CN106767533B - Efficient phase-three-dimensional mapping method and system based on fringe projection technology of profiling - Google Patents
Efficient phase-three-dimensional mapping method and system based on fringe projection technology of profiling Download PDFInfo
- Publication number
- CN106767533B CN106767533B CN201611242689.4A CN201611242689A CN106767533B CN 106767533 B CN106767533 B CN 106767533B CN 201611242689 A CN201611242689 A CN 201611242689A CN 106767533 B CN106767533 B CN 106767533B
- Authority
- CN
- China
- Prior art keywords
- phase
- dimensional
- pixel
- dimensional mapping
- imaging device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
Abstract
The present invention is suitable for optical 3-dimensional digital imaging technology field, provide a kind of efficient phase-three-dimensional mapping method based on fringe projection technology of profiling, the fringe projection technology of profiling is based on biocular systems, biocular systems include projection arrangement and imaging device, method includes: step S1, utilize projection device striped sequence to object under test surface, and the phase of all pixels point on imaging device image is calculated according to the deforming stripe figure by the deforming stripe figure of object under test surface modulation using imaging device acquisition；Step S2, the corresponding phase of each pixel-three-dimensional mapping coefficient is found out in preset phase-three-dimensional mapping coefficient look-up table, and the phase of each pixel and corresponding phase-three-dimensional mapping coefficient are substituted into phase-three-dimensional mapping function, to calculate the three-dimensional coordinate of the corresponding object point of each pixel on imaging device image.Method provided by the invention can realize the efficient three-dimensional reconstruction of fringe projection technology of profiling.
Description
Technical field
The invention belongs to optical 3-dimensional digital imaging technology field more particularly to a kind of height based on fringe projection technology of profiling
Imitate phase-three-dimensional mapping method and system.
Background technique
Fringe projection technology of profiling is contactless, measurement of full field the optical 3-dimensional digital imagery of one kind and measurement method；Its
Based on a biocular systems, biocular systems generally include a camera and a projector, wherein projector projects one group of sine
The deforming stripe figure that striped sequence is modulated to testee surface, camera acquisition by body surface；It is obtained by fringe analysis technology
The phase modulation for taking deforming stripe figure restores the three-dimensional appearance of testee by scene reconstruction method from phase modulation.
There are two types of the three-dimensional rebuilding methods typically based on fringe projection technology of profiling: phase height mapping method and stereopsis
Feel method；Wherein, phase is mapped directly into height according to the modulation principle of phase and height by phase height mapping method, is realized high
Imitate three-dimensional reconstruction.However, there are some limitations, the light of such as camera or projector for phase height mapping method in practical applications
Axis need to be perpendicular to reference planes, and the line at camera and projector center is parallel to reference planes, and it is empty that reference planes limit measurement
Between etc..In addition, the calibration of phase height mapping method usually requires to obtain accurate height using precision displacement platform or gauge block
Value is not suitable for field calibration.
And stereo vision method is to carry out three-dimensional reconstruction according to principle of triangulation.In contrast, due to using biocular systems
Structure, stereo vision method those of overcome in phase height mapping method application limitation；And stereo vision method is calibrated
Journey is more flexible, and target need to be only placed on to suitable position in measurement space can be completed system calibrating.However, rebuilding
Cheng Zhong, stereo vision method need to carry out a series of coordinate transform, the especially corresponding points between search camera and projector, greatly
Computation complexity and time cost are increased greatly, significantly reduces the efficiency of three-dimensional reconstruction.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of efficient phase-three-dimensional based on fringe projection technology of profiling
Mapping method and system, it is intended to phase be mapped directly to the three-dimensional coordinate of spatial point, and then realize efficient the three of object under test
Dimension is rebuild.
The present invention provides a kind of efficient phase-three-dimensional mapping method based on fringe projection technology of profiling, the striped throwing
Shadow technology of profiling is based on biocular systems, and the biocular systems include projection arrangement and imaging device, which comprises
Step S1 is acquired using projection device striped sequence to object under test surface, and using imaging device by institute
All pictures on imaging device image are calculated according to the deforming stripe figure in the deforming stripe figure for stating object under test surface modulation
The phase of vegetarian refreshments；
Step S2 finds out the corresponding phase-of each pixel in preset phase-three-dimensional mapping coefficient look-up table
Three-dimensional mapping coefficient, and the phase of each pixel and corresponding phase-three-dimensional mapping coefficient are substituted into preset phase
The three-dimensional mapping function in position-, to calculate the three-dimensional coordinate of the corresponding object point of each pixel on imaging device image.
