CN104330052A - Heterodyne three-frequency unequal range phase displacement solution phase method - Google Patents
Heterodyne three-frequency unequal range phase displacement solution phase method Download PDFInfo
- Publication number
- CN104330052A CN104330052A CN201410675447.9A CN201410675447A CN104330052A CN 104330052 A CN104330052 A CN 104330052A CN 201410675447 A CN201410675447 A CN 201410675447A CN 104330052 A CN104330052 A CN 104330052A
- Authority
- CN
- China
- Prior art keywords
- phase
- point
- image
- frequency
- striped
- 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
Landscapes
- Image Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a heterodyne three-frequency unequal range phase displacement solution phase method, and the method is as follows: selecting three frequencies, firstly adopting four-step phase shift method to obtain the package phase and average light intensity of the middle frequency, adopting two-step phase shift method to obtain the package phase corresponding to the two frequencies under the condition with known light intensity, obtaining the true phase according to the heterodyne method, adopting the contour line sine and cosine filtering method in the optical grating projection three-dimensional measurement, using stripe direction information for filtering the package phase on isophasal line, the method uses less projection picture for exactly measuring and uses the stripe direction information for filtering the package phase picture for effectively removing the inconsistent points in the package phase picture, the heterodyne three-frequency unequal range phase displacement solution phase method is used in the phase method three-dimensional shape measurement for effectively raising the measuring efficiency and measuring accuracy.
Description
Technical field
The invention belongs to technical field of image processing, particularly a kind of heterodyne system three frequently does not wait to walk and transfers from one place to another under escort phase method mutually, efficiently accurately can obtain the three-dimensional information of object.
Background technology
Optical grating projection three-dimensional measurement technology is a kind of method utilizing phase information to carry out three-D profile accurately to measure, and the method obtaining phase place at present mainly contains phase-shift method and Fourier Transform Profilemetry.Phase-shift method is because precision is high, resolution is high and not too responsive and be widely used to the change of body surface reflectivity.The method calculates by gathering multiframe phase shift bar graph the wrapped phase value comprising measured object surface deformation information.Because wrapped phase value is in [-π, π] interval, therefore mapping to obtain continuous phase, needing wrapped phase to launch, obtaining real phase value.Phase unwrapping package method can be divided into based on unifrequency with based on multifrequency solution packaging method, one group of wrapped phase value is only obtained when measuring based on unifrequent unpacking method, therefore it is unpacking scope, is unpacking equal Shortcomings in precision and fault tolerance, and when measuring based on multifrequency unpacking method, obtain many group wrapped phase values, increase the scope of unpacking, improve and unpack precision, reduce error effect.Gray (Gray) code method and multifrequency phase shifting method is mainly contained based on multifrequency solution packaging method.Gray code method to illumination and measured object surface light dark ratio more responsive, often occur that pixel boundary decoding is incorrect, be easily subject to noise and measurement range limits by Gray's code-bar line number.Multifrequency phase shifting method improves measuring accuracy and measurement range by increasing different frequency striped, strengthens adaptability.Current multifrequency phase shifting method has become industrial most widely used object high-precision three-dimensional Profile construction method, but multifrequency phase shifting method needs the multiple image taking different frequency.
Based on the three-dimensional measurement technology of optical grating projection, when reading the stripe adopting cosine coding, the distribution of its gradation of image should be cosine distribution.But due to the impact of the factors such as the electronic noise interference in the nonlinear object of optical projection system, picture pick-up device and neighbourhood noise, cause there is much noise in the intensity profile of coding pattern, this will cause producing error when phase recovery, affect the three-dimensional reconstruction on discontinuous objects surface.Reduce using optimized algorithm, in the process of phase error, first need to carry out gamma correction to optical projection system, but trimming process to need the plenty of time, and require that the gamma value of projector is relatively fixing.Secondly, need to carry out error compensation to phase place, the method based on spline-fitting needs through successive ignition when phase calculation, and operand is larger; The phase error precomputed will be stored in a look-up table and be used for compensating error by the method based on look-up table, calculates process need plenty of time of phase error and higher to environmental requirement to the method; Method based on image filtering carries out common frequency domain or airspace filter to phase image, can greatly stress release treatment, reduces phase error, but to the curved surface containing height saltus step, can lose object boundary saltus step information.
Summary of the invention
Object of the present invention is exactly for overcoming the deficiencies in the prior art, there is provided a kind of heterodyne system three frequently not wait step to transfer from one place to another under escort phase method mutually, the gordian technique in Application way realize the quantity reducing shooting image obtain accurately measuring accuracy while can reduce noise and object height saltus step to the impact of precision.
The present invention is realized by such technical scheme: a kind of heterodyne system three does not wait to walk frequently transfers from one place to another under escort phase method mutually, the measuring table utilizing digital projector, video camera, PC to form realizes the projection lighting of striped and the data acquisition and processing (DAP) of bar graph, it is characterized in that, comprise the following steps:
(1) project three different frequencies totally 8 width bar graphs, and pick-up slip print image, wherein adopt intermediate frequency f
2projection four-step phase-shifting striped, frequency f
1and f
3project two step phase shift stripeds;
(2) adopt not wait to walk and transfer from one place to another under escort facies principle mutually and solve frequency f
1, f
2, f
3corresponding wrapped phase
(3) respectively the filtering of isoline sine and cosine is carried out to the wrapped phase value of trying to achieve;
(4) heterodyne principle is adopted to obtain frequency f
2the true phase Φ of deforming stripe image
2;
(5) binocular phase place solid matching method is utilized to calculate object dimensional surface cloud data.
