain the border of all periodicity gradual change strip encodings in coding pattern sequence, then according to the boundary demarcation cycle gradual change strip encoding region of acquisition;
C12, according to the cycle gradual change strip encoding region of dividing, determine the sequence of its corresponding two-value black and white sign striped in pattern sequence, obtain its unique mark vector;
C13, each pixel is normalized according to its corresponding tag slot gray-scale value and code area gray-scale value in pattern sequence, obtains the encoded radio codevalue of this pixel, the computing formula of the encoded radio codevalue of described pixel is:
Wherein, tag slot is divided into black streaking tag slot and informal voucher line tag slot, G
wfor the gray-scale value of pixel in informal voucher line tag slot, G
bfor the gray-scale value of pixel in black streaking tag slot, G is the gray-scale value of normalized preceding pixel in code area;
C14, according to encoded radio codevalue and the variation tendency thereof of pixel, and the mark vector in this cycle gradual change strip encoding region, pixel place of obtaining of integrating step C12, obtains the feature coding gray scale vector of this pixel;
C15, feature coding gray scale vector is carried out to dimension-reduction treatment, obtain for carrying out the gray feature encoded radio of follow-up corresponding point matching processing.
Further, described step C2, it is specially:
According to the gray feature encoded radio obtaining, utilize the polar curve geometrical constraint of left and right binocular camera, any point on left video camera is found on polar curve identical with this gray feature encoded radio or immediate as corresponding point, thereby find out whole corresponding point pair of left and right binocular camera.
The invention has the beneficial effects as follows: coding pattern is comprised of with the two-value black and white strip that forms tag slot the periodicity gray scale gradual change striped that forms code area, the time-space domain combined coding mode that has adopted gray-coded to combine with binary-coding, spatial resolution is higher, can reach Pixel-level; Compare with the fringe projection phase-shift measurement method of time domain coding, the structured light patterns of projection required for the present invention is less, and decode procedure only need carry out multiply-add operation, calculate simple, avoided the complex calculation such as arc tangent and phase unwrapping, calculated amount is little and consuming time short, has significantly improved counting yield, to improving three-dimensional measurement speed, realize real-time fast three-dimensional measurement significant.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the overall flow figure that the present invention is based on the three-dimension digital imaging method of structured light gray scale vector;
Fig. 2 is the process flow diagram of step C of the present invention;
Fig. 3 is the process flow diagram of step C1 of the present invention;
Fig. 4 is the implementation procedure schematic diagram of binocular stereo vision spatial point three-dimensional reconstruction;
Fig. 5 is the structural representation of structured light gray scale vector 3-D imaging system;
Fig. 6 is the intensity profile figure of pixel along continuous straight runs in the four-dimensional gray scale vector coding of the embodiment of the present invention two.
Embodiment
With reference to Fig. 1, the three-dimension digital imaging method based on structured light gray scale vector, comprising:
A, structured light is encoded, the coding pattern sequence of generating structure light gray scale vector, described coding pattern is comprised of the two-value black and white strip that forms the periodicity gray scale gradual change striped of code area and form tag slot;
B, coding pattern sequence is projected to body surface in order, and adopt binocular camera collection to be subject to the coding pattern sequence after body surface modulation, then the coding pattern sequence after modulation is stored in computing machine;
C, the coding pattern sequence after modulation is carried out to the gray scale vector decoding based on multiply-add operation, and in conjunction with the polar curve geometrical constraint of binocular camera, find out all corresponding point pair of binocular camera;
D, according to the calibrating parameters of 3 D digital imaging system and the corresponding point that find to calculating, obtain three dimensional point cloud.
Be further used as preferred embodiment, described steps A, it is specially:
The region of every width coding pattern is divided into code area and tag slot, described code area consists of periodicity gray scale gradual change strip encoding, described tag slot consists of two-value black and white strip, wherein, in every width coding pattern, the periodicity gray scale gradual change strip encoding of code area is corresponding with the two-value black and white strip in other pattern identification districts in coding pattern sequence, and by coding pattern sequence, form unique coding by these two-value black and white strips, to distinguish different periodicity gray scale gradual change strip encodings; Pixel in each periodicity gray scale gradual change strip encoding region, is encoded by its gray-scale value, to distinguish each pixel.
Wherein, on space the gray feature encoded radio of pixel by it in coding pattern sequence 0,1 of the gray-scale value in (n width) residing strip encoding and the corresponding sign striped of this striped value press the n-dimensional vector that pattern sequence forms definite.
