CN105300314A - Optical imaging method - Google Patents
Optical imaging method Download PDFInfo
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- CN105300314A CN105300314A CN201410368812.1A CN201410368812A CN105300314A CN 105300314 A CN105300314 A CN 105300314A CN 201410368812 A CN201410368812 A CN 201410368812A CN 105300314 A CN105300314 A CN 105300314A
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Abstract
The invention discloses an optical imaging method which is characterized in that resolution of a camera within an effective view field range of three-dimensional imaging and the dimension of structured light stripe width B, interval W and step b in a projected image after being subjected to projection and amplification within the effective view field range of three-dimensional imaging are calculated in advance by adopting a parallel translation area array stripe scanning mode; in the effective view field range of three-dimensional imaging, the dimension of the structured light stripe width B, interval W and step b generated by a projector and after being subjected to projection and amplification is equal to or larger than the minimum resolution of the camera in the direction of structured light stripe width; and high-resolution three-dimensional imaging of a detected object is realized through accumulated calculation. The optical imaging method realizes high-resolution three-dimensional imaging of the detected object, and can be used for designing and manufacturing high-resolution three-dimensional surface sensors which are simple in structure, small in size, simple in information processing and low in cost.
Description
Technical field
The present invention relates to a kind of formation method of optics.
Background technology
Optical 3-dimensional imaging technique is the pith in machine vision research aspect, as " eyes " of automatic technology, has and apply extremely widely in numerous areas.High resolution optical 3-D imaging system can within the scope of the apparent field be jointly made up of the projecting light path of projection arrangement and the receiving light path of video camera, obtain the more three-dimensional data in testee surface, thus reach the target of three-dimensional high sampling precision.At present adopt the method for following several high resolution optical three-dimensional imaging in active machine vision field and there is respective problem: (1) adopts the method increasing the structural light stripes quantity projected, when the quantity of projected fringe is more, the width of wall scroll projected fringe is narrower, by the restriction that imaging resolution and the concavo-convex front and back that rise and fall of object itself of imaging device self are blocked, when striped quantity is too much or wall scroll structural light stripes width is narrow, cause computer recognizing very difficult, subsequent treatment is complicated.(2) adopt the method for mobile optical three-dimensional image forming apparatus or mobile testee, need larger volume and the very high mechanical scanner of precision, cause bulky, the complex structure of whole imaging system, cost is very high.(3) adopt the method rotating pendulum mirror change projection device light path or imaging device receiving light path, owing to addition of optical scanner, system architecture is complicated.(4) adopt the method for interpolation subdividing, subsequent treatment is complicated, and the data that obtain of interpolation and real data have certain error.(5) although Bian phase shift method also can obtain the 3 d shape of high-res, need the phase place in known reference face, derivation process is very complicated, exists and hands over more error.
Through finding the literature search of prior art, publication is " OpticalEngineering " (optical engineering) 42 (12) (2003), article " highspeedthree-dimensionprofilometryutilizinglaserdiodea rrays " (the high speed three-dimensional face based on laser array forms the method for picture) on 3595-3599, so a kind of face battle array fringe projector apparatus was once proposed: be divided into five parallel rows with 100 laser instruments, often arrange 20 laser instruments with longitudinal center's spacing ten millimeters arrangement, article five, cylindrical mirror is installed in parallel in and often arranges on laser array center line, laser instrument laterally at interval of two rows offsets two millimeters, projection arrangement is respectively with three, ten or 25 are one group and light simultaneously and send three, or 25 parallel line lasers article ten, thus ON/OFF 100 laser instruments successively, and utilize the method for optical triangulation to obtain testee surface three dimension information, the three-dimensional imaging that resolution is 100 lines can be realized within 1 second.But said apparatus structure is comparatively complicated, to the quality of laser instrument own and installation requirement very high, device manufacture and processing difficulties, cost is high.
Summary of the invention
For solving above-mentioned existing shortcoming, fundamental purpose of the present invention is the formation method of the optics providing a kind of practicality, achieve the high resolution degree three-dimensional imaging to testee, can be used for that Design and manufacture structure is simple, volume is little, information processing is simple and lower-cost high-res 3 d shape sensor.