Substantive distinguishing features of the present invention is, chooses three frequency cosine wave (CW)s, the cosine wave (CW) of each frequency is carried out to the spatial phase shift of different step number, only need project and take the true phase figure that eight width bar graphs can obtain better quality.Optical projection system is being carried out on the basis of gamma correction simultaneously, for the problem of process of heterodyning difference frequency superposition wrapped phase noise, propose before wrapped phase figure being carried out to solution parcel, adopt isoline sine and cosine filtering method to carry out noise reduction process to it, the present invention compared with prior art tool has the following advantages:
1. utilize less projection image to carry out Measurement accuracy.
2. make full use of stripe direction information and filtering is carried out to wrapped phase figure, effectively remove the inconsistent point in wrapped phase figure.
Accompanying drawing explanation
Fig. 1: measuring method process flow diagram of the present invention;
Fig. 2: heterodyne principle schematic diagram;
Fig. 3: the isoline of striped and normal direction curve synoptic diagram.
Embodiment
Process flow diagram of the present invention as shown in Figure 1, first projects and gathers three different frequencies totally 8 width bar graph (intermediate frequency f
2projection four-step phase-shifting striped, frequency f
1and f
3project two step phase shift stripeds), then adopt the step such as not to transfer from one place to another under escort facies principle mutually and calculate background light intensity and frequency f
2wrapped phase value
and when background light intensity is known calculated rate f
1and f
3corresponding wrapped phase value
with
afterwards the filtering of isoline sine and cosine is carried out respectively to three wrapped phases.Secondly employing heterodyne principle will
with
it is f that difference frequency superposition obtains equivalent frequency
12phase function θ
12(x, y), will
with
it is f that difference frequency superposition obtains equivalent frequency
23phase function θ
23(x, y), and respectively sine and cosine filtering is carried out to it.Finally solve the phase function θ containing body surface deformation data by Twice heterodyne again
123(x, y), utilizes binocular phase matching method to obtain object dimensional surface cloud data.
Below in conjunction with accompanying drawing, the specific implementation process of technical solution of the present invention is illustrated.
1. three different frequency totally 8 projection of width bar graph and collections
Computer simulation generates 8 width wavelength X
1, λ
2and λ
3what be respectively 15,17,20 (unit: pixel/cycle, projected fringe width W=1020 pixels) meets the gray scale bar graph that three do not wait step phase-shift coding scheme frequently.Use projector that 8 width bar graphs are projected measured object surface, gather with video camera.
2. do not wait step phase-shift method solution phase place
In optical grating projection three-dimensional measurement, projection cosine strip encoding is to testee surface, and strip encoding is formed deforming stripe by body surface modulates information, and suppose that projection light intensity meets standard cosine distribution, then the intensity distribution function of deforming stripe image is:
The deforming stripe image intensity that I (x, y) takes for video camera, the intensity that a (x, y) is bias light, b (x, y) is modulated amplitude, and f is fringe frequency,
for phase function to be solved.Containing three unknown quantitys in formula, the phase value that therefore will solve same tested point at least will obtain three light intensity function values.
The three frequency heterodynes method that etc. step does not transfer from one place to another under escort phase place is mutually that (three frequencies are designated as f respectively to three kinds of different frequency stripeds
1, f
2and f
3) adopt different step number phase shift algorithm to solve the wrapped phase value obtaining respective frequency.Frequency f
2employing standard four-step phase-shifting striped, moves 4 times by cosine grating, each moving step length α=pi/2, and the 4 width images that can collect like this, to try to achieve the phase value of object, establish I here
n(x, y) represents the n-th width image intensity, then:
Utilize this four amplitude variations shape stripe pattern to try to achieve phase place to be:
Suppose that camera and projector have sizable depth of field, measured object surface reflection is linear simultaneously, then in 4 width images, average luminous intensity coefficient a (x, y) at same position pixel (i, j) place is a constant.
a(x,y)＝(I
1(x,y)+I
2(x,y)+I
3(x,y)+I
4(x,y))/4 (4)
Frequency f
1and f
3all adopt two step phase shifting methods, phaseshift step size α=3 pi/2, respectively can collect sinusoidal and cosine two width bar graph like this, light intensity function is respectively
Utilize formula (4) to try to achieve a (x, y), substitution formula (9) and formula (10) can ask frequency f
1and f
3the wrapped phase value of deforming stripe image
with
Wherein I
n(x, y) represents the n-th width image intensity, and a (x, y) is average luminous intensity coefficient, and arctan is for solving arctan function.
3. isoline sine and cosine filtering
Direct use traditional filtering method carries out filtering to actual package phase diagram, can lose phase cycling saltus step information while removing noise.Due to just, the gray-scale value of cosine image is continually varying, align, cycle saltus step message part that cosine image filtering can not damage original image, this algorithm proposes to adopt sine and cosine filtering method to carry out filtering to the wrapped phase figure in optical grating projection three-dimensional measurement process, first calculate phase diagram just, cosine result figure, and then this two width image is carried out medium filtering according to stripe direction information in Contoured Window, remove noise, finally by after after filtering just, cosine image does division arithmetic, obtains phase diagram.
