CN105043298A - Quick three-dimensional shape measurement method without phase unwrapping based on Fourier transform - Google Patents
Quick three-dimensional shape measurement method without phase unwrapping based on Fourier transform Download PDFInfo
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Abstract
The invention relates to a quick three-dimensional shape measurement method without phase unwrapping based on Fourier transform, and the method enables the technology of binocular stereo matching to be employed in the three-dimensional shape measurement based on Fourier transform, avoids a complex process of phase unwrapping, does not need projection calibration, and can achieve a matching result with the sub-pixel level precision. The technology of binocular stereo matching is used for achieving rough matching, and a preliminary disparity map is obtained. Afterwards, the preliminary disparity map serves as a constraint condition and is used for the phase matching of a wrapped phase diagram obtained through Fourier transform. Finally, a three-dimensional point cloud diagram is generated. The method does not need any process of phase unwrapping in space or time, reduces the algorithm complexity, and avoids an error caused by the phase unwrapping. The method does not need projector calibration, avoids complex projector calibration, can enable a measurement process to be more simplified, also can avoid an error caused by the projector calibration, and is good in development prospect especially for the technology of quick three-dimensional measurement.
Description
Technical field
The present invention relates to a kind of based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, a kind of quick three-dimensional measuring method based on Fourier transform specifically, can be used for the target three-dimensional measurement under high speed real-time status, belong to measuring three-dimensional morphology field.
Background technology
Measuring three-dimensional morphology technology is intended to the three-dimensional information obtaining object, and this technology is now widely used in every field, and the measurement how carrying out quick high accuracy is the research emphasis of three-dimensional measurement aspect always.Three-dimensional measurement technology based on optics is one of the most promising current direction, and wherein the three-dimensional measurement of structure based light technology is one of focus wherein studied, and its application is also very extensive.
Fourier's contoured three-dimensional measuring method is exactly a kind of algorithm based on fringe structure light, is proposed at first by Takeda and Mutoh in nineteen eighty-three, and its advantage is mainly only to need piece image to carry out three-dimensional structure photo measure.Specifically, the bar graph only needing shooting one width to encode, then carries out Fourier transform to it, and then in spatial domain, carries out bandpass filtering, and noncoding information elimination is only retained stripe information.Finally by inverse Fourier transform, filtered image conversion is returned, then the phase diagram of parcel must be arrived through phase bit arithmetic.
Although fourier transform method has the advantage of Quick Measurement etc., traditional Fourier transformation method, after solving the phase diagram obtaining wrapping up, all needs phase unwrapping process.Meanwhile, in order to try to achieve three-dimensional coordinate, generally all need to demarcate the projector of projective structure striations.In addition, fourier transform method is that phase information is directly converted into elevation information.Therefore, phase information error is just reacted directly in height error, needs the phase diagram of better quality in this way, the just application of restriction Fourier transformation method on three-dimensional measurement of these features.
In recent years, domestic and international many scholars improve Fourier transform method for three-dimensional measurement, but great majority are all to phase unwrapping process, or projector calibrating method etc. is improved.Essentially do not avoid the process such as phase unwrapping and projector calibrating, whole like this algorithm or more complicated, be unfavorable for application.
Summary of the invention
The object of the invention is to be for above-mentioned prior art Problems existing, provide a kind of based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping.
To achieve these goals, the present invention adopts following technical scheme:
Based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, the method comprises the steps:
Step 1, set up binocular stereo vision detection platform, mainly comprise industrial camera and the professional projector equipment of two parallel placements;
Step 2, stereo calibration is carried out to industrial camera, obtain camera calibration parameter, for binocular solid correcting process;
Step 3, under the condition not using any active light source, shooting simultaneously obtains left and right camera image, is referred to as the former figure in left and right;
Step 4, project the structured light patterns designed with professional projector, then shooting obtains left and right camera image simultaneously, is referred to as structural light stripes figure;
Step 5, the former figure in the left and right utilizing step 3 to obtain, adopt passive stereo matching algorithm to obtain preliminary disparity map;
Step 6, the tiled configuration striations figure utilizing step 4 to obtain, adopt Fourier's outline technology to obtain the phase diagram wrapped up;
Step 7, the preliminary disparity map that step 5 obtained, as constraint condition, adopt local phase matching process to carry out phase matching to the wrapped phase figure that step 6 obtains, obtain the phase matching disparity map of Pixel-level;
Step 8, the matching result obtained step 7 use linear ratio relation to carry out parallax process of refinement, obtain the disparity correspondence result of subpixel accuracy;
Step 9, the parallax result of subpixel accuracy step 8 obtained generate three-dimensional point cloud atlas, display three-dimensional appearance result.