Further, the phase-three-dimensional mapping function are as follows:
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel
The corresponding phase of point, an,bn,cn,cX, cY, cZIt is phase-three-dimensional mapping coefficient, wherein an,bn,cnBeing is phase-three-dimensional respectively
Mapping function Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is phase-three-dimensional mapping function X respectivelyc
(φc),Yc(φc),Zc(φc) in constant term.
Further, before the step S1 further include:
Step S01 goes out the system parameter of the biocular systems by ray re-projection calibration；
Step S02 calibrates phase-three-dimensional mapping coefficient by sampling mapping policy, and obtain in conjunction with the system parameter
To phase-three-dimensional mapping coefficient look-up table.
Further, the step S01 is specifically included:
The target for being printed on index point is placed in calibration space, acquires the target using the imaging device by step S011
Imaging device image utilize the imaging device then using in the orthogonal striped sequence to the target of projection device
The orthogonal bar graph that acquisition is modulated by the target surface for being printed on the index point；
Step S012 extracts the coordinate of index point pixel on the imaging device image；
Step S013 calculates quadrature phase by the orthogonal bar graph, and determines the index point by quadrature phase
The coordinate of pixel on projection arrangement image；
Step S014 determines index point in imaging device figure by back projection stereoscopic model in conjunction with system parameter
As upper pixel coordinate and projection arrangement image on pixel coordinate difference back projection space ray, by preset
System parameter described in ray re-projection Developing Tactics, most with the sum of the distance of the index point to two corresponding space rays
System parameter of the system parameter of hour as the biocular systems calibrated.
Further, the step S02 is specifically included:
Step S021 determines that the coordinate of any pixel on imaging device image is reversely thrown using the system parameter calibrated
The space ray of shadow；
Step S022 is sampled along the space ray in calibration space, obtains a series of spatial sampling point, will
The series spatial sampling point is projected to respectively on projection arrangement image, obtains corresponding phase value；
Step S023 is fitted using the three-dimensional coordinate of the corresponding phase value of series of samples point and the series of samples point
Phase-three-dimensional mapping coefficient of any pixel point out；
Step S024 repeats step S021-S023 to each pixel on the imaging device image, obtains each picture
The phase of vegetarian refreshments-three-dimensional mapping coefficient, and generate phase-three-dimensional mapping coefficient look-up table.
The present invention also provides a kind of efficient phase-three-dimensional mapped system based on fringe projection technology of profiling, the striped
Projected outline's art is based on biocular systems, and the biocular systems include projection arrangement and imaging device, the phase-three-dimensional mapping system
System includes:
Phase obtains module, for utilizing projection device striped sequence to object under test surface, and utilizes imaging dress
Acquisition is set by the deforming stripe figure of the object under test surface modulation, imaging device figure is calculated according to the deforming stripe figure
As the phase of upper all pixels point；
Three-dimensional coordinate obtains module, for finding out each picture in preset phase-three-dimensional mapping coefficient look-up table
The corresponding phase of vegetarian refreshments-three-dimensional mapping coefficient, and be by the phase of each pixel and corresponding phase-three-dimensional mapping
Number substitutes into preset phase-three-dimensional mapping function, to calculate the corresponding object point of each pixel on imaging device image
Three-dimensional coordinate.
Further, the phase-three-dimensional mapping function are as follows:
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel
The corresponding phase of point, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein an,bn,cnBeing is phase-three-dimensional respectively
Mapping function Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is phase-three-dimensional mapping function X respectivelyc
(φc),Yc(φc),Zc(φc) in constant term.
Further, the phase-three-dimensional mapped system further includes demarcating module, and the demarcating module is used for phase-
Three-dimensional mapping coefficient is demarcated, and the demarcating module includes the first calibration submodule and the second calibration submodule；
The first calibration submodule, the system for going out the biocular systems by ray re-projection calibration are joined
Number；
The second calibration submodule, for calibrating phase-three by sampling mapping policy in conjunction with the system parameter
Mapping coefficient is tieed up, and obtains phase-three-dimensional mapping coefficient look-up table.
Further, the first calibration submodule specifically includes:
Submodule is acquired, for the target for being printed on index point to be placed in calibration space, acquires institute using the imaging device
State the imaging device image of target, then using in the orthogonal striped sequence to the target of projection device, using it is described at
The orthogonal bar graph modulated as device acquisition by the target surface for being printed on the index point；
First coordinate acquisition submodule, for extracting the seat of index point pixel on the imaging device image
Mark；
Second coordinate acquisition submodule for calculating quadrature phase by the orthogonal bar graph, and passes through quadrature phase
Determine the coordinate of index point pixel on projection arrangement image；
System parameter calibration submodule, for determining and indicating in conjunction with system parameter by back projection stereoscopic model
The space of the coordinate difference back projection of point pixel on the coordinate of pixel and projection arrangement image on imaging device image
Ray, by system parameter described in preset ray re-projection Developing Tactics, with the index point to two corresponding spaces
System parameter of the system parameter as the biocular systems calibrated when the sum of the distance minimum of ray.
