CN105066909B - A kind of many laser stripe quick three-dimensional measuring methods of hand-held - Google Patents
A kind of many laser stripe quick three-dimensional measuring methods of hand-held Download PDFInfo
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Abstract
The invention discloses a kind of many laser stripe quick three-dimensional measuring methods of hand-held, comprise the following steps：1) sticking sign point：2) three-dimensional data of body surface is measured using hand-held 3 D measuring instrument：3) image is gathered：4) image procossing：5) three-dimensional coordinate of index point is calculated：6) three-dimensional coordinate of object table millet cake is calculated；7) the data split under the positioning of hand-held 3 D measuring instrument and world coordinate system, the rotation translation matrix from Current camera coordinate system transformation to world coordinate system is obtained, to realize transformational relation of the current object surface measurement point from camera coordinates system to world coordinate system and the data split under world coordinate system.By the present invention in that with laser measuring technique, optimizing structure design and computational algorithm so that the characteristics of this 3 D measuring instrument has portable and hand-holdable operation, and it is simple to operate, it is easy to use.
Description
Technical field
The invention belongs to three-dimensional measurement technical field, more particularly, to a kind of many laser stripe quick three-dimensionals of hand-held
Measuring method.
Background technology
Three-dimensional measurement is by using three-dimensional measurement instrument measurement body surface geometry and builds object being measured three-dimensional
The technology of model.This technological use extensively, industrial design, Product checking, reverse-engineering, robot guiding, geodesic survey,
Anthropological measuring, criminal identification, cultural relic digitalization, cartoon making, the field such as game design plays the role of important.Hand-held three-dimensional survey
Measure instrument flexibly light with it, the advantages of easy to operate and measuring speed is fast plays an important role in three-dimensional measurement field.
Three-dimensional measurement technology has been developed many different theories and (refers to Chen, F., Brown G., Song at present
M.Overview of three-dimensional shape measurement using optical
methods.Optical Engineering,2000,39(1):10-22 and Blais, F.Review of 20years of
range sensor development.Journal of Electronic Imaging,2004,13(1):231-240).Its
In, interfere measure (interferometry), flight time (time-of-flight) and principle of triangulation are three-dimensional surveys
The theory that developed of amount different times, is more or less applicable according to measurement distance and required precision each theory.
Wherein principle of triangulation is using extensively, and this principle is commonly available to measurement closely, within especially several meters
Distance.Use this principle, it is necessary to while the measured value of same point on same object under two different visual angles is obtained, the two
Rigid body transformation relation between visual angle is known, and it is referred to as baseline distance apart from length.Angle and baseline distance by two visual angles
The relative coordinate of measured point can be obtained (two angles of one of triangle while with this obtain coordinate thirdly).This
Passive three-dimensional measurement technology is actually fallen within, is also binocular or multi-view stereo vision.
Binocular stereo vision uses one or two CCD or CMOS digital camera, testee is shot from different perspectives same
One surface, by calculating the parallax of spatial point in two images, obtains the three-dimensional coordinate of the point.This measuring method needs true
Determine relevant position of the space same point on two width or the image of several different angle shots.One object of scanning is accomplished by collecting
The information of body surface, using laser to body surface project laser beam, laser beam reflected by body surface after by phase
Machine is gathered, and the laser stripe on image after collection can provide the information of globe surface point.Laser can be with projection light
Point and laser stripe, in order to obtain as far as possible many information, laser line generator is widely used.Existing laser line generator has one
Word laser, cross laser device, wherein parallel laser device, cross laser device can project multi-stripe laser simultaneously with parallel laser
Striped, then this laser is more in the light that body surface is projected, and can once obtain more body surface information.
The information of the laser stripe on the image that camera is shot is obtained, it is necessary to handle the image of shooting, figure is obtained
As the positional information of upper laser stripe.Laser stripe central point is extracted by image procossing, abundant laser stripe can be obtained
Central point and its two-dimensional coordinate on image.Common laser stripe center extraction algorithm have grey relevant dynamic matrix, extremum method and
Grads threshold method etc., these methods realize that simple but precision is not high.Steger (refers to C.Steger, An unbiased
detector of curvilinear structures,IEEE Trans.PatternAnal.Mach.Intell.20
(1998) 113-125.) a kind of sub-pixel extraction of laser stripe is proposed, the method can accurately extract laser
The center of striped, so that the longitudinal centre line of laser stripe is obtained, but it is time-consuming very long, it is impossible to meet handheld three-dimensional scanner fast
The requirement of speed measurement.
Using a Major Difficulties of the 3 D measuring instrument of binocular vision be find piece image on known point another
Corresponding points on width image, this is also referred to as corresponding point matching.Triangle is solved to match point can obtain the point in three-dimensional survey
Measure the coordinate of instrument coordinate system.The method of matching has polar curve matching process and the Region Matching method based on gray scale, and these methods are all
The matching of corresponding points on image can accurately be realized.It is general in Binocular Stereo Vision System to be matched using polar curve.