For reaching above-described object, the formation method of a kind of optics of the present invention, take following technical scheme:
A formation method for optics, is characterized in that, comprises the following steps,
1) the Bian scan mode moving in parallel face battle array striped, the face battle array striped in the projected image that projector generates is chequered with black and white two-value structural light stripes array;
2) the wall scroll structural light stripes width in projected image is B, before and after adjacent two-strip structure light be spaced apart W, face battle array striped moves in parallel along the vertical scanning direction stepping of projector by step pitch B and step frequency f, and wherein the unit of B, W and b is that projection Xin is along the single pixel on this direction of scanning;
3) structural light stripes width B, the size of interval W and step pitch b within the scope of the apparent field of three-dimensional imaging after projective amplification in the resolution of video camera within the scope of the apparent field of three-dimensional imaging and projected image is precomputed;
4) within the scope of the apparent field of three-dimensional imaging, the structural light stripes width B that projector generates, interval W is more than or equal to the lowest resolution of video camera on structural light stripes Width from the size of step pitch b after projective amplification;
5) within the scope of the apparent field of three-dimensional imaging, face battle array striped is full of the visual field of video camera, video camera is the deforming stripe image of f by the step frequency on frequency F sequence shooting testee surface, frequency F sequence acquisition is pressed to computing machine through image Bian truck, utilize the means of optical triangulation, obtain the D coordinates value that deforming stripe is corresponding; Video camera filming frequency F is more than the twice of face battle array striped step frequency f;
6) accumulation calculates the high resolution degree three-dimensional imaging realized testee.
The formation method of described a kind of optical technical field, it is characterized in that, within the scope of the apparent field of three-dimensional imaging, the structural light stripes width B that projector generates, the size of interval W and step pitch b after projective amplification is more than or equal to the lowest resolution of video camera on structural light stripes Width, within the scope of the apparent field of three-dimensional imaging, from the first two field picture of video camera picked-up, face battle array striped moves in parallel the complete structural light stripes of the Article 1 of forefront and starts counting coding, structured light number and structural light stripes move in parallel until overlap need the number of times of stepping, both products determine the most high-res of three-dimensional imagings, the step pitch b of the face battle array striped in projected image is minimum is the pixel of projector on this direction of scanning, projector self refreshing frequency is more than the twice of video camera filming frequency F, when video camera picked-up image through data collecting card Bian collection to computing machine, computing machine extracts the center line of black structures striations in two dimensional image successively, in this, as calculating identification object during triangulation, when the image of video camera picked-up collects computing machine through data Bian truck, when in two dimension pickup image, black structures optical width is more than 5 pixels, computing machine extracts the edge line of structural light stripes along step direction black part side successively, in this, as calculating identification object during triangulation, or projector goes round and begins again to the face battle array striped circulation that testee projects.
Adopt the present invention of as above technical scheme, there is following beneficial effect:
Achieve the high resolution degree three-dimensional imaging to testee, can be used for that Design and manufacture structure is simple, volume is little, information processing is simple and lower-cost high-res 3 d shape sensor.
Accompanying drawing explanation
Fig. 1 is basic principle schematic of the present invention.
Fig. 2 is the basic principle schematic that in projected image of the present invention, face battle array striped moves in parallel.
Fig. 3 is that in the projected image of Bian of the present invention, the adjacent two-strip structure light of structured light array is after n stepping translation, and an adjacent rear structured light takes the lead in covering video camera when t pickup image, the process of last bar structured light present position in projected image.
Fig. 4 be in the projected image that adopts of the present invention the non-conterminous two-strip structure light of structured light array after n stepping translation, a non-conterminous rear structured light takes the lead in covering video camera when t pickup image, the process of last bar structured light present position in projected image.