Further, the second calibration submodule specifically includes:
Space ray projects submodule, for determining any pixel on imaging device image using the system parameter calibrated
The space ray of the coordinate back projection of point；
Phase value acquisition submodule obtains a series of for being sampled in calibration space along the space ray
The series spatial sampling point is projected on projection arrangement image respectively, obtains corresponding phase value by spatial sampling point；
Phase-three-dimensional mapping coefficient demarcates submodule, for using the corresponding phase value of series of samples point and being somebody's turn to do
The three-dimensional coordinate of series of samples point fits phase-three-dimensional mapping coefficient of any pixel point；
Phase-three-dimensional mapping coefficient look-up table acquisition submodule, for each pixel on the imaging device image
Point is handled, and obtains phase-three-dimensional mapping coefficient of each pixel, and generate phase-three-dimensional mapping coefficient look-up table.
Compared with prior art, the present invention beneficial effect is: provided by the invention a kind of based on fringe projection technology of profiling
Efficient phase-three-dimensional mapping method and system, be first found out in preset phase-three-dimensional mapping coefficient look-up table it is each
Corresponding phase-three-dimensional the mapping coefficient of a pixel, then by the phase of each pixel and corresponding phase-three-dimensional mapping system
Number substitute into phase-three-dimensional mapping functions in, the three-dimensional coordinate of the corresponding object point of each pixel can be obtained, thus obtain to
Survey the three-dimensional coordinate of body surface；Can realize the efficient three-dimensional reconstruction of object under test through the above way, this method meet efficiently,
The requirement of high-precision 3 D digital imaging and measurement based on fringe projection technology of profiling.
Detailed description of the invention
Fig. 1 is provided in an embodiment of the present invention to demarcate to phase-three-dimensional mapping function phase-three-dimensional mapping coefficient
Flow diagram；
Fig. 2 is a kind of efficient phase-three-dimensional mapping method based on fringe projection technology of profiling provided in an embodiment of the present invention
Flow diagram；
Fig. 3 is that the back projection for the biocular systems that imaging device provided in an embodiment of the present invention-projection arrangement is constituted is three-dimensional
Vision mode；
Fig. 4 is coordinate of the plane target index point provided in an embodiment of the present invention on camera image and projection point
Cloth schematic diagram；
Fig. 5 is the phase diagram of plaster statue provided in an embodiment of the present invention；
Fig. 6 is the three-dimensional model diagram of plaster statue provided in an embodiment of the present invention；
Fig. 7 is a kind of efficient phase-three-dimensional mapped system based on fringe projection technology of profiling provided in an embodiment of the present invention
Module diagram；
Fig. 8 is provided in an embodiment of the present invention to demarcate to phase-three-dimensional mapping function phase-three-dimensional mapping coefficient
Module diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
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.
Main realization thought of the invention are as follows: phase and three-dimensional coordinate are derived based on back projection stereoscopic model
Mapping relations derive phase-three-dimensional mapping function；On the basis of the phase-three-dimensional mapping function, it is pre-designed
A kind of two step calibration algorithms, including the calibration of light re-projection and sampling mapping calibrating, to obtain phase-three-dimensional mapping coefficient；It will
Phase and the phase-three-dimensional mapping coefficient bring the phase-three-dimensional mapping function into, to obtain the three of object under test surface
Coordinate is tieed up, and realizes the efficient three-dimensional reconstruction of object under test in turn.
Lower mask body introduces this efficient phase-three-dimensional mapping method based on fringe projection technology of profiling, and the striped is thrown
Shadow technology of profiling is based on biocular systems, and the biocular systems include projection arrangement and imaging device；As shown in Figure 1, executing we
Before method, there are one pretreated steps；I.e. before step S1, further includes:
Step S0 demarcates phase-three-dimensional mapping function phase-three-dimensional mapping coefficient；
Specifically, phase-three-dimensional mapping function mapping coefficient, be by being pre-designed a kind of two step calibration algorithms,
Mapping calibrating, phase-three-dimensional mapping coefficient flexible, the Accurate Calibration of Lai Shixian are demarcated and sampled including light re-projection；Mark
Fixed purpose is to determine the phase of each pixel in imaging device image-three-dimensional mapping coefficient, and one pixel of generation
Phase-three-dimensional mapping coefficient look-up table of point index.