For hand-held 3 D measuring instrument, camera is rigidly connected with laser, and this hand-held 3 D measuring instrument is for fast
Speed measurement and object must be that the situation of in-site measurement is particularly convenient effectively.In order to measure the whole surface of object, it is necessary to move
Dynamic 3 D measuring instrument.Position and direction (6 freedom of 3 D measuring instrument are determined in the world coordinate system fixed relative to object
Degree) be hand-held 3 D measuring instrument another difficult point.This can be by using the positioner being engaged with hand-held 3 D measuring instrument
To complete.But, it thus significantly increases the complexity of instrument and cost, but also can increase hand-held 3 D measuring instrument quality
Greatly, the noise of the quality of data is impacted.
In order to avoid using outside positioner, being counted by using the three-dimensional measuring result being collected on rigid objects
Relative position and direction between measuring instrument and object are calculated, being measured during at this moment measured object is hand held can also obtain accurate complete
Three-dimensional data (refers to S.Runsinkiewicz, O.Hall-Holt and M.Levoy, " real-Time 3D Model
Acquisition”,in ACM Transaction on Graphics,vol.21,no.3July 2002,pp.438-446,
F.Blais,M.Picard and G.Godin,“Accurate3D Acquisition of Freely Moving
Objects,”in proc.of the Second International Symposium on 3D Data Processing,
Visualization and Transmission.Thessaloniki,Greece.September 6-9,2004.).It is this
The thought that position and direction are calculated the system that is integrated into measurement is very unique, the several of object but this method places one's entire reliance upon
What shape, and this computational accuracy can not meet accurate measurement.For example, the object with symmetry, geometries change is flat
Slow object, spherical and cylinder.
By using the fixing point and feature that can be again observed from the different visions in scene, it may be determined that three-dimensional measurement
Position and direction of the instrument in world coordinate system.These features can be the natural point in scene, but in most cases they
It is characterized in insufficient.Another method be by 3 D measuring instrument integrated one can project the instrument of light pattern, this
Sample is realized self-positioning when measuring object.Herbrt (referring to P.Hebert, " A Self-Referenced Hand-Held
Range Imaging and Modeling, 28,2001, Quebec City, Canada, pp.5-12) propose to utilize outside throwing
Shadow instrument projects laser spot to position hand-held 3 D measuring instrument on object being measured.Although however, system can realize it is hand-held,
Due to can not dynamically set up position feature point model, this system has limitation, it is necessary to there are all three positions special
Levy a little visible single visual angle.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of many laser stripes of hand-held are quick
Method for three-dimensional measurement, can overcome in prior art and equipment, and very little, measuring speed is slower for projection laser beam, projects laser strip
Difficult point and the shortcoming such as corresponding points hardly possible matching when line is more, so that the quick shape for accurately drawing object.
To achieve the above object, it is proposed, according to the invention, there is provided a kind of many laser stripe quick three-dimensional measuring methods of hand-held,
It is characterized in that：Comprise the following steps：
1) sticking sign point：According to the size of measurement visual field, in several circular index points of object under test surface mount,
And each index point is equipped with the fluorescent material border circular areas concentric with index point on the end face away from object under test, in addition,
The distance of center circle of any two index point is unequal；
2) three-dimensional data of body surface is measured using hand-held 3 D measuring instrument：The hand-held 3 D measuring instrument has multiple
Laser, two CCD cameras for having demarcated and multiple LED/light sources for being used to irradiate object under test；All lasers are simultaneously to quilt
Survey thing surface and project some laser stripes, and these laser stripes include at least two the first streak lines being parallel to each other
At least two the second streak lines for being parallel to each other, the first described streak line is mutually perpendicular to the second streak line；
3) image is gathered：The laser stripe and index point of two CCD camera sync pulse jamming body surfaces, each camera collection
Laser stripe information and the index point information of mark point reflection that image reflects comprising body surface；The laser stripe information
The three-dimensional coordinate data of the point on laser stripe longitudinal centre line for obtaining object under test surface, the index point information is used
In it is determined that the relative position relation of current hand-held 3 D measuring instrument coordinate system and the world coordinate system set up；Wherein, it is hand-held
3 D measuring instrument coordinate system is the camera coordinates system of one of camera, and hand-held three-dimensional when world coordinate system is initial shoots is surveyed
Measure instrument coordinate system；
4) image procossing：The point in the image of each camera on every laser stripe longitudinal centre line is extracted respectively in image
On two-dimensional coordinate information on image of two-dimensional coordinate information and the index point center of circle；Wherein, the laser stripe longitudinal center
The line that line is linked to be by the central point on laser stripe along genesis analysis；
5) by step 4) the middle two-dimensional coordinate information for indicating the null circle heart, the center of circle for obtaining the index point on object under test exists
Three-dimensional coordinate under current handheld measuring instrument coordinate system；
6) by step 4) in every laser stripe two-dimensional coordinate information, obtain object under test surface measurement point current
Three-dimensional coordinate under hand-held measuring appliance coordinate system；
7) the data split under the positioning of hand-held 3 D measuring instrument and world coordinate system, i.e., obtained using index point information
Rotation translation matrix from hand-held measuring appliance coordinate system transformation to world coordinate system, to obtain object under test surface measurement point from hand
Hold the transformational relation that measuring instrument coordinate is tied to world coordinate system, and by all hand-held three-dimensional measurements for meeting index point matching condition
The three-dimensional coordinate of index point three-dimensional coordinate data and object under test surface measurement point under instrument coordinate system is saved in world coordinates
Under system, then after object all surfaces three-dimensional measurement is completed, three of the measurement point on object under test surface under world coordinate system are obtained
Dimension data.