Design philosophy of the present invention is:
The present invention proposes binocular solid matching technique to be applied in the measuring three-dimensional morphology based on fourier transform method, avoids complicated phase unwrapping process, without the need to projector calibrating, can reach the matching result of subpixel accuracy.Binocular solid matching technique is used for realizing coarse coupling, obtains preliminary disparity map, is used for carrying out phase matching to the wrapped phase figure that fourier transform method obtains subsequently with this preliminary disparity map as constraint condition, finally generates three-dimensional point cloud atlas.
Advantage of the present invention and beneficial effect are:
1, the present invention utilizes passive stereo matching technique to obtain preliminary disparity map, and this preliminary disparity map is realized the pixel matching of wrapped phase as constraint condition.Subsequently, use linear scaling thought to realize the phase matching of sub-pixel, obtain fine and close disparity map.
2, the present invention is without any need for space or the phase unwrapping process of time, and shortcut calculation complexity, avoids the error that phase unwrapping brings simultaneously.
3, the present invention does not need projector calibrating process, avoids complicated projector calibrating that measuring process can be made more to simplify, the error simultaneously projector calibrating being avoided again to bring.
4, measuring process of the present invention only need project a width structured light figure, and two width figure taken altogether by camera, reach the requirement of Quick Measurement.
5, the present invention is owing to adopting passive stereo matching process as constraint condition, does not therefore need high-quality phase diagram, algorithm complex is reduced.
6, the present invention can apply to single or multiple object, can be applied to the measuring three-dimensional morphology of continuous or discrete object simultaneously.
In a word, the present invention is a kind of novel, simply and fast method for three-dimensional measurement, has very high using value, especially in quick three-dimensional measuring technique, has very large development prospect.
Accompanying drawing explanation
Fig. 1 is algorithm overall flow figure.
Fig. 2 is entire system schematic layout pattern.
Fig. 3 is Pixel-level phase matching schematic diagram.
Fig. 4-1 and Fig. 4-2 is sub-pixel phase matching process schematic.Wherein, Fig. 4-1 be pixel matching point on the right of preliminary matches point time sub-pixel phase matching schematic diagram; Fig. 4-2 is pixel matching point sub-pixel phase matching schematic diagram when the preliminary matches point left side.
Fig. 5 is depth information obvious simple target reconstitution experiments process.Wherein, a () and (b) is the former figure in left and right of camera shooting respectively, c () and (d) is the tiled configuration light figure that camera photographs respectively, (e) and (f) is the left and right wrapped phase figure generated by tiled configuration light figure respectively.
Fig. 6 is depth information obvious simple target three-dimensionalreconstruction result.Wherein, (a) is the preliminary disparity map obtained by ELAS algorithm, and (b) is through the sub-pixel phase matching disparity map that described series of algorithms obtains.C () and (d) are corresponding is respectively the three-dimensional measurement shape appearance figure that (a) and (b) generate.E () and (f) is the partial enlarged drawing of (c) and (d) respectively.
Fig. 7 is detailed information obvious simple target three-dimensionalreconstruction result.Wherein, (a) is the former figure (for left camera) of shooting, and (b) is the wrapped phase figure obtained by structured light figure.C (), for being the three-dimensional appearance figure obtained by ELAS algorithm, (d) is through the three-dimensional appearance figure of the sub-pixel phase matching that described series of algorithms obtains.E () and (f) is the partial enlarged drawing of (c) and (d) respectively.
Fig. 8 is discontinuous multiple goal mark three-dimensional measurement of objects result.Wherein, (a) is the former figure (for left camera) of shooting, and (b) is the wrapped phase figure obtained by structured light figure.C (), for being the three-dimensional appearance figure obtained by ELAS algorithm, (d) is through the three-dimensional appearance figure of the sub-pixel phase matching that described series of algorithms obtains.E () and (f) is the partial enlarged drawing of (c) and (d) respectively.
Embodiment
Below, 1 ~ 8 the specific embodiment of the present invention is further described by reference to the accompanying drawings.