The step S0 includes:
Step S01 goes out the system parameter of the biocular systems by ray re-projection calibration；
Specifically, ray re-projection refers to: by the system parameters of biocular systems by the coordinate back projection of pixel
A space ray out；Ray re-projection strategy refers to: minimizing ray re-projection error, i.e., adjustment biocular systems is
System parameter keeps object point minimum to the error distance of back projection ray.
Specifically, the step S01 is specifically included:
The target for being printed on index point is placed in calibration space, acquires the target using the imaging device by step S011
Imaging device image utilize the imaging device then using in the orthogonal striped sequence to the target of projection device
The orthogonal bar graph that acquisition is modulated by the target surface for being printed on the index point.
Specifically, it if the target is plane target, needs plane target being placed in different location, under each position
The imaging device image of the target is acquired using the imaging device, is then arrived using the orthogonal striped sequence of projection device
On the target, using imaging device acquisition by the orthogonal bar graph for the target surface modulation for being printed on the index point.
Step S012 extracts the coordinate of index point pixel on the imaging device image；
Step S013 calculates quadrature phase by the orthogonal bar graph, and determines the index point by quadrature phase
The coordinate of pixel on projection arrangement image；
Step S014 determines index point in imaging device figure by back projection stereoscopic model in conjunction with system parameter
As upper pixel coordinate and projection arrangement image on pixel coordinate difference back projection space ray, by preset
System parameter described in ray re-projection Developing Tactics, most with the sum of the distance of the index point to two corresponding space rays
The system parameter of hour is as the system parameter for calibrating the biocular systems.
Specifically, the biocular systems being made of projection arrangement and imaging device use back projection stereoscopic model；It should
Model is it is meant that in the ideal case, correspond to the coordinate and imaging device figure of pixel on the projection arrangement image of the same object point
As the coordinate of upper pixel is intersected in the object point by two space rays of back projection, meet stereo vision three-dimensional imaging
Physical process.
Step S02 calibrates phase-three-dimensional mapping coefficient by sampling mapping policy, and obtain in conjunction with the system parameter
To phase-three-dimensional mapping coefficient look-up table.
Specifically, sampling mapping refers on the back projection ray of any one pixel on imaging device image
It is sampled, obtains a series of spatial sampling points, which is mapped on projection arrangement image, corresponding phase is obtained
Place value；Sampling mapping policy, which refers to, utilizes the corresponding phase value of the series of samples point three-dimensional corresponding with the series of samples point
Coordinate fitting goes out phase-three-dimensional mapping coefficient of the pixel.
The step S02 is specifically included:
Step S021 determines that the coordinate of any pixel on imaging device image is reversely thrown using the system parameter calibrated
The space ray of shadow；
Step S022 is sampled along the space ray in calibration space, obtains a series of spatial sampling point, will
The series spatial sampling point is projected to respectively on projection arrangement image, obtains corresponding phase value；
Step S023 is fitted using the three-dimensional coordinate of the corresponding phase value of series of samples point and the series of samples point
Phase-three-dimensional mapping coefficient of any pixel point out；
Step S024 repeats step S021-S023 to each pixel on the imaging device image, obtains each picture
The phase of vegetarian refreshments-three-dimensional mapping coefficient, and generate phase-three-dimensional mapping coefficient look-up table.
Specifically, it has been determined that phase-three-dimensional of each pixel in imaging device image is reflected by above-mentioned calibration process
Penetrate coefficient；The corresponding phase-of each pixel on imaging device image can be found by phase-three-dimensional mapping coefficient look-up table
Three-dimensional mapping coefficient, the corresponding phase-three-dimensional mapping coefficient of each pixel mentioned herein refer to the seat of each pixel
Mark corresponding phase-three-dimensional mapping coefficient.
Lower mask body introduction executes the step of this efficient phase-three-dimensional mapping method based on fringe projection technology of profiling,
As shown in Figure 2, which comprises
Step S1 is acquired using projection device striped sequence to object under test surface, and using imaging device by institute
All pictures on imaging device image are calculated according to the deforming stripe figure in the deforming stripe figure for stating object under test surface modulation
The phase of vegetarian refreshments；
Step S2 finds out the corresponding phase-of each pixel in preset phase-three-dimensional mapping coefficient look-up table
Three-dimensional mapping coefficient, and the phase of each pixel and corresponding phase-three-dimensional mapping coefficient are substituted into preset phase
The three-dimensional mapping function in position-, to calculate the three-dimensional coordinate of the corresponding object point of each pixel on imaging device image.
