CN106204732A - The three-dimensional rebuilding method of dynamic exposure and system - Google Patents

The three-dimensional rebuilding method of dynamic exposure and system Download PDF

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CN106204732A
CN106204732A CN201610580574.XA CN201610580574A CN106204732A CN 106204732 A CN106204732 A CN 106204732A CN 201610580574 A CN201610580574 A CN 201610580574A CN 106204732 A CN106204732 A CN 106204732A
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exposure
phase
pixels
location
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CN106204732B (en
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何懂
喻晓
田福鹤
陈海龙
朱鸿琛
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SHENZHEN ESUN DISPLAY CO Ltd
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

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Abstract

The present invention provides three-dimensional rebuilding method and the system of a kind of dynamic exposure, and the method includes: with multiple different time of exposure, each location of pixels of object is gathered image, obtains many group phase shift figures respectively；According to described many group phase shift figures, utilize phase shift method to extract respectively and obtain organizing wrapped phase and corresponding multiple modulation degree more；According to the plurality of modulation degree, described many group phase shift figures are synthesized wrapped phase figure；Based on described wrapped phase figure, obtain absolute phase according to phase-unwrapping algorithm；And travel through all location of pixels of described object, the three-dimensional information of described body surface is rebuild by three-dimensional reconstruction algorithm.The present invention can improve the effect of three-dimensional reconstruction.