Embodiment
In order to further illustrate the present invention, be described further below in conjunction with drawings and Examples:
As shown in Figure 1, computing machine controls projection Xin and video camera, and projector sends projector, image projection on testee, and the face battle array striped in projected image moves in parallel by step frequency f.Deform time on parallel face battle array fringe projection to testee.The image of the face battle array striped after video camera picked-up distortion, and collect computing machine by image Bian truck.Projector can adopt common liquid crystal projection apparatus etc.Video camera can Bian common ccd video camera or cmos camera etc.Be the apparent field of three-dimensional imaging at the visual field intersectional region of projector and video camera.Within the scope of the apparent field of three-dimensional imaging, the projection structure striations of video camera picked-up, from picked-up the first two field picture in bottom complete structural light stripes counting coding, structured light number and structural light stripes move in parallel until overlap need the number of times of stepping, and both products determine the most high-res of three-dimensional imagings.The step pitch b of face battle array striped is minimum is the pixel of projector on this direction of scanning.Projector self refreshing frequency is more than the twice of video camera filming frequency F.
Computing machine extracts the center line of black structures striations in two dimensional image successively, in this, as calculating identification object during triangulation.Meanwhile, when black structures optical width in pickup image is more than 5 pixels, computing machine extracts the edge line of structural light stripes along step direction black part side successively, in this, as calculating identification object during triangulation.Utilize the means of optical triangulation, obtain and accumulation three-dimensional data, thus realize the high resolution degree three-dimensional imaging to testee.
As shown in Figure 2, face battle array striped in the projected image that projector generates is chequered with black and white two-value structural light stripes array, face battle array striped in projected image is parallel with projector horizontal scan direction, be b in structural light stripes 1 step distance after the 1/f moment of t, namely battle array striped in face moves in parallel do stepping along projector vertical scanning direction by step frequency f and step pitch b.Precompute structural light stripes width B, the size of interval W and step pitch b within the scope of the apparent field of three-dimensional imaging after projective amplification in the resolution of video camera within the scope of the apparent field of three-dimensional imaging and projected image.Within the scope of the apparent field of three-dimensional imaging, the width B of the structural light stripes that projector generates, interval W and step pitch b are more than or equal to the lowest resolution of video camera on structured light Width, thus ensure that every bar structural light stripes and each stepping thereof can both be identified and distinguish.
As shown in Figure 3, when meet width B and interval W and be step pitch b Integer n times time, in projected image, the adjacent two-strip structure striations of structured light array presses step frequency f and step pitch b along projector vertical scanning direction after n stepping translation, a rear structural light stripes covers last bar structural light stripes present position in projected image, namely cover I moment structural light stripes 1 present position in projected image at t+n/f moment structural light stripes 2, thus realize the three-dimensional imaging to testee n segmentation.
As shown in Figure 4, when discontented foot breadth degree 8 and interval from and be step pitch b Integer n times time, when projector goes round and begins again to the face battle array striped circulation that testee projects, when the pixel number of projected image is fixed value, in projected image, the non-conterminous two-strip structure striations of structured light array presses step frequency f and step pitch b along projector vertical scanning direction after 11 stepping translations, a rear structural light stripes covers last bar structural light stripes present position in projected image, namely t structural light stripes 1 present position in projected image is covered at t+n/f moment structural light stripes N 10, thus the three-dimensional imaging realized testee n segmentation.
Because chequered with black and white two-value structural light stripes array is more easy to identify than line laser, when projector to project 30 structural light stripes to testee, every bar structured light width is 10 pixels, before and after adjacent two-strip structure light be spaced apart 10 pixels, face battle array striped moves in parallel with stepping along projector vertical scanning direction by step frequency 12.5Hz, each step pitch is 4 pixels, video camera and image Bian truck press the speed acquisition of 25 frames per second, structured light width in pickup image and interval are more than or equal to 5 pixels and step pitch is all more than or equal to 2 pixels of pickup image at every turn, the i.e. width of structural light stripes, interval and step pitch can by computer recognizing time, then the present invention's spatial sampling resolution of three-dimensional imaging within 0.4 second is 300 lines.Increase further when the time of three-dimensional imaging, or when face battle array fringe number increases further, the present invention can realize the three-dimensional imaging of pixel level.Formed compared with the method for picture with adopting the high speed three-dimensional face of laser array under equal conditions, imaging efficiency of the present invention and Bian sample precision are its more than 3 times, significantly reduce the complexity of high resolution degree three-dimensional imaging device, and computing machine easily identifies and distinguishes the structural light stripes after distortion simultaneously.