With reference to Fig. 2, be further used as preferred embodiment, described step C, it specifically comprises:
C1, the coding pattern sequence after modulation is carried out to the gray scale vector decoding based on multiply-add operation, then by fringe area, divides and obtain with feature coding gray scale vector, calculate the gray feature encoded radio of each pixel in binocular camera;
C2, according to the polar curve geometrical constraint of the gray feature encoded radio that obtains and binocular camera, find out all corresponding point pair of binocular camera.
With reference to Fig. 3, be further used as preferred embodiment, described step C1, it specifically comprises:
C11, extract the border, tag slot of every width pattern in the coding pattern sequence after modulation, and superpose and obtain the border of all periodicity gradual change strip encodings in coding pattern sequence, then according to the boundary demarcation cycle gradual change strip encoding region of acquisition;
C12, according to the cycle gradual change strip encoding region of dividing, determine the sequence of its corresponding two-value black and white sign striped in pattern sequence, obtain its unique mark vector;
C13, each pixel is normalized according to its corresponding tag slot gray-scale value and code area gray-scale value in pattern sequence, obtains the encoded radio codevalue of this pixel, the computing formula of the encoded radio codevalue of described pixel is:
Wherein, tag slot is divided into black streaking tag slot and informal voucher line tag slot, G
wfor the gray-scale value of pixel in informal voucher line tag slot, G
bfor the gray-scale value of pixel in black streaking tag slot, G is the gray-scale value of normalized preceding pixel in code area;
C14, according to encoded radio codevalue and the variation tendency thereof of pixel, and the mark vector in this cycle gradual change strip encoding region, pixel place of obtaining of integrating step C12, obtains the feature coding gray scale vector of this pixel;
C15, feature coding gray scale vector is carried out to dimension-reduction treatment, obtain for carrying out the gray feature encoded radio of follow-up corresponding point matching processing.
Be further used as preferred embodiment, described step C2, it is specially:
According to the gray feature encoded radio obtaining, utilize the polar curve geometrical constraint of left and right binocular camera, any point on left video camera is found on polar curve identical with this gray feature encoded radio or immediate as corresponding point, thereby find out whole corresponding point pair of left and right binocular camera.
Below in conjunction with Figure of description and specific embodiment, the present invention is described in further detail.
Embodiment mono-
The present embodiment pair three-dimension digital imaging device matching with method of the present invention describes.
The three-dimension digital imaging device matching with method of the present invention, mainly comprises digital projection illumination transmitter, image sensing receiver and image processor.Wherein, digital projection illumination transmitter can be digital lcd projection arrangement (LCD projector), digital micro-mirror projection arrangement (DMD projector) or silicon chip liquid crystal projection apparatus (LCOS projector), and available computers image processing system generates easily the candy strip of gray-coded and binary-coding combination and writes digital projection device.Image sensing receiver comprises optical imaging lens and photodetector, and optical imaging lens can be for focusing imaging len or lens combination, binary optical imaging system, diffraction element imaging system or the micro imaging system of distance or varifocal.And photoelectric detector can be charge-coupled image sensor, liquid crystal device, spatial light modulation device, cmos device or digital camera.Image processor is the combination of digital signal processor and programmable asic, can be also the combination of general image transaction card and computing machine.What digital projection illumination transmitter of the present invention was launched is the candy strip that combines gray-coded and binary-coding, image sensing receiver receives through the deforming stripe pattern after the modulation of testee depth information, through image processor, do corresponding decoding again, in conjunction with polar curve geometrical constraint, find out all corresponding point pair of binocular camera, according to binocular triangle image-forming principle, calculate the three dimensional depth picture of object, as shown in Figure 4.
Embodiment bis-
The imaging system of structured light gray scale vector as shown in Figure 5, the computing machine of image processor 104 or digital signal processor produce the projection code bar graph based on gray scale vector three-dimension digital imaging method.Every width coding pattern is comprised of with the two-value black and white sign striped that forms tag slot the strip encoding that forms code area; In code area, for gray-scale value increases progressively and the strip encoding alternately that successively decreases, can divide the point of the different pixels in same strip encoding with the transition region of gray-scale value.The present invention is called one-period by each strip encoding width.In tag slot gray scale value only have 0 (black) and 1 (in vain) two kinds of situations, its effect is to form a unique vector in conjunction with the gray-scale value of code area is common, thereby distinguishes being positioned in the pixel of different cycles.In pattern sequence, the code area of every width pattern is strip encoding, and to identify striped corresponding with the tag slot of other patterns, adds up and cover whole space encoder in figuratum code area.By this coded system, just can guarantee that the encoded radio of all pixels in striped change direction is all different, in conjunction with the polar curve geometrical constraint of binocular camera, can realize the matched and searched of the corresponding point of binocular camera.The dimension of gray scale vector of the present invention determines by the pattern number that forms coding pattern sequence, and according to the size of coding region, it can be Arbitrary Dimensions more than one dimension.