Isoline currently with striped moves towards the parallel line in local, and normal direction curve is the current line moving towards partial vertical with striped, as shown in Figure 3.For determining that striped isoline and normal direction curve first ask for stripe direction.
If certain any coordinate is P on image
i(x
i, y
i), the stripe direction of this point is θ
i, from the definition of stripe direction figure, the direction value θ of directional diagram is the tangential direction of striped isoline.Can be similar in current neighborhood of a point and replace striped isoline with tangent line, therefore, two consecutive point P of this point on isoline can be obtained according to stripe direction figure by this
i+1(x
i+1, y
i+1) and P
i-1(x
i-1, y
i-1):
In like manner, continue, to both sides expansion, P to be obtained respectively
i+2(x
i+2, y
i+2) and P
i-2(x
i-2, y
i-2) etc.One can be obtained thus and cross current point P
i(x
i, y
i) and along the curve of stripe direction, be striped isoline, the phase value of each point and some P on curve
i(x
i, y
i) phase value equal, namely on the isoline of striped, the phase place of striped remains unchanged.
For bar graph, the gradation of image difference along striped tangential direction is minimum, and maximum perpendicular to the gradation of image difference of striped tangential direction.So can calculate the gray difference of every bit along all directions, when obtaining minimum value, corresponding direction is stripe direction.Gradient method is a kind of conventional method asking for stripe direction.
Due to digital picture only value on Integer Pel, and the point (x obtained by said method
i, y
i) might not be integral point.For reducing the error caused by the value on a stripe direction figure round numbers pixel, can get and gained non-integer point (x
i, y
i) linear interpolation of stripe direction value of adjacent four Integer Pel points as the stripe direction value of this point, to reduce discretization error.
4. adopt heterodyne principle solution phase place
Heterodyne principle is by two kinds of different frequency f
1, f
2the phase function that striped is corresponding
with
obtaining a kind of new equivalent frequency through difference frequency superposition is f
12phase function θ
12(x), different frequency f
1, f
2and f
12the wavelength that striped is corresponding is respectively λ
1, λ
2and λ
12.
Effective wavelength λ
12can be expressed as through calculating:
The phase image utilizing heterodyne principle will be wrapped in interval [-π, π] launches, and obtains continuous print phase image within the scope of the whole audience.Suppose that the wavelength that different frequency is corresponding is respectively λ
1, λ
2and λ
3value, then by λ
1and λ
2calculate effective wavelength λ
12, λ
2and λ
3calculate effective wavelength λ
23, λ
12and λ
23calculate effective wavelength λ
123.In order to realize continuous print true phase image within the scope of the whole audience, effective wavelength λ
123the row pixel count W (projector projects nicking) of projector projects should be more than or equal to, i.e. λ
123>=W.
The computing formula that different frequency striped wrapped phase launches is:
In formula, Φ
ifor true phase value, N
ifor striped integer series,
for λ
1corresponding phase function.
For the different striped wavelength X of same point on determinand bodily form face
aand λ
b(a equals 1 respectively, and 2,12; Corresponding b equals 2,3,23 respectively), difference frequency superposition obtains effective wavelength λ
abphase function θ
ab(x), the fringe phase value recorded meets:
Substitution formula (13), can calculated rate f
2the true phase Φ of deforming stripe image
2for:
φ
2＝(φ
2-12+φ
2-23)/2 (18)
In formula, Round is bracket function, θ
123(x, y) is effective wavelength λ
123corresponding phase place, Φ
2-12for utilizing effective wavelength λ
12and its phase theta
12the frequency f that (x, y) obtains
2the true phase of deforming stripe image, Φ
2-23for utilizing effective wavelength λ
23and its phase theta
23the frequency f that (x, y) obtains
2the true phase of deforming stripe image.For reducing error, true phase Φ
2for Φ
2-12and Φ
2-23mean value.
5. object dimensional surface cloud data
Stereo matching based on phase place be according to space same point in left and right cameras as in plane, the conditions such as the local phase of picture point and epipolar-line constraint condition carry out stereoscopic vision coupling, find out the picpointed coordinate pair that any point on object corresponds to left and right cameras image.The picture point point of two camera reviews is corresponded to the calibration result with camera chain according to spatial point, utilize spatial point, picture point and video camera photocentre principle point-blank, by the method for space line find intersection, the three-dimensional coordinate of solution room point, finally can obtain three-dimensional point cloud.
In sum, the present invention can utilize less projection image to carry out Measurement accuracy, the noise spot in simultaneously effectively filtering wrapped phase figure, inhibits the amplification of phase fluctuation error, weakens in wrapped phase figure and wraps up the fuzzy of border 2 π trip point.The 3-d recovery that this algorithm is used in object can improve precision and efficiency, has very high practical value.
According to the above description, the solution of the present invention can be realized in conjunction with art technology.