Claims (2)
1. a formation method for optics, is characterized in that, comprises the following steps,
(1) the Bian scan mode moving in parallel face battle array striped, the face battle array striped in the projected image that projector generates is chequered with black and white two-value structural light stripes array;
(2) the wall scroll structural light stripes width in projected image is B, before and after adjacent two-strip structure light be spaced apart W, face battle array striped moves in parallel along the vertical scanning direction stepping of projector by step pitch B and step frequency f, and wherein the unit of B, W and b is that projection Xin is along the single pixel on this direction of scanning;
(3) structural light stripes width B, the size of interval W and step pitch b within the scope of the apparent field of three-dimensional imaging after projective amplification in the resolution of video camera within the scope of the apparent field of three-dimensional imaging and projected image is precomputed;
(4) within the scope of the apparent field of three-dimensional imaging, the structural light stripes width B that projector generates, interval W is more than or equal to the lowest resolution of video camera on structural light stripes Width from the size of step pitch b after projective amplification;
(5) within the scope of the apparent field of three-dimensional imaging, face battle array striped is full of the visual field of video camera, video camera is the deforming stripe image of f by the step frequency on frequency F sequence shooting testee surface, frequency F sequence acquisition is pressed to computing machine through image Bian truck, utilize the means of optical triangulation, obtain the D coordinates value that deforming stripe is corresponding; Video camera filming frequency F is more than the twice of face battle array striped step frequency f;
(6) accumulation calculates the high resolution degree three-dimensional imaging realized testee.
2. the formation method of a kind of optics according to claim 1, it is characterized in that, within the scope of the apparent field of three-dimensional imaging, the structural light stripes width B that projector generates, the size of interval W and step pitch b after projective amplification is more than or equal to the lowest resolution of video camera on structural light stripes Width, within the scope of the apparent field of three-dimensional imaging, from the first two field picture of video camera picked-up, face battle array striped moves in parallel the complete structural light stripes of the Article 1 of forefront and starts counting coding, structured light number and structural light stripes move in parallel until overlap need the number of times of stepping, both products determine the most high-res of three-dimensional imagings, the step pitch b of the face battle array striped in projected image is minimum is the pixel of projector on this direction of scanning, projector self refreshing frequency is more than the twice of video camera filming frequency F, when video camera picked-up image through data collecting card Bian collection to computing machine, computing machine extracts the center line of black structures striations in two dimensional image successively, in this, as calculating identification object during triangulation, when the image of video camera picked-up collects computing machine through data Bian truck, when in two dimension pickup image, black structures optical width is more than 5 pixels, computing machine extracts the edge line of structural light stripes along step direction black part side successively, in this, as calculating identification object during triangulation, or projector goes round and begins again to the face battle array striped circulation that testee projects.
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| CN201410368812.1A CN105300314A (en) | 2014-07-30 | 2014-07-30 | Optical imaging method |
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| CN201410368812.1A CN105300314A (en) | 2014-07-30 | 2014-07-30 | Optical imaging method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106485763A (en) * | 2016-10-21 | 2017-03-08 | 云南北方昆物光电科技发展有限公司 | Traffic accident situ map piece imaging method |
| CN106524917A (en) * | 2016-12-09 | 2017-03-22 | 北京科技大学 | Volume measurement method for object on conveyor belt |
| CN111386439A (en) * | 2017-09-18 | 2020-07-07 | 安盟生技股份有限公司 | Interference imaging device and application thereof |
-
2014
- 2014-07-30 CN CN201410368812.1A patent/CN105300314A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106485763A (en) * | 2016-10-21 | 2017-03-08 | 云南北方昆物光电科技发展有限公司 | Traffic accident situ map piece imaging method |
| CN106524917A (en) * | 2016-12-09 | 2017-03-22 | 北京科技大学 | Volume measurement method for object on conveyor belt |
| CN106524917B (en) * | 2016-12-09 | 2019-01-11 | 北京科技大学 | Object volume measurement method on a kind of conveyer belt |
| CN111386439A (en) * | 2017-09-18 | 2020-07-07 | 安盟生技股份有限公司 | Interference imaging device and application thereof |
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Application publication date: 20160203 |