The present invention is based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, as shown in Figure 1, concrete implementation step is as follows for the method overall flow:
Step 1, set up binocular stereo vision detection platform, mainly comprise industrial camera (left camera and right camera) and the professional projector equipment of two parallel placements;
Step 2, stereo calibration is carried out to industrial camera, obtain camera calibration parameter, for binocular solid correcting process;
Step 3, under the condition not using any active light source, shooting simultaneously obtains left camera and right camera image, is referred to as the former figure in left and right;
Step 4, project the structured light patterns designed with professional projector, then shooting obtains left camera and right camera image simultaneously, is referred to as tiled configuration striations figure;
Step 5, the former figure in the left and right utilizing step 3 to obtain, adopt passive stereo matching algorithm to obtain preliminary disparity map;
Step 6, the tiled configuration striations figure utilizing step 4 to obtain, adopt Fourier's outline technology to obtain the phase diagram (left wrapped phase, right wrapped phase) wrapped up;
Step 7, the preliminary disparity map that step 5 obtained, as constraint condition, adopt local phase matching process to carry out phase matching to the wrapped phase figure that step 6 obtains, obtain the phase matching disparity map of Pixel-level;
Step 8, the matching result obtained step 7 use linear ratio relation to carry out sub-pix parallax process of refinement, obtain the disparity correspondence result of subpixel accuracy;
Step 9, the parallax result of subpixel accuracy step 8 obtained generate three-dimensional point cloud atlas, display three-dimensional appearance result.
In described step 1, experiment porch requires the parallel placement as far as possible of two cameras, distance is (wherein much smaller than camera to measured object for two camera spacing, much smaller than referring to: two camera spacing and camera to measured object ratio of distances constant at more than 1:20), entire system layout is as shown in Figure 2.The DLPLightCrafter4500 digital projector that projector adopts Texas Instrument to produce.
The scaling board size that stereo calibration process in described step 2 adopts should identical with testee size or close (wherein, closely to refer to: area ratio corresponding to the area that testee is corresponding with camera and scaling board and camera is in 1:0.5 ~ 2), and when measuring, measured object is placed on the position of timing signal.Wherein, scaling board is that the position being positioned over measured object when demarcating replaces measured object, and whole process and the scaling board of object measurement afterwards have nothing to do.
In described step 5, adopt passive stereo matching algorithm to be EfficientLarge-ScaleStereoMatching (ELAS) algorithm, obtain preliminary disparity map with it.
Utilize fourier transform method to obtain wrapped phase figure in described step 6, its detailed process comprises following 3 points.First, bar graph is carried out two dimensional discrete Fourier transform.Secondly, carrying out frequency domain bandpass filtering by converting the image obtained, only retaining the component of the structured light part in frequency domain.Finally, carry out inverse Fourier transform, obtain the wrapped phase figure of-π to+π.
The preliminary disparity map utilizing step 5 to obtain in described step 7, as constraint condition, carries out phase matching to the wrapped phase that step 6 obtains.Coupling adopts local phase thought, and with right image for matching image, left image is object matching image, namely finds right image point at the Corresponding matching point of left image, as shown in Figure 3.
First, respectively get about the coarse match point of left image two some compositions one group to be matched totally 5 points as phase place point to be matched.Secondly, calculating 5 points to be matched and right figure want the difference of the phase value of match point respectively.Finally, using point minimum for difference as Pixel-level phase matching point, computing formula is as follows:
PhaseMin(t
min,y)＝min{abs(RightPhase(x,y)-LeftPhase(x+d+i,y))(1)}i＝0,±1,±2，…；t
min＝x+d+i.
In formula (1), the implication of parameters is respectively: LeftPhase and RightPhase refers to that left and right wrapped phase figure phase value (can not write by unit respectively, a just numerical value, says it is phase value accurately, if but to convert image to be exactly gray-scale value); t
minrefer to pixel and horizontal ordinate corresponding to optimal match point.
Adopt linear scaling thought to solve the phase matching result of subpixel accuracy in described step 8, this process mainly can be divided into two kinds of situations to solve.
Situation one: pixel matching point on the right of preliminary matches point, as shown in Fig. 4-1.Subpixel accuracy parallax horizontal ordinate is by following formulae discovery:
In formula (2), the implication of parameters respectively: t
sub_pixelrefer to sub-pix and horizontal ordinate corresponding to optimal match point; T refers to preliminary matches point horizontal ordinate.