Claims (5)
1. heterodyne system three frequently does not wait to walk and transfers from one place to another under escort a phase method mutually, and the measuring table utilizing digital projector, video camera, PC to form realizes the projection lighting of striped and the data acquisition and processing (DAP) of bar graph, it is characterized in that, comprises the following steps:
(1) project three different frequencies totally 8 width bar graphs, and pick-up slip print image, wherein adopt intermediate frequency f
2projection four-step phase-shifting striped, frequency f
1and f
3project two step phase shift stripeds;
(2) adopt not wait to walk and transfer from one place to another under escort facies principle mutually and solve frequency f
1, f
2, f
3corresponding wrapped phase
(3) respectively the filtering of isoline sine and cosine is carried out to the wrapped phase value of trying to achieve;
(4) heterodyne principle is adopted to obtain frequency f
2the true phase Φ of deforming stripe image
2;
(5) binocular phase place solid matching method is utilized to calculate object dimensional surface cloud data.
2. heterodyne system three according to claim 1 frequently does not wait to walk and transfers from one place to another under escort phase method mutually, it is characterized in that, in step (2),
In optical grating projection three-dimensional measurement, projection cosine strip encoding is to testee surface, and strip encoding is formed deforming stripe by body surface modulates information, and suppose that projection light intensity meets standard cosine distribution, then the intensity distribution function of deforming stripe image is:
The deforming stripe image intensity that I (x, y) takes for video camera, the intensity that a (x, y) is bias light, b (x, y) is modulated amplitude, and f is fringe frequency,
for phase function to be solved; Containing three unknown quantitys in formula, the phase value that therefore will solve same tested point at least will obtain three light intensity function values;
The three frequency heterodynes method that etc. step does not transfer from one place to another under escort phase place mutually adopts different step number phase shift algorithm to solve the wrapped phase value obtaining respective frequency to three kinds of different frequency stripeds; Three frequencies are designated as f respectively
1, f
2and f
3;
Frequency f
2employing standard four-step phase-shifting striped, moves 4 times by cosine grating, each moving step length α=pi/2, and the 4 width images that can collect like this, to try to achieve the phase value of object, establish I here
n(x, y) represents the n-th width image intensity, then:
Utilize this four amplitude variations shape stripe pattern to try to achieve phase place to be:
Suppose that camera and projector have sizable depth of field, measured object surface reflection is linear simultaneously, then in 4 width images, average luminous intensity coefficient a (x, y) at same position pixel (i, j) place is a constant;
a(x,y)＝(I
1(x,y)+I
2(x,y)+I
3(x,y)+I
4(x,y))/4 (4)
Frequency f
1and f
3all adopt two step phase shifting methods, phaseshift step size α=3 pi/2, respectively can collect sinusoidal and cosine two width bar graph like this, light intensity function is respectively
Utilize formula (4) to try to achieve a (x, y), substitution formula (9) and formula (10) can ask frequency f
1and f
3the wrapped phase value of deforming stripe image
with
Wherein I
n(x, y) represents the n-th width image intensity, and a (x, y) is average luminous intensity coefficient, and arctan is for solving arctan function.
3. heterodyne system three according to claim 1 frequently does not wait to walk and transfers from one place to another under escort phase method mutually, it is characterized in that, in step (3),
Direct use traditional filtering method carries out filtering to actual package phase diagram, can lose phase cycling saltus step information while removing noise; Due to just, the gray-scale value of cosine image is continually varying, align, cycle saltus step message part that cosine image filtering can not damage original image, this algorithm proposes to adopt sine and cosine filtering method to carry out filtering to the wrapped phase figure in optical grating projection three-dimensional measurement process, first calculate phase diagram just, cosine result figure, and then this two width image is carried out medium filtering according to stripe direction information in Contoured Window, remove noise, finally by after after filtering just, cosine image does division arithmetic, obtains phase diagram;
Isoline currently with striped moves towards the parallel line in local, and normal direction curve is the current line moving towards partial vertical with striped, as shown in Figure 3; For determining that striped isoline and normal direction curve first ask for stripe direction;
If certain any coordinate is P on image
i(x
i, y
i), the stripe direction of this point is θ
i, from the definition of stripe direction figure, the direction value θ of directional diagram is the tangential direction of striped isoline; Can be similar in current neighborhood of a point and replace striped isoline with tangent line, therefore, two consecutive point P of this point on isoline can be obtained according to stripe direction figure by this
i+1(x
i+1, y
i+1) and P
i-1(x
i-1, y
i-1):
In like manner, continue, to both sides expansion, P to be obtained respectively
i+2(x
i+2, y
i+2) and P
i-2(x
i-2, y
i-2) etc.; One can be obtained thus and cross current point P
i(x
i, y
i) and along the curve of stripe direction, be striped isoline, the phase value of each point and some P on curve
i(x
i, y
i) phase value equal, namely on the isoline of striped, the phase place of striped remains unchanged;
For bar graph, the gradation of image difference along striped tangential direction is minimum, and maximum perpendicular to the gradation of image difference of striped tangential direction; So can calculate the gray difference of every bit along all directions, when obtaining minimum value, corresponding direction is stripe direction; Gradient method is a kind of conventional method asking for stripe direction;
Due to digital picture only value on Integer Pel, and the point (x obtained by said method
i, y
i) might not be integral point; For reducing the error caused by the value on a stripe direction figure round numbers pixel, can get and gained non-integer point (x
i, y
i) linear interpolation of stripe direction value of adjacent four Integer Pel points as the stripe direction value of this point, to reduce discretization error.