Preferably, step 2) described in the color of laser stripe that is sent with laser of the light color that sends of LED/light source
Unanimously.
Preferably, step 2) described in be provided with filter in CCD camera, to filter the light, the laser that are sent with LED/light source
The different light of laser stripe color that device is sent.
Preferably, step 4) the middle central point obtained using sub-pixel extraction on laser stripe along genesis analysis,
Then it is linked to be described longitudinal centre line by these central points.
Preferably, step 5) in, by step 4) in obtain two cameras image in index point the center of circle two dimension seat
Information is marked, using corresponding point matching and three-dimensional reconstruction, the center of circle that each index point on object under test is obtained respectively is being worked as
Three-dimensional coordinate under preceding hand-held measuring appliance coordinate system；
Preferably, step 6) in, using Slope Constraint and epipolar-line constraint, by the laser stripe in one of camera image
Point on the longitudinal centre line of point laser stripe corresponding in another camera image on longitudinal centre line is corresponded, then shape
Into multiple matching double points；By these above-mentioned matching double points, each matching double points institute is respectively obtained using three-dimensional reconstruction
Three-dimensional coordinate of the corresponding object under test surface measurement point under current handheld measuring instrument coordinate system；Wherein, Slope Constraint refers to
One streak line respectively in two cameras the slope of imaging it is positive and negative consistent, and the second streak line is respectively in two cameras
The slope of middle imaging it is positive and negative consistent.
Preferably, step 7) include following sub-step：
7.1) hand-held 3 D measuring instrument is initially shot to obtained first part of index point three-dimensional coordinate data and object under test
The three-dimensional coordinate of surface measurement point is preserved under index point three-dimensional coordinate point set and world coordinate system to world coordinate system respectively
Object under test surface measurement point three-dimensional coordinate point set；
7.2) the index point three-dimensional coordinate point set and world coordinate system that will be obtained under current handheld 3 D measuring instrument coordinate system
Under index point three-dimensional coordinate point set matched, if the index points of more than 3, the match is successful, then can obtain current handheld
Transformational relation between measuring instrument coordinate system and world coordinate system, then by the mark under current handheld 3 D measuring instrument coordinate system
Point three-dimensional coordinate all switches in world coordinate system and is saved in the index point three-dimensional coordinate point set under world coordinate system, and will
The three-dimensional coordinate of object under test surface measurement point is all switched under world coordinate system and protected under current handheld measuring instrument coordinate system
It is stored to the object under test surface measurement point three-dimensional coordinate point set under world coordinate system；
7.3) repeat step 7.2), until hand-held 3 D measuring instrument completes the scanning on object under test surface, then complete object
Surface three dimension is measured, and finally gives the three-dimensional data of object under test surface measurement point under world coordinate system.
Preferably, step 7.2) in, if without the success of the Point matching of more than 3, hand-held measuring appliance can not be positioned, this
When current handheld measuring instrument coordinate system under laser stripe information and index point information can not be transformed into world coordinate system, will be complete
Remove in portion.
According to another aspect of the present invention, a kind of 3-D measuring apparatus is additionally provided, it is characterised in that：Including hand-held three
Measuring instrument, image processor, three-dimensional table millet cake calculator and three-dimensional position Feature Calculator and three-dimensional position converter are tieed up, its
In,
The hand-held 3 D measuring instrument includes support, multiple cross laser devices or parallel laser device, multiple LEDs and two
The CCD camera demarcated, the laser is each attached on the support with CCD camera, is provided with by each CCD camera many
Individual LED and the circular CCD camera setting of these LEDs, for irradiation object under test；
Described image processor is sat to obtain the two dimension of the point on the laser stripe longitudinal centre line that the laser is sent
Mark information and the two-dimensional coordinate information in the index point center of circle；
The three-dimensional table millet cake calculator is used to change the two-dimensional coordinate information of the point on laser stripe longitudinal centre line
For the three-dimensional coordinate information under hand-held measuring appliance coordinate system, wherein, the hand-held 3 D measuring instrument coordinate system is one of phase
The camera coordinates system of machine；
The three-dimensional position Feature Calculator is used to the two-dimensional coordinate information in the index point center of circle be converted to hand-held survey
Measure the three-dimensional coordinate information under instrument coordinate system；
The three-dimensional position converter is used for the transformational relation for calculating current handheld measuring instrument coordinate system and world coordinate system,
And the index point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system is all switched in world coordinate system and is saved in
Index point three-dimensional coordinate point set under world coordinate system, and by object under test surface measurement under current handheld measuring instrument coordinate system
The three-dimensional coordinate of point all switches under world coordinate system and is saved in the object under test surface measurement point three under world coordinate system
Dimension coordinate point set.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
1) by the present invention in that with laser measuring technique, optimizing structure design and computational algorithm so that this 3 D measuring instrument
The characteristics of with portable and hand-holdable operation, and it is simple to operate, it is easy to use；
2) by the present invention in that using many laser stripes, optimization laser stripe center extraction algorithm and corresponding point matching algorithm,
The extraction rate at laser stripe center and the precision of laser stripe center extraction can be improved, and reduces the matching of corresponding points and is missed
Difference, not only increases the measurement efficiency of body surface three-dimensional data, and adds the measurement accuracy of body surface three-dimensional data；
3) by the present invention in that with optical filter, LED/light source and fluorized marking point, and index point center of circle extraction algorithm is optimized,
The discrimination of index point can be increased, the extraction accuracy in the index point center of circle and the positioning precision of measuring instrument is improved, and then reduce
The error of data split.