Specifically, the phase-three-dimensional mapping coefficient look-up table is phase-three-dimensional mapping coefficient of pixel index
Look-up table；It is to find out corresponding phase-three-dimensional mapping coefficient by pixel index in phase-three-dimensional mapping coefficient look-up table.
The phase-three-dimensional mapping function are as follows:
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel
The corresponding phase of point, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein an,bn,cnBeing is phase-three-dimensional respectively
Mapping function Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is phase-three-dimensional mapping function X respectivelyc
(φc),Yc(φc),Zc(φc) in constant term.
Lower mask body introduces above-mentioned formula (1) i.e. phase-three-dimensional mapping function derivation process:
Phase-three-dimensional mapping function is based between the back projection stereoscopic model phase derived and three-dimensional coordinate
Mapping relations, be illustrated in figure 3 back projection stereoscopic model, the back projection stereoscopic model indicate are as follows:
Wherein, XwAnd XcIt is coordinate of the object point respectively under world coordinate system and imaging device coordinate system, xcAnd xpIt is object point
Pixel on imaging device image and projection arrangement image respectively, x 'cWith x 'pIt is to correspond respectively to xcAnd xpDistortion sit
Mark, mcAnd mpIt is the coordinate of pixel on imaging device image and projection arrangement image, R respectivelycAnd tcIt is world coordinate system respectively
To the spin matrix and translation vector of imaging device coordinate system, RsAnd tsIt is imaging device coordinate system respectively to projection arrangement coordinate
The spin matrix and translation vector of system, KcAnd KpIt is the projection matrix of imaging device and projection arrangement, k respectivelycAnd kpIt is into respectively
As device and projection arrangement distortion coefficients of camera lens vector, λc、λpFor scale factor, I indicates unit matrix, and 0 is null vector,Table
Show homogeneous coordinates.In general, R, t indicate outer ginseng, K, k indicate internal reference.
In the present invention, it is assumed that vertical striped is projected, then the phase value φ on projection arrangement imagepIt is proportional to abscissa up。
For a pair of of corresponding points m of imaging device and projection arrangementcAnd mp, their phase value is equal, i.e. φp=φc.Therefore φcIt arrives
upIt is a linear mapping relation:
Wherein, subscript L indicates linear mapping relation.It is constrained according to epipolar geom etry, the pixel m on imaging device imagec
A corresponding polar curve l on projection arrangement imagep.Due to lens distortion, actual polar curve is a buckling curve l 'p.Due to
l′pIt is a full curve, according to Weierstrass approximation theorem, which can be approximated to be polynomial curve.Due to mp?
l′pOn, image coordinate upTo vpIt is polynomial map relationship:
Wherein, subscript P representative polynomial mapping relations.According to formula (2), picture point mpIt is converted into projection arrangement coordinate system
Under, i.e. x 'p=(x 'p,y′p)T, it is expressed as
Formula (5) is contained from (up, vp) arrive x 'pWith y 'pLinear Mapping, indicate are as follows:
From distortion figure picture point x 'pIt is remedied to orthoscopic image point xpIt is a polynomial map process, indicates are as follows:
From picture point xcAnd xpTwo space rays of back projection are intersected in spatial point Xc.According to back projection stereoscopic vision
Model, i.e. formula (2), ray cross expression are as follows:
The three-dimensional coordinate of spatial point can be solved from formula (8), indicated are as follows:
Wherein, rijAnd tiIt is R respectivelysAnd tsElement.
In the present invention, biocular systems are remained stationary, pixel on imaging device image specific for one, Rs, tsAnd figure
As coordinate xcAnd ycIt is determining.So space coordinate Xc, YcAnd ZcIt is x respectivelypFunction, indicate are as follows:
Formula (3), (4), (6) and (7) are substituted into (10), can derive formula (1).
The three-dimensional coordinate of object under test surface object point is obtained through the above way, can rebuild the three-dimensional shaped of object under test
Looks.
It names a specific embodiment and illustrates above-mentioned efficient phase-three-dimensional mapping method based on fringe projection technology of profiling
Implementation procedure, in the embodiment of the present invention, imaging device is camera, and projection arrangement is projector, and object under test is plaster statue:
Before the three-dimensional coordinate for calculating object point, first phase-three-dimensional mapping coefficient is demarcated, specifically, using flat
The biocular systems that face target is formed by step S011-S014 calibration for cameras and projector, optimization system parameter；Using having demarcated
System parameter, fit phase-three-dimensional mapping coefficient by step S021-S024, the phase-three-dimensional for generating pixel index is reflected
Coefficient Look-up Table is penetrated, that is, completes demarcating steps.When calculating the three-dimensional coordinate of object point, sine streak sequence is first projected to plaster statue
Surface acquires deforming stripe figure using camera, all pixels point on camera image is calculated according to the deforming stripe figure
Phase；Then, corresponding phase-three-dimensional mapping coefficient is found out by pixel index in phase-three-dimensional mapping coefficient look-up table,
The phase value of pixel and corresponding phase-three-dimensional mapping coefficient are substituted into formula (1) and calculate three-dimensional coordinate, ultimately generates three-dimensional
Model.