Description

The three-dimensional rebuilding method of dynamic exposure and system
[technical field]
The present invention is about three-dimensional reconstruction, especially with respect to a kind of three-dimensional rebuilding method based on phase place auxiliary and system.
[background technology]
In the three-dimensional reconstruction field of image, three-dimensional rebuilding method based on phase place auxiliary is a kind of important three-dimensional reconstruction skill Art, generally utilizes phase shift method to extract phase place and recovery obtains the absolute phase that body surface is modulated, thus phase place is considered as a kind of auxiliary Help according to the point correspondence setting up left and right camera, then according to point correspondence, utilize three-dimensional reconstruction algorithm, by marking The fixed camera parameter in binocular vision system and structural parameters rebuild the three-D profile information of body surface.It follows that Phase masses is the key factor rebuilding gained three-dimensional data quality.
For the body surface of different reflective materials, use the phase place matter that 3 Dimension Image Technique based on phase place auxiliary obtains Amount the most difference.General, in prior art, camera generally obtains object reflection only with a fixing time of exposure Encoded phase shift figure, so for the stronger body surface of reflecting rate (typically light color or have the object of direct reflection), because of Its reflectance is higher so that the sinusoidal coding phase shift figure of collected by camera has saturated phenomenon, have impact on camera to its sinusoidal coding phase Move the Linear-phase of figure；Contrary, for the body surface (body surface that typically color is deeper) that reflecting rate is relatively low, it is relatively Low reflectance also can affect the camera linear response to its sinusoidal coding phase shift figure.So it is anti-for surface in the prior art The higher object of light rate uses relatively low time of exposure to gather image, for the relatively low object of reflectance when three-dimensional reconstruction then Use higher time of exposure.If the surface reflection rate of a certain object to be reconstructed is not that fixing (such as, existing reflecting rate is relatively Also there is reflecting rate lower region in high region), then cannot obtain, by dynamically setting the time of exposure of camera, the phase that quality is higher Move figure, the effect of this three-dimensional reconstruction just directly affected.
[summary of the invention]
In view of this, an object of the present invention is to provide three-dimensional rebuilding method and the system of a kind of dynamic exposure, with Solve the problems referred to above.
First aspect according to embodiments of the present invention, it is provided that the three-dimensional rebuilding method of a kind of dynamic exposure, including: to object Each location of pixels gathers image with multiple different time of exposure, obtains many group phase shift figures respectively；Organize phase shift according to described more Figure, utilizes phase shift method to extract respectively and obtains organizing wrapped phase and corresponding multiple modulation degree more；According to the plurality of modulation degree, will Described many group phase shift figures synthesize wrapped phase figure；Based on described wrapped phase figure, obtain absolute phase according to phase-unwrapping algorithm Position；And travel through all location of pixels of described object, the three-dimensional information of described body surface is rebuild by three-dimensional reconstruction algorithm.
Second aspect according to embodiments of the present invention, it is provided that the three-dimensional reconstruction system of a kind of dynamic exposure, including image acquisition Module, phase measurements module and three-dimensional information processing module.Image capture module, in location of pixels multiple to body surface Each location of pixels gather images with multiple different time of exposure, obtain many group phase shift figures respectively；Phase measurements module, uses According to described many group phase shift figures, utilize phase shift method to extract respectively and obtain organizing wrapped phase and corresponding multiple modulation degree more, with And according to the plurality of modulation degree, described many group phase shift figures are synthesized wrapped phase figure；And three-dimensional information processing module, use In based on described wrapped phase figure, obtain absolute phase according to phase-unwrapping algorithm, and rebuild institute by three-dimensional reconstruction algorithm State the three-dimensional information of body surface.
Three-dimensional rebuilding method and the system of the dynamic exposure that the embodiment of the present invention provides utilize multiple-exposure, can improve three-dimensional The effect rebuild.
[accompanying drawing explanation]
Fig. 1 is the schematic diagram of the 3-D imaging system based on phase place auxiliary according to the embodiment of the present invention.
Fig. 2 is the flow chart of the three-dimensional rebuilding method utilizing multiple-exposure according to the embodiment of the present invention.
Fig. 3 is the schematic diagram of the three-dimensional reconstruction system according to the embodiment of the present invention.
[detailed description of the invention]
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right The present invention is further elaborated.Should be appreciated that specific embodiment described herein is used only for explaining the present invention, and Non-for limiting the present invention.
The basic thought of the present invention is the sine streak structure light that projected for digital projection, and camera is by dynamically exposing Light to gather image in different time of exposure, by utilizing multiple-exposure to collect many group phase shift figures, it is ensured that three-dimensional In image scene, the region of different reflecting rates can obtain high phase masses, thus improves dynamic to different reflecting rates of three-dimensional reconstruction Scope.
Fig. 1 is the schematic diagram of the 3-D imaging system 100 based on phase place auxiliary according to the embodiment of the present invention, including projection Instrument 102 and camera 104.As it is shown in figure 1, projector 102 is by after sine streak project structured light to body surface, through object table The reflection in face, wherein the reflectance of body surface is that (x, y), camera 104 collects the sine streak structure light of reflection to r, not Under same time of exposure, camera 104 acquires the phase shifted images that many groups are different.The sine streak structure light of projector 102 projection Phase shifted images light intensityAs following formula (1) represents:
I p n = A + B · c o s ( φ ( x , y ) + 2 π n / N ) - - - ( 1 )
Wherein, A is background light intensity, and B is fringe contrast, and (x, y) is incident point coordinate, and (x y) is wrapped phase, n to φ For the location of pixels of phase place change direction, N is the space periodic of phase place, and unit is pixel.
After body surface reflects, enter the light distribution of cameraAs following formula (2) represents:
I r n = r ( x , y ) · { A + B · c o s ( φ ( x , y ) + 2 π n / N ) } - - - ( 2 )
For each location of pixels of object, camera is at multiple different time of exposure tiUnder collect many group phase shift figures PictureThe many groups phase shift figure collected according to different time of exposure, utilizes phase shift method to extract camera institute respectively Many groups wrapped phase of the sine streak light gathered, obtains multiple corresponding modulation degree D simultaneously.Due to different time of exposure energy Obtain different modulation degree, according to multiple modulation degree, many groups phase shift figure of different exposure time gained is synthesized a width synthesis Wrapped phase figure.All location of pixels of traversal imaging surface, each location of pixels in the wrapped phase figure synthesized thus There is higher Sine Modulated degree, it is ensured that the phase masses obtained.Then, wrapped phase figure based on described synthesis, by phase Position expansion technique obtains absolute phase, in conjunction with the most proven three-dimensional binocular structural parameters, is rebuild by three-dimensional reconstruction algorithm The three-D profile information of body surface.