Brief description of the drawings
Fig. 1 is many laser stripe three-dimensional measurement flow charts of hand-held；
Fig. 2 is the structure chart of many laser stripe 3 D measuring instruments of hand-held；
Fig. 3 is structure chart of many laser stripe 3 D measuring instruments of hand-held in measurement process.
Reference：1st, CCD camera；2nd, LED/light source；3rd, cross laser device；4th, optical filtering；5th, laser stripe；6th, it is tested
Object；7th, index point.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
The invention provides a kind of 3-D measuring apparatus, including hand-held 3 D measuring instrument, image processor, three-dimensional table millet cake
Calculator and three-dimensional position Feature Calculator and three-dimensional position converter, wherein,
The hand-held 3 D measuring instrument has support, multiple cross laser devices or parallel laser device, multiple LEDs and two
The CCD camera demarcated, the laser is each attached on the support with CCD camera, is provided with by each CCD camera many
Individual LED and the circular CCD camera setting of these LEDs, for irradiation object under test；
Described image processor is sat to obtain the two dimension of the point on the laser stripe longitudinal centre line that the laser is sent
Mark information and the two-dimensional coordinate information in the index point center of circle；
The three-dimensional table millet cake calculator is used to change the two-dimensional coordinate information of the point on laser stripe longitudinal centre line
For the three-dimensional coordinate information under hand-held measuring appliance coordinate system, wherein, the hand-held 3 D measuring instrument coordinate system is one of phase
The camera coordinates system of machine；
The three-dimensional position Feature Calculator is used to the two-dimensional coordinate information in the index point center of circle be converted to hand-held survey
Measure the three-dimensional coordinate information under instrument coordinate system；
The three-dimensional position converter is used for the transformational relation for calculating current handheld measuring instrument coordinate system and world coordinate system,
And the index point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system is all switched in world coordinate system and is saved in
Index point three-dimensional coordinate point set under world coordinate system, and by object under test surface measurement under current handheld measuring instrument coordinate system
The three-dimensional coordinate of point all switches under world coordinate system and is saved in the object under test surface measurement point three under world coordinate system
Dimension coordinate point set.
Reference picture 1, described hand-held 3 D measuring instrument projects two groups of phases using multiple cross laser devices or parallel laser device
Mutually vertical parallel laser striped is to object under test surface, while two in different angles and the camera of known spatial transformational relation
Collection projection has the image of the body surface of laser stripe.
Sat present invention also offers measured object surface point three-dimensional under a kind of acquisition world coordinate system with hand-held 3 D measuring instrument
Calibration method, is specifically comprised the following steps：
Obtain the method for being incident upon the two-dimensional coordinate put on object under test surface laser striped and acquisition is pasted onto determinand
The method of the two-dimensional coordinate in the circular index point center of circle of body body surface；
Under the two-dimensional coordinate conversion 3 D measuring instrument coordinate system put on each object under test surface laser striped
The method of three-dimensional coordinate；
Circular index point center of circle three-dimensional under the two-dimensional coordinate conversion 3 D measuring instrument coordinate system in the circular index point center of circle is sat
Calibration method；
The circular index point center of circle three for currently measuring obtained circular index point center of circle three-dimensional coordinate point set Yu having collected
The method that dimension coordinate point set matches and calculates current 3 D measuring instrument coordinate system and world coordinate system transformational relation；
Calculate, the method for updating and collecting the circular index point center of circle three-dimensional coordinate point set being observed；Described
Three-dimensional surface point set is transformed into and the method in world coordinate system.
The method that the present invention obtains body surface two dimensional character point is as follows：Thrown simultaneously to body surface using multiple lasers
Two groups of orthogonal parallel laser light are penetrated, two cameras shoot the laser light for being incident upon body surface from different perspectives simultaneously
Line, the center point set of the laser stripe is extracted using image processing algorithm；The algorithm energy rapid extraction laser stripe center
Sub-pix point on image, the point set represents two-dimensional coordinate of the object table millet cake respectively in two camera planes.
The method that the present invention obtains object table millet cake three-dimensional coordinate under hand-held 3 D measuring instrument coordinate system is as follows：Carried
The method and calculating object table millet cake three-dimensional coordinate under hand-held 3 D measuring instrument coordinate system of the corresponding points of the object table millet cake taken
Method.
The localization method that the present invention carries out handheld three-dimensional measuring apparatus is as follows：Measure before object, in object exterior pasting
A number of circular fluorescent index point, two cameras photograph these circular fluorescent index points simultaneously in measurement process, lead to
The method for crossing image procossing obtains the two-dimensional coordinate of these circular fluorescent index points, and this can be calculated by solving triangle
The three-dimensional coordinate of circular fluorescent index point, can be with by analyzing the geometric properties between a number of circular fluorescent index point
Solve the position and direction of 3 D measuring instrument.