4. heterodyne system three according to claim 1 frequently does not wait to walk and transfers from one place to another under escort phase method mutually, it is characterized in that, in step (4),
Heterodyne principle is by two kinds of different frequency f
1, f
2the phase function that striped is corresponding
with
obtaining a kind of new equivalent frequency through difference frequency superposition is f
12phase function θ
12(x), different frequency f
1, f
2and f
12the wavelength that striped is corresponding is respectively λ
1, λ
2and λ
12;
Effective wavelength λ
12can be expressed as through calculating:
The phase image utilizing heterodyne principle will be wrapped in interval [-π, π] launches, and obtains continuous print phase image within the scope of the whole audience; Suppose that the wavelength that different frequency is corresponding is respectively λ
1, λ
2and λ
3value, then by λ
1and λ
2calculate effective wavelength λ
12, λ
2and λ
3calculate effective wavelength λ
23, λ
12and λ
23calculate effective wavelength λ
123; In order to realize continuous print true phase image within the scope of the whole audience, effective wavelength λ
123the row pixel count W (projector projects nicking) of projector projects should be more than or equal to, i.e. λ
123>=W;
The computing formula that different frequency striped wrapped phase launches is:
In formula, Φ
ifor true phase value, N
ifor striped integer series,
for λ
1corresponding phase function;
For the different striped wavelength X of same point on determinand bodily form face
aand λ
b(a equals 1 respectively, and 2,12; Corresponding b equals 2,3,23 respectively), difference frequency superposition obtains effective wavelength λ
abphase function θ
ab(x), the fringe phase value recorded meets:
Substitution formula (13), can calculated rate f
2the true phase Φ of deforming stripe image
2for:
φ
2＝(φ
2-12+φ
2-23)/2 (18)
In formula, Round is bracket function, θ
123(x, y) is effective wavelength λ
123corresponding phase place, Φ
2-12for utilizing effective wavelength λ
12and its phase theta
12the frequency f that (x, y) obtains
2the true phase of deforming stripe image, Φ
2-23for utilizing effective wavelength λ
23and its phase theta
23the frequency f that (x, y) obtains
2the true phase of deforming stripe image; For reducing error, true phase Φ
2for Φ
2-12and Φ
2-23mean value.
5. heterodyne system three according to claim 1 frequently does not wait to walk and transfers from one place to another under escort phase method mutually, it is characterized in that, in step (5), Stereo matching based on phase place be according to space same point in left and right cameras as in plane, the conditions such as the local phase of picture point and epipolar-line constraint condition carry out stereoscopic vision coupling, find out any point on object and correspond to the picpointed coordinate pair of left and right cameras image; Then the picture point point of two camera reviews is corresponded to the calibration result with camera chain according to spatial point, utilize spatial point, picture point and video camera photocentre principle point-blank, by the method for space line find intersection, the three-dimensional coordinate of solution room point, finally can obtain three-dimensional point cloud.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410675447.9A CN104330052B (en) | 2014-11-21 | 2014-11-21 | Heterodyne system three frequency the most not wait walk transfer from one place to another under escort phase method mutually |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410675447.9A CN104330052B (en) | 2014-11-21 | 2014-11-21 | Heterodyne system three frequency the most not wait walk transfer from one place to another under escort phase method mutually |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104330052A true CN104330052A (en) | 2015-02-04 |
| CN104330052B CN104330052B (en) | 2016-09-28 |
Family
ID=52404822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410675447.9A Active CN104330052B (en) | 2014-11-21 | 2014-11-21 | Heterodyne system three frequency the most not wait walk transfer from one place to another under escort phase method mutually |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104330052B (en) |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104897083A (en) * | 2015-06-11 | 2015-09-09 | 东南大学 | Three-dimensional rapid measurement method for raster projection based on defocusing phase-unwrapping of projector |
| CN106032976A (en) * | 2015-03-20 | 2016-10-19 | 五邑大学 | Three-fringe projection phase unwrapping method based on wavelength selection |
| CN106441161A (en) * | 2016-11-01 | 2017-02-22 | 哈尔滨工程大学 | Rapid phase unwrapping method based on period encoding |
| CN108061515A (en) * | 2016-11-09 | 2018-05-22 | 株式会社三丰 | Phase offset interferometer |
| CN108534715A (en) * | 2018-04-11 | 2018-09-14 | 天津工业大学 | A kind of expansion phase solution phase method applied to different wave length three-dimensional measurement |
| WO2018171384A1 (en) * | 2017-03-24 | 2018-09-27 | 南京理工大学 | Highly efficient three-dimensional image acquisition method based on multi-mode composite encoding and epipolar constraint |