In one embodiment, the number of times of the multiple-exposure of each location of pixels and the length of time of exposure can utilize light intensity Distribution histogram determines.For example, according to the changes in distribution of image scene reflectance, intensity is projected at projector 102Uniform Illumination time, adjust camera time of exposure t0So that reflectance highest region in whole effective imaging viewing field Territory is close to saturated but the most over-exposed.Then reflected image is carried out light intensity statistic histogram analysis, it is assumed that this rectangular histogram is by K Individual different crest composition, the light intensity that each crest is corresponding is Ii, wherein I0The highest for light intensity.Utilize in light distribution rectangular histogram The number of crest determines the exposure frequency of each location of pixels, utilizes following formula (3) to determine in multiple different time of exposure each Length:
ti=Ii/I0*t0 (3)
Consequently, it is possible to carry out light distribution histogram analysis by the image that relatively low time of exposure is gathered, determine object Different time of exposure corresponding to location of pixels of different reflecting rate changes each.
At certain time of exposure tiWith under the acquisition condition of camera response coefficient s, camera exports the light distribution of imageFor:
I c n , i = s · t i · I r n , i = s · t i · r ( x , y ) · { A + B · c o s ( φ ( x , y ) + 2 π n / N ) } - - - ( 4 )
The many groups phase shift figure gathered based on different exposure timeUtilize phase shift method to extract respectively and organize wrapped phase more:
φ i ( x , y ) = tan - 1 Σ i = 1 N I c n , i · s i n ( 2 π n / N ) Σ i = 1 N I c n , i · cos ( 2 π n / N ) - - - ( 5 )
Obtain multiple modulation degree D of the sine streak light that camera is gathered simultaneously:
D i ( x , y ) = B A = Σ n = 1 N I c n , i N 2 N [ Σ n = 1 N I c n , i · s i n ( 2 π n / N ) ] 2 + [ Σ n = 1 N I c n , i · c o s ( 2 π n / N ) ] 2 - - - ( 6 )
Owing to multiple different time of exposure can obtain multiple different modulation degree, according to the plurality of modulation degree, by difference Many groups wrapped phase figure of time of exposure gained synthesizes a width wrapped phase figure φcompound(x,y)。
In one embodiment, for the three-dimensional imaging scene that exposure frequency is K, each location of pixels of imaging surface There are K different wrapped phase and K different modulation degree.By comparing the size of the multiple modulation degree obtained, select maximum Wrapped phase obtained by that exposure that modulation degree is corresponding is as the phase value of this location of pixels.All pictures of traversal imaging surface Element position, in the phase diagram synthesized thus, each location of pixels has higher Sine Modulated degree, it is ensured that the phase place obtained Quality.By phase unwrapping technology, by phase diagram φ synthesizedcompound(x, y) obtains absolute phase, in conjunction with the most proven three Dimension binocular structural parameters, rebuild the three-D profile information of body surface by three-dimensional reconstruction algorithm.
Fig. 2 is the flow chart of the three-dimensional rebuilding method 200 utilizing multiple-exposure according to the embodiment of the present invention.Dynamic exposure Three-dimensional rebuilding method 200 can apply to the 3-D imaging system 100 shown in Fig. 1, the following step is merely illustrative, if Same effect can be realized, it is not necessary to perform the method with following particular order.The three-dimensional rebuilding method 200 of dynamic exposure can lead to Cross following steps 202-210 to realize.
Step 202: each location of pixels of object is gathered image with multiple different time of exposure, obtains many groups respectively Phase shift figure；
Step 204: according to described many group phase shift figures, utilizes phase shift method to extract respectively and obtains organizing wrapped phase and accordingly more Multiple modulation degree；
Step 206: according to the plurality of modulation degree, described many group phase shift figures are synthesized wrapped phase figure；
Step 208: based on described wrapped phase figure, obtain absolute phase according to phase-unwrapping algorithm；And
Step 210: travel through all location of pixels of described object, rebuilds described body surface by three-dimensional reconstruction algorithm Three-dimensional information.
Wherein, resolve range data according to recovering the absolute phase that obtains, such as by combining demarcated double Visually the camera coefficient in vision system and structural parameters resolve range data, thus rebuild the three-D profile of body surface Information.Location of pixels all for object, camera utilizes multiple-exposure to gather image in different time of exposure, obtains many groups Phase shift figure, it is ensured that in three-dimensional imaging scene, the region of different reflecting rates can obtain high phase masses, thus improves Three-dimensional Gravity Build the dynamic range to different reflecting rates.
The present invention also provides for the three-dimensional reconstruction system of a kind of dynamic exposure, as it is shown on figure 3, Fig. 3 is to implement according to the present invention The schematic diagram of the three-dimensional reconstruction system 300 of the dynamic exposure of example.This system includes image capture module 302, phase measurements module 304 and three-dimensional information processing module 306, can be used for performing the three-dimensional rebuilding method 200 of the dynamic exposure shown in Fig. 2.Concrete, Image capture module 302 includes the projector 102 shown in Fig. 1 and camera 104, in location of pixels multiple to body surface Each location of pixels gathers image with multiple different time of exposure, obtains many group phase shift figures respectively.Phase measurements module 304 is used According to described many group phase shift figures, utilize phase shift method to extract respectively and obtain organizing wrapped phase and corresponding multiple modulation degree more, with And according to the plurality of modulation degree, described many group phase shift figures are synthesized wrapped phase figure.Three-dimensional information processing module 306 is used for Based on described wrapped phase figure, obtain absolute phase according to phase-unwrapping algorithm, and rebuild by three-dimensional reconstruction algorithm described The three-dimensional information of body surface.
The operation principle of above-mentioned modules as described above, is not repeated here herein.The three-dimensional of above-mentioned dynamic exposure The modules of reconstructing system can be implemented as software, hardware or its mode combined, and software section can be stored in computer In readable storage medium storing program for executing, such as ROM/RAM, disk, CD etc..
Three-dimensional rebuilding method and the system of the dynamic exposure of the present invention utilize multiple-exposure, can to reflecting rate height change relatively Big scene obtains high-quality phase shift figure, it is ensured that the effect of three-dimensional reconstruction.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, the scope of the present invention is with appended Claims define.Those skilled in the art without departing under present invention spirit and principle, any amendment of being made, replacement and Modification etc., should be included in protection scope of the present invention.