The data obtained in different angles are transformed into the world coordinate system constant relative to testee by the present invention
Method is as follows：By positioning the position and direction of 3 D measuring instrument, 3 D measuring instrument coordinate system and relative measured object can be obtained
Relation between the constant world coordinate system of body, the data obtained to currently measuring, which carry out Coordinate Conversion, to turn the data
Change in world coordinate system.
Specifically, using hand-held 3 D measuring instrument carry out object under test surface three dimension measurement process as illustrated,
1) sticking sign point：According to the size of measurement visual field, in some circular index points of object under test surface mount, and
And each index point is equipped with the fluorescent material border circular areas concentric with index point in the one side away from object under test, in addition, arbitrarily
The distance of center circle of two index points is unequal；
The effect of index point is the hand-held 3 D measuring instrument of positioning, and index point is pasted onto testee surface, make its position with
Testee position keeps constant.Because the method for match flag point be by its in the geometry distribution characteristics of body surface come real
Existing, therefore, mark point, which is pasted onto body surface, regular geometry distribution can not occurs.Again due to realizing hand-held three-dimensional measurement
The positioning of instrument needs mark point feature of a number of index point recognized with having collected to be matched, and index point distribution is dredged
Density should be determined according to the size of measurement visual field, to guarantee to be collected into sufficient amount of index point；
2) measurement is started：By controlling hand-held 3 D measuring instrument to switch, it can start to measure the three-dimensional data of body surface.
During measurement, all lasers project some laser stripes to measured object surface simultaneously, and these laser stripes are included extremely
Few two the first streak lines and at least two the second streak lines being parallel to each other that are parallel to each other, described the first streak line and the
Two streak lines are mutually perpendicular to；
3) image is gathered：The laser stripe and index point of two CCD camera sync pulse jamming body surfaces, each camera collection
Laser stripe information and the index point information of mark point reflection that image reflects comprising body surface；The laser stripe letter of shooting
Cease for obtain object under test surface laser stripe at point three-dimensional coordinate data, the index point information of shooting is used for
It is determined that the relative position relation of current hand-held 3 D measuring instrument coordinate system and the world coordinate system set up；Wherein, hand-held three
Tie up the camera coordinates system that measuring instrument coordinate system is one of camera, hand-held three-dimensional measurement when world coordinate system is initial shoots
Instrument coordinate system；
Gather image to realize by using two rigidly connected camera sync pulse jammings, space between two cameras
Evolution relation is, it is known that the distance between two cameras are referred to as baseline distance.Each camera has the projection centre and seat of oneself
Mark system, the coordinate system is referred to as camera coordinates system.The process of collection image is all carried out continuously on room and time, is adopted
Include the information such as the laser stripe reflected in body surface and index point in the image of collection；
4) image procossing：Extract in the image of each camera and put on every laser stripe longitudinal centre line on image respectively
Two-dimensional coordinate information on image of two-dimensional coordinate information and the index point center of circle；Wherein, the laser stripe longitudinal centre line
The line being linked to be by the central point on laser stripe along genesis analysis；
Because the laser for being incident upon body surface is multigroup orthogonal laser stripe, after being reflected through object on image
It is characterized in a plurality of streak line to be showed.We can complete carrying for laser stripe point by extracting the feature on the curve
Take.In order to meet the quick accurate measurement of Handheld laser 3 D measuring instrument, the method for image procossing allows for rapid extraction
The accurate profile of the curve.The present invention obtains laser using a kind of method of rapid extraction laser stripe center sub-pix point
The two-dimensional coordinate of fringe center point, the two-dimensional coordinate of these central points can obtain the point hand-held three by further processing
The three-dimensional coordinate under measuring instrument coordinate system is tieed up, the method for laser stripe center sub-pix point is based on Hessian squares to be a kind of
The sub-pixel precision laser stripe center line Fast Extraction of battle array.
Another purpose of image procossing is the two-dimensional coordinate in the center of circle for obtaining index point, and index point is designed to circle,
Such design make it that index point is elliptical shape when different angles are watched, while scribbling fluorescence in the center circle of index point
Matter, can make index point readily identified.Carrying out edge extracting and ellipse fitting by the figure to collection can obtain accurately
Oval central coordinate of circle, the central coordinate of circle is also the central coordinate of circle of index point.
5) three-dimensional coordinate of index point is calculated
By step 4) in the two-dimensional coordinate information in the center of circle of two cameras acceptance of the bid will point that obtains, using corresponding point matching and
Three-dimensional reconstruction, respectively obtain object under test on each index point the center of circle under current handheld measuring instrument coordinate system three
Dimension coordinate；
Used camera is calibrated, that is, knows the inner parameter and external parameter of two cameras.Three-dimensional coordinate meter
Calculating needs to know a little corresponding point on right camera image on left camera image, can be obtained by using epipolar-line constraint
The corresponding points pair that must be matched.Fundamental matrix is calculated using the external parameter of calibration for cameras, the pole of current point then can be obtained
Line equation, the index point being on another image on polar curve is exactly corresponding points.Bid can be calculated using principle of triangulation
Three-dimensional coordinate of the will point under current handheld measuring instrument coordinate system；Using the index point geometry distribution characteristics and measured
Indicate that point set is matched under world of bodies coordinate system, it is possible to achieve the positioning of measuring instrument.