| CN109211140A (en) * | 2018-08-07 | 2019-01-15 | 广东奥普特科技股份有限公司 | A kind of structure light phase unwrapping secondary table construction method based on mathematical analysis |
| CN109242828A (en) * | 2018-08-13 | 2019-01-18 | 浙江大学 | 3D printing product 3 D defects detection method based on optical grating projection multistep phase shift method |
| CN109307483A (en) * | 2018-11-20 | 2019-02-05 | 西南石油大学 | A kind of phase developing method based on structured-light system geometrical constraint |
| CN109341536A (en) * | 2018-09-25 | 2019-02-15 | 深圳市艾视铂智能技术有限公司 | A kind of precision three-dimensional vision measuring method based on binocular camera and structured light projection |
| CN109373930A (en) * | 2018-12-11 | 2019-02-22 | 太原科技大学 | A kind of error compensating method of multifrequency heterodyne phase expansion |
| CN109974624A (en) * | 2019-03-22 | 2019-07-05 | 华中科技大学 | A method of the reduction projected image quantity based on multifrequency phase shift |
| CN109990731A (en) * | 2019-01-21 | 2019-07-09 | 深圳市易尚展示股份有限公司 | The bearing calibration of nonlinear phase error based on digital projection three-dimension measuring system |
| CN110044304A (en) * | 2019-04-28 | 2019-07-23 | 航天智造（上海）科技有限责任公司 | The three step phase shifting methods rebuild for three-dimensional structure light |
| CN110132173A (en) * | 2019-04-28 | 2019-08-16 | 航天智造（上海）科技有限责任公司 | High-precision three-dimensional structured light reconstruction method based on area modulation phase shift template |
| CN110230997A (en) * | 2019-06-04 | 2019-09-13 | 江南大学 | A kind of shadow region phase noise correcting method based on the dull method of improvement |
| CN110455220A (en) * | 2019-08-02 | 2019-11-15 | 西安理工大学 | A kind of measuring device and its measurement method of butterfly heliostat curved surface degree |
| CN110940294A (en) * | 2019-11-22 | 2020-03-31 | 华中科技大学 | Image coding and decoding method in surface structured light measurement system |
| CN110942438A (en) * | 2019-12-05 | 2020-03-31 | 五邑大学 | Method and device for removing absolute phase noise based on fringe projection |
| CN111156927A (en) * | 2020-01-06 | 2020-05-15 | 南昌航空大学 | Mirror surface object three-dimensional measurement method based on sine pulse width modulation stripes |
| US10753737B1 (en) | 2019-08-27 | 2020-08-25 | National Central University | Method and optical system for reconstructing surface of object |
| CN111667441A (en) * | 2020-05-15 | 2020-09-15 | 成都飞机工业（集团）有限责任公司 | Multi-frequency phase shift image sequence vibration detection method |
| CN111932632A (en) * | 2020-07-13 | 2020-11-13 | 太仓中科信息技术研究院 | Phase correction method in three-dimensional reconstruction of mechanical part |
| CN113358062A (en) * | 2021-05-31 | 2021-09-07 | 湖北工业大学 | Three-dimensional reconstruction phase error compensation method |
| CN113790901A (en) * | 2021-09-06 | 2021-12-14 | 一汽奔腾轿车有限公司 | Data processing method for chassis control stability steering center area test |
| CN113959364A (en) * | 2021-10-22 | 2022-01-21 | 华中科技大学 | Three-frequency phase unwrapping method and measuring device |
| CN115854920A (en) * | 2022-11-16 | 2023-03-28 | 安徽大学 | Crosstalk error correction method in three-dimensional measurement of color stripes |
| CN115950359A (en) * | 2023-03-15 | 2023-04-11 | 梅卡曼德（北京）机器人科技有限公司 | Three-dimensional reconstruction method and device and electronic equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109616A (en) * | 2007-08-02 | 2008-01-23 | 华中科技大学 | Tri-band heterodyne phase shift phase demodulation method |
| US20090073522A1 (en) * | 2005-11-10 | 2009-03-19 | Thomas Clarence E | System and Methods for Shearless Hologram Acquisition |
| CN101655359A (en) * | 2009-07-01 | 2010-02-24 | 四川大学 | Method for realizing real-time three-dimensional shape measurement by using unequal step phase shifting cross grating |
| US20100057390A1 (en) * | 2008-08-27 | 2010-03-04 | Aerodyne Research, Inc. | System and method for precision phase shift measurement |
| CN101915949A (en) * | 2010-08-06 | 2010-12-15 | 上海交通大学 | Designing and manufacturing method of cosine luminous intensity distribution physical structure grating for optical measurement |
| CN102853783A (en) * | 2012-09-18 | 2013-01-02 | 天津工业大学 | High-precision multi-wavelength three-dimensional measurement method |
| CN102881043A (en) * | 2012-09-18 | 2013-01-16 | 天津工业大学 | High-precision three-dimensional reconstruction method applied to scenes with large light and shade contrast |
-
2014
- 2014-11-21 CN CN201410675447.9A patent/CN104330052B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090073522A1 (en) * | 2005-11-10 | 2009-03-19 | Thomas Clarence E | System and Methods for Shearless Hologram Acquisition |
| CN101109616A (en) * | 2007-08-02 | 2008-01-23 | 华中科技大学 | Tri-band heterodyne phase shift phase demodulation method |
| US20100057390A1 (en) * | 2008-08-27 | 2010-03-04 | Aerodyne Research, Inc. | System and method for precision phase shift measurement |
| CN101655359A (en) * | 2009-07-01 | 2010-02-24 | 四川大学 | Method for realizing real-time three-dimensional shape measurement by using unequal step phase shifting cross grating |