The three-dimension digital imaging method of four-dimensional gray scale vector of take is example, and it need to form four width coding patterns, and each width pattern resolution is 1024 * 768.The present embodiment adopts vertical striped to encode, and the intensity profile of 1024 pixels of its horizontal direction as shown in Figure 6.All some is coding region (comprising the serrate strip encoding that six gray scales increase progressively) to each width pattern (code pattern 1 is to code pattern 4), and remainder is that value is 0 or 1 tag slot.The code area of every width pattern only accounts for 1/4 of code pattern, and in every width pattern, the position at place, code area is all different.Add up and just in time cover all pixels in the code area of four width patterns.These candy strips project on object 105 in order by the digital projection transmitter 103 that throws light on, and after the height modulation of strip encoding light through object 105, produce deformation, then the pattern being gathered through ovennodulation by left camera 101 and right camera 102.The deforming stripe figure that left camera 101 and right camera 102 gather is sent to image processor 104 and decodes.Image processor 104 obtains after four width deformation patterns, and to each pixel, the gray-scale value collecting in order according to camera, obtains intensity profile { I
1, I
2, I
3, I
4.Then, need to decode according to the distribution of gray scale, that determine each component representative is tag slot (0 or 1) or strip encoding district (code).The process of decoding comprises:
First, the cycle boundary of structured light is extracted, divide fringe period.The intersection of sawtooth wave can produce Gray Level Jump, and gray-scale value becomes 0 from 1.Four width images are asked for respectively to first order derivative, obtain the border of code area in each width figure.Every width graph code zone position difference and the whole code pattern of covering that stacks up during due to coding, thus after being asked to first order derivative, four width image correspondences superpose, then after binaryzation, obtain complete cycle boundary component.
Then, determine each strip encoding region mark vector in pattern sequence of dividing, specific as follows: the period zones at pixel place is asked its average gray and determined its residing region according to gray average, average near 1 in 1 value tag slot, average near 0 in 0 value tag slot, all the other situations are in strip encoding district.For example, for certain pixel, if the first width of its acquisition gathers in figure in code area, in the second width collection figure, in 1 value tag slot, in the 3rd width collection figure, in 0 value tag slot, the 4th width gathers in figure in 1 value tag slot, the identification code vector forming so can be expressed as { code, 1,0,1}.
Follow again the gray-scale value G according to this pixel in 0,1 tag slot
b, G
wgray-scale value G to it in strip encoding is normalized, and obtains the encoded radio codevalue of this point, and with the code in the alternative strip encoding vector of codevalue, obtains feature coding vector { codevalue, 1,0, the 1} of this point.
Finally, feature coding gray scale vector is carried out to dimension-reduction treatment, during specific implementation, this feature coding gray scale vector can be considered as to a ternary number, then utilize three-shift and decimal system transformation rule to be translated into a metric encoded radio, conversion formula is:
Wherein, gray feature encoded radio I
matchshine upon one by one with gray scale vector, can replace gray scale vector to carry out follow-up coupling.
Embodiment tri-
The present embodiment describes the present invention is based on the corresponding point search procedure of polar curve geometrical constraint and encoded radio.
In binocular stereo vision, there is how much polar curve constraints.The polar curve of left and right image is intersected and is formed by photocentre and definite optical plane and the imaging plane of spatial point of binocular camera.All polar curves of every width image all pass through limit, and limit is the intersection point of two video camera photocentre lines and its imaging plane.Arbitrary pixel of left image, its match point on right image must be positioned on its corresponding polar curve, and vice versa.
If m
1and m
2the subpoint of 1, space M on two images, m
1and m
2for corresponding point, meet polar curve equation of constraint:
m
2 TFm
1＝0，
Wherein, F is basis matrix, its element by the Intrinsic Matrix of two video cameras and mutually externally parameter determine.
F＝A
2 -TSRA
1 -1，
Wherein, R and T are relative rotation matrix and the translation vector between two video cameras, the antisymmetric matrix that S is T.
Therefore, according to camera calibration result, can obtain the internal reference matrix A of two video cameras
2, A
1with two evolution R, T between video camera, thereby according to A
2, A
1, R, T set up polar curve equation of constraint, so that one dimension is down to from two dimension in images match region of search, left and right.Follow again, according to left and right cameras gray feature encoded radio I a little
matchcorresponding point that can unique definite left and right cameras.