Wherein, Fig. 4 is coordinate of the plane target index point on camera image and projection under one of position
Distribution, Fig. 5 is the phase diagram of plaster statue, and Fig. 6 is the three-dimensional model diagram of plaster statue.
Efficient phase provided by the invention based on fringe projection technology of profiling-three-dimensional mapping method meets efficiently, in high precision
3 D digital imaging and measurement requirement.
Lower mask body introduces this efficient phase-three-dimensional mapped system based on fringe projection technology of profiling, and the striped is thrown
Shadow technology of profiling is based on biocular systems, and the biocular systems include projection arrangement and imaging device；The phase-three-dimensional mapped system
Before operation, it is demarcated；So as shown in fig. 7, the phase-three-dimensional mapped system includes a demarcating module
1, for the demarcating module 1 for demarcating to phase-three-dimensional mapping coefficient, the demarcating module includes the first calibration submodule
11 and second demarcate submodule 12；
Wherein, the first calibration submodule 11, for going out the biocular systems by ray re-projection calibration
System parameter；
As shown in figure 8, the first calibration submodule 11 specifically includes:
Submodule 111 is acquired, for the target for being printed on index point to be placed in calibration space, is acquired using the imaging device
The imaging device image of the target, then using in the orthogonal striped sequence to the target of projection device, using described
The orthogonal bar graph that imaging device acquisition is modulated by the target surface for being printed on the index point；
First coordinate acquisition submodule 112, for extracting index point pixel on the imaging device image
Coordinate；
Second coordinate acquisition submodule 113 for calculating quadrature phase by the orthogonal bar graph, and passes through orthorhombic phase
Position determines the coordinate of index point pixel on projection arrangement image；
System parameter calibration submodule 114, for determining and marking in conjunction with system parameter by back projection stereoscopic model
The sky of the coordinate difference back projection of will point pixel on the coordinate of pixel and projection arrangement image on imaging device image
Between ray, by system parameter described in preset ray re-projection Developing Tactics, with the index point to two corresponding skies
Between ray sum of the distance minimum when system parameter of the system parameter as the biocular systems calibrated.
The second calibration submodule 12, for calibrating phase-by sampling mapping policy in conjunction with the system parameter
Three-dimensional mapping coefficient, and obtain phase-three-dimensional mapping coefficient look-up table.
The second calibration submodule 12 specifically includes:
Space ray projects submodule 121, any on imaging device image for being determined using the system parameter calibrated
The space ray of the coordinate back projection of pixel；
Phase value acquisition submodule 122 obtains a series of for being sampled in calibration space along the space ray
Spatial sampling point, which is projected to respectively on projection arrangement image, corresponding phase value is obtained；
Phase-three-dimensional mapping coefficient demarcates submodule 123, for using the corresponding phase value of series of samples point and
The three-dimensional coordinate of the series of samples point fits phase-three-dimensional mapping coefficient of any pixel point；
Phase-three-dimensional mapping coefficient look-up table acquisition submodule 124, for each picture on the imaging device image
Vegetarian refreshments is handled, and phase-three-dimensional mapping coefficient of each pixel is obtained, and generates phase-three-dimensional mapping coefficient look-up table.
The phase-three-dimensional mapped system further include:
Phase obtains module 2, for utilizing projection device striped sequence to object under test surface, and utilizes imaging dress
Acquisition is set by the deforming stripe figure of the object under test surface modulation, imaging device figure is calculated according to the deforming stripe figure
As the phase of upper all pixels point；
Three-dimensional coordinate obtains module 3, for finding out each picture in preset phase-three-dimensional mapping coefficient look-up table
The corresponding phase of vegetarian refreshments-three-dimensional mapping coefficient, and be by the phase of each pixel and corresponding phase-three-dimensional mapping
Number substitutes into preset phase-three-dimensional mapping function, to calculate the corresponding object point of each pixel on imaging device image
Three-dimensional coordinate.
Specifically, the phase-three-dimensional mapping function are as follows:
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel
The corresponding phase of point, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein an,bn,cnBeing is phase-three-dimensional respectively
Mapping function Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is phase-three-dimensional mapping function X respectivelyc
(φc),Yc(φc),Zc(φc) in constant term.