6) three-dimensional coordinate of body surface measurement point is calculated
By step 4) in obtain each camera image in laser stripe two-dimensional coordinate information, using Slope Constraint
And epipolar-line constraint, by the point on the laser stripe longitudinal centre line in one of camera image and the phase in another camera image
Point that stress be on the longitudinal centre line of striations is corresponded, then forms multiple matching double points；Pass through these above-mentioned match points
It is right, the object under test surface measurement point corresponding to each matching double points is respectively obtained using three-dimensional reconstruction and is surveyed in current handheld
Measure the three-dimensional coordinate under instrument coordinate system；Wherein, Slope Constraint refer to the first streak line respectively in two cameras imaging it is oblique
Rate it is positive and negative consistent；And second streak line respectively in two cameras the slope of imaging it is positive and negative consistent.It is positive and negative consistent
If the value for referring to both canonical is on the occasion of if negative then both values are negative value.
Due to being measured present invention uses multi-stripe laser striped simultaneously, occur when using polar curve matching process one-to-many
Matching result.Therefore the man-to-man accurate matching of corresponding points must be realized using necessary method, is incident upon body surface
Laser stripe is two groups of mutually perpendicular directional lights, the side that we are mutually matched using the Slope Constraint of laser stripe with epipolar-line constraint
Method, can obtain accurate matching double points, and the Slope Constraint refers to that a laser stripe is imaged in two cameras in space
Afterwards, the sign of laser stripe slope is consistent in two camera images, and resulting matching double points can using principle of triangulation
To calculate three-dimensional coordinate of the point under hand-held 3 D measuring instrument coordinate system.The object table millet cake will be by hand-held three-dimensional
Measuring instrument coordinate system is transformed into world coordinate system.
7) positioning of measuring instrument and the split of data
The positioning and data split of hand-held 3 D measuring instrument, that is, obtain from current hand-held measuring appliance coordinate system transformation to generation
The rotation translation matrix of boundary's coordinate system, world coordinate system is tied to obtain object under test surface measurement point from hand-held measuring appliance coordinate
Transformational relation, and index point three-dimensional coordinate data under all hand-held 3 D measuring instrument coordinate systems and object under test surface are surveyed
The three-dimensional coordinate of amount point is saved under world coordinate system, and it includes following sub-step：
7.1) hand-held 3 D measuring instrument is initially shot to obtained first part of index point three-dimensional coordinate data and object under test
The three-dimensional coordinate of surface measurement point is preserved under index point three-dimensional coordinate point set and world coordinate system to world coordinate system respectively
Object under test surface measurement point three-dimensional coordinate point set；
7.2) the index point three-dimensional coordinate point set and world coordinate system that will be obtained under current handheld 3 D measuring instrument coordinate system
Under index point three-dimensional coordinate point set matched, if the index points of more than 3, the match is successful, then can obtain current handheld
Transformational relation between measuring instrument coordinate system and world coordinate system, then by the mark under current handheld 3 D measuring instrument coordinate system
Point three-dimensional coordinate all switches in world coordinate system and is saved in the index point three-dimensional coordinate point set under world coordinate system, and will
The three-dimensional coordinate of object under test surface measurement point is all switched under world coordinate system and protected under current handheld measuring instrument coordinate system
It is stored to the object under test surface measurement point three-dimensional coordinate point set under world coordinate system；
7.3) repeat step 7.2), until hand-held 3 D measuring instrument completes the scanning on object under test surface, then complete object
Surface three dimension measures and obtains the three-dimensional data of object under test surface measurement point under world coordinate system.
Specifically, the purpose for positioning hand-held 3 D measuring instrument is calculated from current handheld 3 D measuring instrument coordinate system transformation
To the rotation translation matrix of world coordinate system, to realize that current object surface measurement point is tied to world coordinate system from hand-held coordinate
Conversion.Index point three-dimensional point set under the starting stage started in measurement, world coordinate system is sky, when hand-held 3 D measuring instrument
Measurement obtain the first number according to when system-computed go out the three-dimensional coordinate of index point, and these mark point coordinates are preserved to index point
Three-dimensional coordinate point set under world coordinate system, and the first position of hand-held 3 D measuring instrument defines the world coordinates of testee
System, all index point three-dimensional coordinates will be switched in this coordinate system.
Set up after the three-dimensional coordinate point set of index point under initial world coordinate system, subsequent index point can be according to its geometry
Distribution characteristics is matched with three-dimensional coordinate point set under index point world coordinate system, if 3 and the mark Point matching of the above
Success, then can calculate the transformational relation between current handheld 3 D measuring instrument coordinate system and world coordinate system, this conversion
It may be considered accurately, then all switched to current flag point coordinates in world coordinate system according to transformational relation, and will
Three-dimensional coordinate after conversion is saved in three-dimensional coordinate point under index point world coordinate system and concentrated；
It is now measured to obtain if the Point matching success without 3 and the above, the positioning of measuring instrument can not just be completed
Data are all removed due to that can not be transformed into world coordinate system.