By the corresponding point of left and right cameras to and calibrating parameters A2, the A1 of two video cameras and evolution R, the T between two video cameras, reconstruct the equation that three-dimensional data points (being three dimensional point cloud) solves and be:
Wherein, i=1,2 represent left and right two width images, the above-mentioned solving equation of substitution can obtain 4 equations, and coordinate unknown number is 3, therefore can be optionally 3 equations wherein solve, also can adopt least square method, obtain overall best Approximating Solutions.
More than that better enforcement of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and the distortion that these are equal to or replacement are all included in the application's claim limited range.
Claims (5)
1. the three-dimension digital imaging method based on structured light gray scale vector, is characterized in that: comprising:
A, structured light is encoded, the coding pattern sequence of generating structure light gray scale vector, described coding pattern is comprised of the two-value black and white strip that forms the periodicity gray scale gradual change striped of code area and form tag slot;
B, coding pattern sequence is projected to body surface in order, and adopt binocular camera collection to be subject to the coding pattern sequence after body surface modulation, then the coding pattern sequence after modulation is stored in computing machine;
C, the coding pattern sequence after modulation is carried out to the gray scale vector decoding based on multiply-add operation, and in conjunction with the polar curve geometrical constraint of binocular camera, find out all corresponding point pair of binocular camera;
D, according to the calibrating parameters of 3 D digital imaging system and the corresponding point that find to calculating, obtain three dimensional point cloud.
2. the three-dimension digital imaging method based on structured light gray scale vector according to claim 1, is characterized in that: described steps A, and it is specially:
The region of every width coding pattern is divided into code area and tag slot, described code area consists of periodicity gray scale gradual change strip encoding, described tag slot consists of two-value black and white strip, wherein, in every width coding pattern, the periodicity gray scale gradual change strip encoding of code area is corresponding with the two-value black and white strip in other pattern identification districts in coding pattern sequence, and by coding pattern sequence, form unique coding by these two-value black and white strips, to distinguish different periodicity gray scale gradual change strip encodings; Pixel in each periodicity gray scale gradual change strip encoding region, is encoded by its gray-scale value, to distinguish each pixel.
3. the three-dimension digital imaging method based on structured light gray scale vector according to claim 2, is characterized in that: described step C, and it specifically comprises:
C1, the coding pattern sequence after modulation is carried out to the gray scale vector decoding based on multiply-add operation, then by fringe area, divides and obtain with feature coding gray scale vector, calculate the gray feature encoded radio of each pixel in binocular camera;
C2, according to the polar curve geometrical constraint of the gray feature encoded radio that obtains and binocular camera, find out all corresponding point pair of binocular camera.
4. the three-dimension digital imaging method based on structured light gray scale vector according to claim 3, is characterized in that: described step C1, and it specifically comprises:
C11, extract the border, tag slot of every width pattern in the coding pattern sequence after modulation, and superpose and obtain the border of all periodicity gradual change strip encodings in coding pattern sequence, then according to the boundary demarcation cycle gradual change strip encoding region of acquisition;
C12, according to the cycle gradual change strip encoding region of dividing, determine the sequence of its corresponding two-value black and white sign striped in pattern sequence, obtain its unique mark vector;
C13, each pixel is normalized according to its corresponding tag slot gray-scale value and code area gray-scale value in pattern sequence, obtains the encoded radio of this pixel
codevalue, the encoded radio of described pixel
codevaluecomputing formula be:
，
Wherein, tag slot is divided into black streaking tag slot and informal voucher line tag slot,
g w for the gray-scale value of pixel in informal voucher line tag slot,
g b for the gray-scale value of pixel in black streaking tag slot,
gfor the gray-scale value of normalized preceding pixel in code area;
C14, according to the encoded radio of pixel
codevalueand variation tendency, and the mark vector in this cycle gradual change strip encoding region, pixel place of obtaining of integrating step C12, obtains the feature coding gray scale vector of this pixel;
C15, feature coding gray scale vector is carried out to dimension-reduction treatment, obtain for carrying out the gray feature encoded radio of follow-up corresponding point matching processing.
5. the three-dimension digital imaging method based on structured light gray scale vector according to claim 3, is characterized in that: described step C2, and it is specially:
According to the gray feature encoded radio obtaining, utilize the polar curve geometrical constraint of left and right binocular camera, any point on left video camera is found on polar curve identical with this gray feature encoded radio or immediate as corresponding point, thereby find out whole corresponding point pair of left and right binocular camera.
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