Efficient phase provided by the invention based on fringe projection technology of profiling-three-dimensional mapped system meets efficiently, in high precision
3 D digital imaging and measurement requirement.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of efficient phase-three-dimensional mapping method based on fringe projection technology of profiling, the fringe projection technology of profiling is based on double
Mesh system, the biocular systems include projection arrangement and imaging device, which is characterized in that the described method includes:
Step S1, using projection device striped sequence to object under test surface, and using imaging device acquisition by it is described to
The deforming stripe figure for surveying body surface modulation, is calculated all pixels point on imaging device image according to the deforming stripe figure
Phase；
Step S2 finds out the corresponding phase-three-dimensional of each pixel in preset phase-three-dimensional mapping coefficient look-up table
Mapping coefficient, and the phase of each pixel and corresponding phase-three-dimensional mapping coefficient are substituted into preset phase-three
Mapping function is tieed up, to calculate the three-dimensional coordinate of the corresponding object point of each pixel on imaging device image；
Wherein, before the step S1 further include:
Step S01 goes out the system parameter of the biocular systems by ray re-projection calibration；
Step S02 calibrates phase-three-dimensional mapping coefficient by sampling mapping policy, and obtain phase in conjunction with the system parameter
The three-dimensional mapping coefficient look-up table in position-.
2. efficiently phase-three-dimensional mapping method as described in claim 1, which is characterized in that the phase-three-dimensional mapping function
Are as follows:
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is that pixel is corresponding
Phase, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein an,bn,cnBeing is phase-three-dimensional mapping letter respectively
Number Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is phase-three-dimensional mapping function X respectivelyc(φc),Yc
(φc),Zc(φc) in constant term.
3. efficiently phase-three-dimensional mapping method as described in claim 1, which is characterized in that the step S01 is specifically included:
Step S011, by the target for being printed on index point be placed in calibration space, using the imaging device acquire the target at
As device image, then using in the orthogonal striped sequence to the target of projection device, acquired using the imaging device
The orthogonal bar graph modulated by the target surface for being printed on the index point；
Step S012 extracts the coordinate of index point pixel on the imaging device image；
Step S013 calculates quadrature phase by the orthogonal bar graph, and determines that the index point is being thrown by quadrature phase
The coordinate of pixel on image device image；
Step S014 determines index point on imaging device image by back projection stereoscopic model in conjunction with system parameter
The space ray of the coordinate difference back projection of pixel, passes through preset ray on the coordinate and projection arrangement image of pixel
System parameter described in re-projection Developing Tactics, when with the sum of the distance minimum of the index point to two corresponding space rays
System parameter of the system parameter as the biocular systems calibrated.
4. efficient phase-three-dimensional mapping method as claimed in claim 1 or 3, which is characterized in that the step S02 is specifically wrapped
It includes:
Step S021 determines the coordinate back projection of any pixel on imaging device image using the system parameter calibrated
Space ray；
Step S022 is sampled along the space ray in calibration space, is obtained a series of spatial sampling point, be by this
Column space sampled point is projected to respectively on projection arrangement image, obtains corresponding phase value；
Step S023 fits institute using the three-dimensional coordinate of the corresponding phase value of series of samples point and the series of samples point
State phase-three-dimensional mapping coefficient of any pixel point；
Step S024 repeats step S021-S023 to each pixel on the imaging device image, obtains each pixel
Phase-three-dimensional mapping coefficient, and generate phase-three-dimensional mapping coefficient look-up table.
5. a kind of efficient phase-three-dimensional mapped system based on fringe projection technology of profiling, the fringe projection technology of profiling is based on double
Mesh system, the biocular systems include projection arrangement and imaging device, which is characterized in that the phase-three-dimensional mapped system packet
It includes:
Phase obtains module, for being adopted using projection device striped sequence to object under test surface, and using imaging device
Collection is calculated on imaging device image by the deforming stripe figure of the object under test surface modulation according to the deforming stripe figure
The phase of all pixels point；
Three-dimensional coordinate obtains module, for finding out each pixel in preset phase-three-dimensional mapping coefficient look-up table
Corresponding phase-three-dimensional mapping coefficient, and by the phase of each pixel and corresponding phase-three-dimensional mapping coefficient generation
Enter preset phase-three-dimensional mapping function, to calculate three of the corresponding object point of each pixel on imaging device image
Tie up coordinate；
Wherein, the phase-three-dimensional mapped system further includes demarcating module, and the demarcating module is used to map phase-three-dimensional
Coefficient is demarcated, and the demarcating module includes the first calibration submodule and the second calibration submodule；
The first calibration submodule, for going out the system parameter of the biocular systems by ray re-projection calibration；
The second calibration submodule, for calibrating phase-three-dimensional by sampling mapping policy and reflecting in conjunction with the system parameter
Coefficient is penetrated, and obtains phase-three-dimensional mapping coefficient look-up table.