After the positioning of measuring instrument is realized, the transformational relation between current measuring instrument coordinate system and world coordinate system is true
It is fixed, according to the transformational relation, current measurement point can be transformed into world coordinate system.By all world coordinates for measuring and obtaining
Point under system is saved in body surface point under world coordinate system and concentrated, when measuring instrument completes the scanning around testee surface
When, now complete body surface three-dimensional measurement is just completed, and then user can be realized by Data Post after measurement and be used
Family demand.
Fig. 2 is the front view of hand-held 3 D measuring instrument, and the measuring instrument includes 2 CCD cameras, two cameras be separated by away from
From for parallax range, three cross laser devices are arranged side by side between two cameras, can so ensure that phase function collects throwing
The laser stripe penetrated.In order to be provided with the filter consistent with laser frequency before reducing influence of the ambient light to measurement result, camera
Light microscopic, the optical filtering will can be filtered with the different light of laser optical line frequency, reduce the interference of ambient light.Due to
Optical filtering is mounted with, general index point will be unable to blur-free imaging in the picture.We use the index point with fluorescent effect,
And multiple LED/light sources are installed around camera, the frequency of this light source is consistent with laser frequency, the light irradiation produced by LED/light source
, can be with blur-free imaging in camera image after circular fluorescent mark point reflection in body surface, the home position of index point will
Accurately calculated, so as to realize being accurately positioned for measuring instrument.
As shown in figure 3, the measurement distance of this scanner is designed as 30-45cm, therefore the parallax range of two cameras is about
20cm, and the measuring instrument can reach the precision of submillimeter.When measuring body surface, 3 lasers are simultaneously to object
Surface projects laser stripe, and for Handheld laser three-dimensional measurement, the laser beam for being incident upon body surface is more, single measurement
Data it is more, measuring speed is faster.Therefore the equipment of the present invention and the advantage of measuring method are that realize hand-held swashs more
Striations quick three-dimensional is measured.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (8)
1. a kind of many laser stripe quick three-dimensional measuring methods of hand-held, it is characterised in that：Comprise the following steps：
1) sticking sign point：According to the size of measurement visual field, in several circular index points of object under test surface mount, and
Each index point is equipped with the fluorescent material border circular areas concentric with index point on the end face away from object under test, in addition, arbitrarily
The distance of center circle of two index points is unequal；
2) three-dimensional data of body surface is measured using hand-held 3 D measuring instrument：The hand-held 3 D measuring instrument has multiple laser
Device, two CCD cameras for having demarcated and multiple LED/light sources for being used to irradiate object under test；All lasers are simultaneously to measured object
Surface projects some laser stripes, and these laser stripes are including at least two the first streak lines being parallel to each other and extremely
Lack two the second streak lines being parallel to each other, the first described streak line is mutually perpendicular to the second streak line；
3) image is gathered：The laser stripe and index point of two CCD camera sync pulse jamming body surfaces, the image of each camera collection
The laser stripe information and the index point information of mark point reflection reflected comprising body surface；The laser stripe information is used for
The three-dimensional coordinate data of the point on the laser stripe longitudinal centre line on object under test surface is obtained, the index point information is used for true
The relative position relation of hand-held 3 D measuring instrument coordinate system and the world coordinate system set up before settled；Wherein, hand-held three-dimensional
Measuring instrument coordinate system is the camera coordinates system of one of camera, hand-held 3 D measuring instrument when world coordinate system is initial shoots
Coordinate system；
4) image procossing：The point in the image of each camera on every laser stripe longitudinal centre line is extracted respectively on image
The two-dimensional coordinate information of two-dimensional coordinate information and the index point center of circle on image；Wherein, the laser stripe longitudinal centre line is
The line being linked to be on laser stripe along the central point of genesis analysis；
5) by step 4) in mark the null circle heart two-dimensional coordinate information, obtain object under test on index point the center of circle current
Three-dimensional coordinate under hand-held measuring appliance coordinate system；
6) by step 4) in every laser stripe two-dimensional coordinate information, obtain object under test surface measurement point working as remote holder
The three-dimensional coordinate under measuring instrument coordinate system is held, specific method is as follows：
Using Slope Constraint and epipolar-line constraint, by the point on the laser stripe longitudinal centre line in one of camera image and separately
Point on the longitudinal centre line of corresponding laser stripe in one camera image is corresponded, then forms multiple matching double points；Pass through
These above-mentioned matching double points, the object under test surface corresponding to each matching double points is respectively obtained using three-dimensional reconstruction and is surveyed
Three-dimensional coordinate of the amount point under current handheld measuring instrument coordinate system；Wherein, Slope Constraint refers to the first streak line respectively in two phases
The slope of imaging is positive and negative consistent in machine, and the slope of imaging is being just in two cameras respectively for the second streak line
Negative one is caused；
7) the data split under the positioning of hand-held 3 D measuring instrument and world coordinate system, i.e., obtained using index point information from hand
Measuring instrument coordinate system transformation is held to the rotation translation matrix of world coordinate system, is surveyed with obtaining object under test surface measurement point from hand-held
Amount instrument coordinate is tied to the transformational relation of world coordinate system, and all hand-held 3 D measuring instruments for meeting index point matching condition are sat
The three-dimensional coordinate of index point three-dimensional coordinate data and object under test surface measurement point under mark system is saved under world coordinate system；
Then after object all surfaces three-dimensional measurement is completed, three dimensions of the measurement point on object under test surface under world coordinate system are obtained
According to.