Claims (10)

1. the three-dimensional rebuilding method of a dynamic exposure, it is characterised in that including:
Each location of pixels of object is gathered image with multiple different time of exposure, obtains many group phase shift figures respectively；
According to described many group phase shift figures, utilize phase shift method to extract respectively and obtain organizing wrapped phase and corresponding multiple modulation degree more；
According to the plurality of modulation degree, described many group phase shift figures are synthesized wrapped phase figure；
Based on described wrapped phase figure, obtain absolute phase according to phase-unwrapping algorithm；And
Travel through all location of pixels of described object, rebuild the three-dimensional information of described body surface by three-dimensional reconstruction algorithm.
2. the three-dimensional rebuilding method of dynamic exposure as claimed in claim 1, it is characterised in that each location of pixels to object Include with the step that multiple different time of exposure gather image:
Utilize light distribution rectangular histogram described many to determine corresponding to location of pixels of described object difference reflecting rate each Individual different time of exposure.
3. the three-dimensional rebuilding method of dynamic exposure as claimed in claim 2, it is characterised in that described utilize light distribution Nogata Figure determines that the step of the plurality of different exposure time includes:
The number of times of exposure is determined by described light distribution histogrammic crest number；And
During the exposure of the light intensity the highest when irradiating according to light intensity corresponding to described each crest, projection light even intensity and correspondence Between, determine the length of the plurality of time of exposure respectively.
4. the three-dimensional rebuilding method of dynamic exposure as claimed in claim 3, it is characterised in that the length meter of described time of exposure Formula is:
ti=Ii/I0*t0
Wherein, tiFor the time of exposure of i-th crest, IiFor the light intensity that i-th crest is corresponding, I0And t0It is respectively projection light uniform Light intensity the highest under irradiation and the time of exposure of correspondence.
5. the three-dimensional rebuilding method of dynamic exposure as claimed in claim 1, it is characterised in that according to the plurality of modulation degree, The step that described many group phase shift figures synthesize wrapped phase figure is included:
For each location of pixels of described object, the relatively size of the plurality of modulation degree, select maximum percentage modulation corresponding Wrapped phase is as the phase value of this location of pixels.
6. the three-dimensional reconstruction system of a dynamic exposure, it is characterised in that including:
Image capture module, when each location of pixels in the location of pixels multiple to body surface is with multiple different exposure Between gather image, obtain many group phase shift figures respectively；
Phase measurements module, for according to described many group phase shift figures, utilize phase shift method extract respectively obtain organizing more wrapped phase and Corresponding multiple modulation degree, and according to the plurality of modulation degree, described many group phase shift figures are synthesized wrapped phase figure；And
Three-dimensional information processing module, for based on described wrapped phase figure, obtains absolute phase according to phase-unwrapping algorithm, and The three-dimensional information of described body surface is rebuild by three-dimensional reconstruction algorithm.
7. the three-dimensional reconstruction system of dynamic exposure as claimed in claim 6, it is characterised in that described image capture module bag Include:
Projector, for projecting sine streak structure light to described body surface；
Camera, for each location of pixels of object is gathered image with multiple different time of exposure, obtains respectively and organizes phase more Move figure.
8. the three-dimensional reconstruction system of dynamic exposure as claimed in claim 7, it is characterised in that described camera is arranged to utilize It is the plurality of different that light distribution rectangular histogram determines corresponding to location of pixels of described object difference reflecting rate each Time of exposure.
9. the three-dimensional reconstruction system of dynamic exposure as claimed in claim 8, it is characterised in that the number of times of described exposure is by described Light distribution histogrammic crest number determines；And
The length of described time of exposure is based on when light intensity corresponding to described each crest, the irradiation of projection light even intensity the highest The time of exposure of light intensity and correspondence determines.
10. the three-dimensional reconstruction system of dynamic exposure as claimed in claim 6, it is characterised in that described phase measurements module pair In each location of pixels of described object, the relatively size of the plurality of modulation degree, select the folding phase that maximum percentage modulation is corresponding Position is as the phase value of this location of pixels.
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CN114459380A (en) * 2022-01-25 2022-05-10 清华大学深圳国际研究生院 Method for acquiring folding phase, and method and system for three-dimensional reconstruction
CN117523106A (en) * 2023-11-24 2024-02-06 广州市斯睿特智能科技有限公司 Three-dimensional reconstruction method, system, equipment and medium for monocular structured light