Situation two: pixel matching point on the preliminary matches point left side, as shown in the Fig. 4-2.Subpixel accuracy parallax horizontal ordinate is by following formulae discovery:
In formula (3), the implication of parameters respectively: t
sub_pixelrefer to sub-pix and horizontal ordinate corresponding to optimal match point; T refers to preliminary matches point horizontal ordinate.
Final sub-pix and parallax dp
sub_pixelfollowing formula is utilized to calculate:
dp
sub_pixel＝t
sub_pixel–x(4)
X is the right phase diagram horizontal ordinate corresponding with left phase diagram.
Generate three-dimensional point cloud atlas in step 9, the demarcation Q matrix utilizing the disparity map of sub-pixel precision and stereo calibration to obtain, calculates the three-dimensional information value that each pixel is corresponding.Three-dimensional height information is carried out display and generate three-dimensional appearance figure.
Experiment content and interpretation of result:
Experiment one
Application the present invention carries out measuring three-dimensional morphology reconstruct to the simple target with apparent depth information, as shown in Figure 5 and Figure 6.Fig. 5 (a) and Fig. 5 (b) is the former figure in left and right of camera shooting respectively, Fig. 5 (c) and Fig. 5 (d) is the tiled configuration light figure that camera photographs, Fig. 5 (e) and Fig. 5 (f) is respectively the left and right wrapped phase figure generated by tiled configuration light figure respectively.Fig. 6 (a) is the preliminary disparity map obtained by ELAS algorithm, and Fig. 6 (b) is through the sub-pixel phase matching disparity map that described series of algorithms obtains.Fig. 6 (c) and Fig. 6 (d) are corresponding is respectively the three-dimensional measurement shape appearance figure that Fig. 6 (a) and Fig. 6 (b) generate.Fig. 6 (e) and Fig. 6 (f) is the partial enlarged drawing of Fig. 6 (c) and Fig. 6 (d) respectively.Can intuitively find out from figure, the Three-dimensional Gravity composition after structured light phase information becomes more meticulous has good detailed information.Surface is more level and smooth, does not have coarse disordered point, and surface details information is more outstanding, obtains good quality reconstruction, proves the validity of the inventive method.
Experiment two
Application the present invention carries out measuring three-dimensional morphology reconstruct to the simple target with obvious detailed information, as shown in Figure 7.Fig. 7 (a) is the former figure (for left camera) of shooting, and Fig. 7 (b) is the wrapped phase figure obtained by structured light figure.Fig. 7 (c) is for being the three-dimensional appearance figure that the three-dimensional appearance figure obtained by ELAS algorithm, Fig. 7 (d) are through the sub-pixel phase matching that described series of algorithms obtains.Fig. 7 (e) and Fig. 7 (f) is the partial enlarged drawing of Fig. 7 (c) and Fig. 7 (d) respectively.Can very clearly see from the Three-dimensional Gravity composition of experimental result, the some cloud restructuring graph after structured light becomes more meticulous retains abundant detailed information, and effect is better than direct passive stereo matching process far away.
Experiment three
Application the present invention carries out measuring three-dimensional morphology reconstruct to discontinuous multiple goal mark object, as shown in Figure 8.Fig. 8 (a) is the former figure (for left camera) of shooting, and Fig. 8 (b) is the wrapped phase figure obtained by structured light figure.Fig. 8 (c) is for being the three-dimensional appearance figure that the three-dimensional appearance figure obtained by ELAS algorithm, Fig. 8 (d) are through the sub-pixel phase matching that described series of algorithms obtains.Fig. 8 (e) and Fig. 8 (f) is the partial enlarged drawing of Fig. 8 (c) and Fig. 8 (d) respectively.Experimental result illustrates, the method that the present invention proposes can process multiple goal and discontinuous object very well, and detailed information performance is more outstanding, and the body surface reconstructed is smoother, and experimental result is desirable.
More than experiment confirms further, and the method that the present invention puts forward can carry out the measurement of three-dimensional appearance to arbitrary objects.Even if discrete discontinuous several object can obtain good three-dimensional appearance result too.And whole process does not need projector calibrating, do not need the phase unwrapping of space or time, do not need high-quality phase diagram, prove advantage and the validity of the inventive method.