2. many laser stripe quick three-dimensional measuring methods of a kind of hand-held according to claim 1, it is characterised in that：Step
2) solid colour for the laser stripe that the light color that LED/light source described in is sent is sent with laser.
3. many laser stripe quick three-dimensional measuring methods of a kind of hand-held according to claim 1, it is characterised in that：Step
2) filter is provided with described in CCD camera, to filter the laser stripe face that the light, the laser that are sent with LED/light source are sent
The different light of color.
4. many laser stripe quick three-dimensional measuring methods of a kind of hand-held according to claim 1, it is characterised in that：Step
4) central point on laser stripe along genesis analysis is obtained in using sub-pixel extraction, is then linked to be by these central points
Described longitudinal centre line.
5. many laser stripe quick three-dimensional measuring methods of a kind of hand-held according to claim 1, it is characterised in that：Step
5) in, by step 4) in obtain two cameras image in index point the center of circle two-dimensional coordinate information, using corresponding points
Match somebody with somebody and three-dimensional reconstruction, the center of circle of each index point on acquisition object under test is under current handheld measuring instrument coordinate system respectively
Three-dimensional coordinate.
6. many laser stripe quick three-dimensional measuring methods of a kind of hand-held according to claim 1, it is characterised in that：Step
7) following sub-step is included：
7.1) hand-held 3 D measuring instrument is initially shot to first part of obtained index point three-dimensional coordinate data and object under test surface
The three-dimensional coordinate of measurement point preserves treating under index point three-dimensional coordinate point set and world coordinate system to world coordinate system respectively
Survey body surface measurement point three-dimensional coordinate point set；
7.2) by under the index point three-dimensional coordinate point set obtained under current handheld 3 D measuring instrument coordinate system and world coordinate system
Index point three-dimensional coordinate point set is matched, and if the index points of more than 3, the match is successful, then can obtain current handheld measurement
Transformational relation between instrument coordinate system and world coordinate system, then by the index point three under current handheld 3 D measuring instrument coordinate system
Dimension coordinate all switches in world coordinate system and is saved in the index point three-dimensional coordinate point set under world coordinate system, and will be current
The three-dimensional coordinate of object under test surface measurement point is all switched under world coordinate system and is saved under hand-held measuring appliance coordinate system
Object under test surface measurement point three-dimensional coordinate point set under world coordinate system；
7.3) repeat step 7.2), until hand-held 3 D measuring instrument completes the scanning on object under test surface, then complete body surface
Three-dimensional measurement, and finally give the three-dimensional data of object under test surface measurement point under world coordinate system.
7. many laser stripe quick three-dimensional measuring methods of a kind of hand-held according to claim 6, it is characterised in that：Step
7.2) in, if without the success of the Point matching of more than 3, hand-held measuring appliance can not be positioned, and now current handheld measuring instrument is sat
Laser stripe information and index point information under mark system can not be transformed into world coordinate system, will all be removed.
8. a kind of 3-D measuring apparatus for realizing any methods described in claim 1~7, it is characterised in that：Including hand-held three
Measuring instrument, image processor, three-dimensional table millet cake calculator and three-dimensional position Feature Calculator and three-dimensional position converter are tieed up, its
In,
The hand-held 3 D measuring instrument has been marked comprising support, multiple cross laser devices or parallel laser device, multiple LEDs and two
Fixed CCD camera, the laser is each attached on the support with CCD camera, is provided with by each CCD camera multiple
LED and the circular CCD camera setting of these LEDs, for irradiation object under test；
Described image processor is believed to obtain the two-dimensional coordinate of the point on the laser stripe longitudinal centre line that the laser is sent
Breath and the two-dimensional coordinate information in the index point center of circle；
The three-dimensional table millet cake calculator is used to the two-dimensional coordinate information of the point on laser stripe longitudinal centre line being converted to hand
The three-dimensional coordinate information under measuring instrument coordinate system is held, wherein, the hand-held 3 D measuring instrument coordinate system is one of camera
Camera coordinates system；
The three-dimensional position Feature Calculator is used to the two-dimensional coordinate information in the index point center of circle be converted to hand-held measuring appliance
Three-dimensional coordinate information under coordinate system；
The three-dimensional position converter is used for the transformational relation for calculating current handheld measuring instrument coordinate system and world coordinate system, and will
Index point three-dimensional coordinate under current handheld 3 D measuring instrument coordinate system all switches in world coordinate system and is saved in the world
Index point three-dimensional coordinate point set under coordinate system, and by object under test surface measurement point under current handheld measuring instrument coordinate system
Three-dimensional coordinate all switches under world coordinate system and is saved in the three-dimensional seat of the object under test surface measurement point under world coordinate system
Punctuate collection.
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