| CN101915949A (en) * | 2010-08-06 | 2010-12-15 | 上海交通大学 | Designing and manufacturing method of cosine luminous intensity distribution physical structure grating for optical measurement |
| CN102853783A (en) * | 2012-09-18 | 2013-01-02 | 天津工业大学 | High-precision multi-wavelength three-dimensional measurement method |
| CN102881043A (en) * | 2012-09-18 | 2013-01-16 | 天津工业大学 | High-precision three-dimensional reconstruction method applied to scenes with large light and shade contrast |
Non-Patent Citations (3)
| Title |
|---|
| 伏思华等: "电子散斑相位主值图的等值线正余弦滤波方法", 《光学学报》 * |
| 陈玲等: "基于多频外差原理的相位解包裹方法", 《光学技术》 * |
| 高成勇等: "三步非定步长相移轮廓术研究", 《光电子·激光》 * |
Cited By (46)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106032976B (en) * | 2015-03-20 | 2019-01-29 | 五邑大学 | The three fringe projection phase developing methods based on wavelength selection |
| CN106032976A (en) * | 2015-03-20 | 2016-10-19 | 五邑大学 | Three-fringe projection phase unwrapping method based on wavelength selection |
| CN104897083A (en) * | 2015-06-11 | 2015-09-09 | 东南大学 | Three-dimensional rapid measurement method for raster projection based on defocusing phase-unwrapping of projector |
| CN104897083B (en) * | 2015-06-11 | 2017-04-26 | 东南大学 | Three-dimensional rapid measurement method for raster projection based on defocusing phase-unwrapping of projector |
| CN106441161B (en) * | 2016-11-01 | 2018-12-11 | 哈尔滨工程大学 | A kind of fast phase unwrapping method based on period coding |
| CN106441161A (en) * | 2016-11-01 | 2017-02-22 | 哈尔滨工程大学 | Rapid phase unwrapping method based on period encoding |
| CN108061515A (en) * | 2016-11-09 | 2018-05-22 | 株式会社三丰 | Phase offset interferometer |
| CN108061515B (en) * | 2016-11-09 | 2021-04-27 | 株式会社三丰 | Phase shift interferometer |
| WO2018171384A1 (en) * | 2017-03-24 | 2018-09-27 | 南京理工大学 | Highly efficient three-dimensional image acquisition method based on multi-mode composite encoding and epipolar constraint |
| US10911672B2 (en) | 2017-03-24 | 2021-02-02 | Nanjing University Of Science And Technology | Highly efficient three-dimensional image acquisition method based on multi-mode composite encoding and epipolar constraint |
| CN108534715A (en) * | 2018-04-11 | 2018-09-14 | 天津工业大学 | A kind of expansion phase solution phase method applied to different wave length three-dimensional measurement |
| CN109211140A (en) * | 2018-08-07 | 2019-01-15 | 广东奥普特科技股份有限公司 | A kind of structure light phase unwrapping secondary table construction method based on mathematical analysis |
| CN109211140B (en) * | 2018-08-07 | 2020-12-08 | 广东奥普特科技股份有限公司 | Structured light phase unwrapping method based on mathematical analysis |
| CN109242828B (en) * | 2018-08-13 | 2022-04-19 | 浙江大学 | Three-dimensional defect detection method for 3D printed product based on grating projection multistep phase shift method |
| CN109242828A (en) * | 2018-08-13 | 2019-01-18 | 浙江大学 | 3D printing product 3 D defects detection method based on optical grating projection multistep phase shift method |
| CN109341536A (en) * | 2018-09-25 | 2019-02-15 | 深圳市艾视铂智能技术有限公司 | A kind of precision three-dimensional vision measuring method based on binocular camera and structured light projection |
| CN109307483A (en) * | 2018-11-20 | 2019-02-05 | 西南石油大学 | A kind of phase developing method based on structured-light system geometrical constraint |
| CN109307483B (en) * | 2018-11-20 | 2020-05-19 | 西南石油大学 | Phase unwrapping method based on geometric constraint of structured light system |
| CN109373930B (en) * | 2018-12-11 | 2020-06-05 | 太原科技大学 | Error compensation method for multi-frequency heterodyne phase unwrapping |
| CN109373930A (en) * | 2018-12-11 | 2019-02-22 | 太原科技大学 | A kind of error compensating method of multifrequency heterodyne phase expansion |
| CN109990731A (en) * | 2019-01-21 | 2019-07-09 | 深圳市易尚展示股份有限公司 | The bearing calibration of nonlinear phase error based on digital projection three-dimension measuring system |
| CN109974624A (en) * | 2019-03-22 | 2019-07-05 | 华中科技大学 | A method of the reduction projected image quantity based on multifrequency phase shift |
| CN109974624B (en) * | 2019-03-22 | 2020-09-29 | 华中科技大学 | Method for reducing number of projection images based on multi-frequency phase shift |
| CN110044304A (en) * | 2019-04-28 | 2019-07-23 | 航天智造（上海）科技有限责任公司 | The three step phase shifting methods rebuild for three-dimensional structure light |
| CN110132173A (en) * | 2019-04-28 | 2019-08-16 | 航天智造（上海）科技有限责任公司 | High-precision three-dimensional structured light reconstruction method based on area modulation phase shift template |
| CN110230997B (en) * | 2019-06-04 | 2020-04-21 | 江南大学 | Shadow region phase noise correction method based on improved monotony method |
| CN110230997A (en) * | 2019-06-04 | 2019-09-13 | 江南大学 | A kind of shadow region phase noise correcting method based on the dull method of improvement |
| CN110455220A (en) * | 2019-08-02 | 2019-11-15 | 西安理工大学 | A kind of measuring device and its measurement method of butterfly heliostat curved surface degree |
| CN110455220B (en) * | 2019-08-02 | 2021-07-06 | 西安理工大学 | Device and method for measuring curvature of butterfly heliostat |
| TWI720602B (en) * | 2019-08-27 | 2021-03-01 | 國立中央大學 | Method and optical system for reconstructing surface of object |