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CN108616727A (en) * 2016-12-23 2018-10-02 光宝电子(广州)有限公司 Exposal control method based on structure light and exposure-control device
CN110462688B (en) * 2017-03-26 2023-08-01 康耐视公司 Three-dimensional contour determination system and method using model-based peak selection
CN110462688A (en) * 2017-03-26 2019-11-15 康耐视公司 System and method is determined using the three-D profile of the peak value selection based on model
CN109405735A (en) * 2017-08-18 2019-03-01 阿里巴巴集团控股有限公司 3 D scanning system and 3-D scanning method
CN109405735B (en) * 2017-08-18 2020-11-27 阿里巴巴集团控股有限公司 Three-dimensional scanning system and three-dimensional scanning method
CN109819173A (en) * 2017-11-22 2019-05-28 浙江舜宇智能光学技术有限公司 Depth integration method and TOF camera based on TOF imaging system
CN109819173B (en) * 2017-11-22 2021-12-03 浙江舜宇智能光学技术有限公司 Depth fusion method based on TOF imaging system and TOF camera
CN107894215B (en) * 2017-12-26 2020-05-08 东南大学 High dynamic range grating projection three-dimensional measurement method based on full-automatic exposure
CN107894215A (en) * 2017-12-26 2018-04-10 东南大学 HDR optical grating projection method for three-dimensional measurement based on fully automatic exposure
CN108109201A (en) * 2017-12-28 2018-06-01 深圳市易尚展示股份有限公司 The three-dimensional rebuilding method and system of complex colors surface object
CN108109201B (en) * 2017-12-28 2021-11-30 深圳市易尚展示股份有限公司 Three-dimensional reconstruction method and system for complex color surface object
CN113340236A (en) * 2021-06-28 2021-09-03 四川大学 High dynamic surface topography measuring method
CN113340236B (en) * 2021-06-28 2023-02-24 四川大学 High dynamic surface topography measuring method
CN114459380B (en) * 2022-01-25 2023-06-02 清华大学深圳国际研究生院 Method for acquiring folding phase, three-dimensional reconstruction method and system
CN114459380A (en) * 2022-01-25 2022-05-10 清华大学深圳国际研究生院 Method for acquiring folding phase, and method and system for three-dimensional reconstruction
CN117523106A (en) * 2023-11-24 2024-02-06 广州市斯睿特智能科技有限公司 Three-dimensional reconstruction method, system, equipment and medium for monocular structured light
CN117523106B (en) * 2023-11-24 2024-06-07 广州市斯睿特智能科技有限公司 Three-dimensional reconstruction method, system, equipment and medium for monocular structured light

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