Claims (8)
1., based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, it is characterized in that, the method comprises the steps:
Step 1, set up binocular stereo vision detection platform, mainly comprise industrial camera and the professional projector equipment of two parallel placements;
Step 2, stereo calibration is carried out to industrial camera, obtain camera calibration parameter, for binocular solid correcting process;
Step 3, under the condition not using any active light source, shooting simultaneously obtains left and right camera image, is referred to as the former figure in left and right;
Step 4, project the structured light patterns designed with professional projector, then shooting obtains left and right camera image simultaneously, is referred to as tiled configuration striations figure;
Step 5, the former figure in the left and right utilizing step 3 to obtain, adopt passive stereo matching algorithm to obtain preliminary disparity map;
Step 6, the tiled configuration striations figure utilizing step 4 to obtain, adopt Fourier's outline technology to obtain the phase diagram wrapped up;
Step 7, the preliminary disparity map that step 5 obtained, as constraint condition, adopt local phase matching process to carry out phase matching to the wrapped phase figure that step 6 obtains, obtain the phase matching disparity map of Pixel-level;
Step 8, the matching result obtained step 7 use linear ratio relation to carry out parallax process of refinement, obtain the disparity correspondence result of subpixel accuracy;
Step 9, the parallax result of subpixel accuracy step 8 obtained generate three-dimensional point cloud atlas, display three-dimensional appearance result.
2. according to claim 1 based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, it is characterized in that:
In described step 1, experiment porch requires the parallel placement as far as possible of two cameras, and two camera spacing are much smaller than camera to the distance of measured object, and projector adopts the DLPLightCrafter4500 digital projector of Texas Instrument's production.
3. according to claim 1 based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, it is characterized in that:
The scaling board size that stereo calibration process in step 2 adopts should be close with testee size, and when measuring, measured object is placed on the position of timing signal.
4. according to claim 1 based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, it is characterized in that:
In step 5, adopt passive stereo matching algorithm to be EfficientLarge-ScaleStereoMatching (ELAS) algorithm, obtain preliminary disparity map with it.
5. according to claim 1 based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, it is characterized in that:
Utilize fourier transform method to obtain wrapped phase figure in step 6, its detailed process comprises following 3 points; First, bar graph is carried out two dimensional discrete Fourier transform; Secondly, carrying out frequency domain bandpass filtering by converting the image obtained, only retaining the component of the structured light part in frequency domain; Finally, carry out inverse Fourier transform, obtain the wrapped phase figure of-π to+π.
6. according to claim 1 based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, it is characterized in that:
The preliminary disparity map utilizing step 5 to obtain in step 7, as constraint condition, carries out phase matching to the wrapped phase that step 6 obtains; Coupling adopts local phase thought, and with right image for matching image, left image is object matching image, namely finds right image point at the Corresponding matching point of left image;
First, respectively get about the coarse match point of left image two some compositions one group to be matched totally 5 points as phase place point to be matched; Secondly, calculating 5 points to be matched and right figure want the difference of the phase value of match point respectively; Finally, using point minimum for difference as Pixel-level phase matching point, computing formula is as follows:
PhaseMin(t
min,y)＝min{
abs(RightPhase(x,y)-LeftPhase(x+d+i,y))(1)。
}i＝0,±1,±2，…；t
min＝x+d+i.
7. according to claim 1 based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, it is characterized in that:
Adopt linear scaling thought to solve the phase matching result of subpixel accuracy in step 8, this process is mainly divided into two kinds of situations to solve;
Situation one: pixel matching point is on the right of preliminary matches point; Subpixel accuracy parallax horizontal ordinate is by following formulae discovery:
Situation two: pixel matching point is on the preliminary matches point left side; Subpixel accuracy parallax horizontal ordinate is by following formulae discovery:
Final sub-pix and parallax dp
sub_pixelfollowing formula is utilized to calculate:
dp
sub_pixel＝t
sub_pixel–x(4)
X is the right phase diagram horizontal ordinate corresponding with left phase diagram.
8. according to claim 1 based on the fast three-dimensional appearance measuring method of Fourier transform without the need to phase unwrapping, it is characterized in that:
Generate three-dimensional point cloud atlas in step 9, the demarcation Q matrix utilizing the disparity map of sub-pixel precision and stereo calibration to obtain, calculates the three-dimensional information value that each pixel is corresponding, three-dimensional height information is carried out display and generates three-dimensional appearance figure.
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