| US10753737B1 (en) | 2019-08-27 | 2020-08-25 | National Central University | Method and optical system for reconstructing surface of object |
| CN110940294B (en) * | 2019-11-22 | 2020-12-29 | 华中科技大学 | Image coding and decoding method in surface structured light measurement system |
| CN110940294A (en) * | 2019-11-22 | 2020-03-31 | 华中科技大学 | Image coding and decoding method in surface structured light measurement system |
| CN110942438A (en) * | 2019-12-05 | 2020-03-31 | 五邑大学 | Method and device for removing absolute phase noise based on fringe projection |
| CN110942438B (en) * | 2019-12-05 | 2023-05-02 | 五邑大学 | Absolute phase noise removing method and device based on fringe projection |
| CN111156927A (en) * | 2020-01-06 | 2020-05-15 | 南昌航空大学 | Mirror surface object three-dimensional measurement method based on sine pulse width modulation stripes |
| CN111667441A (en) * | 2020-05-15 | 2020-09-15 | 成都飞机工业（集团）有限责任公司 | Multi-frequency phase shift image sequence vibration detection method |
| CN111932632A (en) * | 2020-07-13 | 2020-11-13 | 太仓中科信息技术研究院 | Phase correction method in three-dimensional reconstruction of mechanical part |
| CN113358062A (en) * | 2021-05-31 | 2021-09-07 | 湖北工业大学 | Three-dimensional reconstruction phase error compensation method |
| CN113358062B (en) * | 2021-05-31 | 2022-08-09 | 湖北工业大学 | Three-dimensional reconstruction phase error compensation method |
| CN113790901A (en) * | 2021-09-06 | 2021-12-14 | 一汽奔腾轿车有限公司 | Data processing method for chassis control stability steering center area test |
| CN113959364A (en) * | 2021-10-22 | 2022-01-21 | 华中科技大学 | Three-frequency phase unwrapping method and measuring device |
| CN113959364B (en) * | 2021-10-22 | 2022-08-16 | 华中科技大学 | Three-frequency phase unwrapping method and measuring device |
| CN115854920A (en) * | 2022-11-16 | 2023-03-28 | 安徽大学 | Crosstalk error correction method in three-dimensional measurement of color stripes |
| CN115854920B (en) * | 2022-11-16 | 2024-05-28 | 安徽大学 | Crosstalk error correction method in three-dimensional measurement of color stripes |
| CN115950359A (en) * | 2023-03-15 | 2023-04-11 | 梅卡曼德（北京）机器人科技有限公司 | Three-dimensional reconstruction method and device and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104330052B (en) | 2016-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104330052B (en) | Heterodyne system three frequency the most not wait walk transfer from one place to another under escort phase method mutually | |
| CN109253708B (en) | Stripe projection time phase unwrapping method based on deep learning | |
| Salvi et al. | A state of the art in structured light patterns for surface profilometry | |
| CN101813461B (en) | Absolute phase measurement method based on composite color fringe projection | |
| CN101881605B (en) | Optical three-dimensional measuring method based on phase coding technology | |
| CN109506589A (en) | A kind of measuring three-dimensional profile method based on light field imaging | |
| CN102721376B (en) | Calibrating method of large-field three-dimensional visual sensor | |
| CN106840036A (en) | A kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring | |
| CN103942830B (en) | Directly utilize and there is the method that the phase place of nonlinearity erron realizes scene three-dimensional reconstruction | |
| CN102607465B (en) | Phase unwrapping method based on colored phase shift stripe secondary encoding | |
| CN109141291A (en) | A kind of fast phase unwrapping algorithm | |
| CN103575237A (en) | Phase shifting coding method | |
| CN103292733B (en) | A kind of corresponding point lookup method based on phase shift and trifocal tensor | |
| CN110230997B (en) | Shadow region phase noise correction method based on improved monotony method | |
| CN108955571A (en) | The method for three-dimensional measurement that double frequency heterodyne is combined with phase-shift coding | |
| Zhu et al. | Stable 3D measurement method for high dynamic range surfaces based on fringe projection profilometry | |
| CN110006365B (en) | Phase unwrapping method and device based on two-dimensional lookup table and electronic equipment | |
| CN105043298A (en) | Quick three-dimensional shape measurement method without phase unwrapping based on Fourier transform | |
| CN111947599B (en) | Three-dimensional measurement method based on learning fringe phase retrieval and speckle correlation | |
| CN114777677A (en) | Single-frame dual-frequency multiplexing fringe projection three-dimensional surface type measuring method based on deep learning | |
| CN106091978B (en) | The joining method of interference fringe image in inclined in type measurements by laser interferometry | |
| CN102410819A (en) | Method for measuring three-dimensional surface shape of membrane mirror | |
| CN104501741A (en) | Orthogonal grating phase shift method for three-dimensional surface shape measurement | |
| Zhou et al. | Fast phase-measuring profilometry through composite color-coding method | |
| CN114152203B (en) | Bearing inner and outer diameter dimension measuring method based on phase coding structured light |
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 |