6. efficiently phase-three-dimensional mapped system as claimed in claim 5, which is characterized in that the phase-three-dimensional mapping function
Are as follows:
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is that pixel is corresponding
Phase, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein an,bn,cnBeing is phase-three-dimensional mapping letter respectively
Number Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is phase-three-dimensional mapping function X respectivelyc(φc),Yc
(φc),Zc(φc) in constant term.
7. efficiently phase-three-dimensional mapped system as claimed in claim 5, which is characterized in that the first calibration submodule tool
Body includes:
Submodule is acquired, for the target for being printed on index point to be placed in calibration space, acquires the mark using the imaging device
The imaging device image of target is filled then using in the orthogonal striped sequence to the target of projection device using the imaging
Set the orthogonal bar graph that acquisition is modulated by the target surface for being printed on the index point；
First coordinate acquisition submodule, for extracting the coordinate of index point pixel on the imaging device image；
Second coordinate acquisition submodule for calculating quadrature phase by the orthogonal bar graph, and is determined by quadrature phase
The coordinate of index point pixel on projection arrangement image；
System parameter calibration submodule, for determining that index point exists in conjunction with system parameter by back projection stereoscopic model
On imaging device image on the coordinate of pixel and projection arrangement image the coordinate difference back projection of pixel space ray,
By system parameter described in preset ray re-projection Developing Tactics, with the index point to two corresponding space rays
System parameter of the system parameter as the biocular systems calibrated when sum of the distance minimum.
8. efficient phase-three-dimensional mapped system as claimed in claims 6 or 7, which is characterized in that the second calibration submodule
It specifically includes:
Space ray projects submodule, for determining any pixel on imaging device image using the system parameter calibrated
The space ray of coordinate back projection；
Phase value acquisition submodule obtains a series of space for being sampled in calibration space along the space ray
The series spatial sampling point is projected on projection arrangement image respectively, obtains corresponding phase value by sampled point；
Phase-three-dimensional mapping coefficient demarcates submodule, for using the corresponding phase value of series of samples point and the series
The three-dimensional coordinate of sampled point fits phase-three-dimensional mapping coefficient of any pixel point；
Phase-three-dimensional mapping coefficient look-up table acquisition submodule, for being clicked through to each pixel on the imaging device image
Row processing, obtains phase-three-dimensional mapping coefficient of each pixel, and generate phase-three-dimensional mapping coefficient look-up table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611242689.4A CN106767533B (en) | 2016-12-28 | 2016-12-28 | Efficient phase-three-dimensional mapping method and system based on fringe projection technology of profiling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611242689.4A CN106767533B (en) | 2016-12-28 | 2016-12-28 | Efficient phase-three-dimensional mapping method and system based on fringe projection technology of profiling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106767533A CN106767533A (en) | 2017-05-31 |
| CN106767533B true CN106767533B (en) | 2019-07-05 |
Family
ID=58925593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611242689.4A Active CN106767533B (en) | 2016-12-28 | 2016-12-28 | Efficient phase-three-dimensional mapping method and system based on fringe projection technology of profiling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106767533B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019051728A1 (en) * | 2017-09-14 | 2019-03-21 | 深圳大学 | Three-dimensional digital imaging method and device for wrapped phase based on phase mapping |
| CN107869968B (en) * | 2017-12-01 | 2020-05-05 | 杭州测度科技有限公司 | Rapid three-dimensional scanning method and system suitable for surface of complex object |
| JP7004244B2 (en) * | 2017-12-27 | 2022-01-21 | オムロン株式会社 | Image processing system, image processing method, and its program |
| CN108253907B (en) * | 2018-02-01 | 2020-07-21 | 深圳市易尚展示股份有限公司 | Three-dimensional measurement method and device based on Hilbert transform phase error correction |
| CN110310365B (en) * | 2019-06-27 | 2021-01-05 | 四川大学 | Three-dimensional reconstruction method and device |
| CN110849268B (en) * | 2019-12-10 | 2021-07-06 | 南昌航空大学 | Quick phase-height mapping calibration method |
| CN112070842B (en) * | 2020-07-28 | 2023-03-21 | 安徽农业大学 | Multi-camera global calibration method based on orthogonal coding stripes |
| CN111952230B (en) * | 2020-09-01 | 2021-03-16 | 无锡卓海科技有限公司 | Transparent wafer edge extraction method of pre-alignment machine |
| CN112985258B (en) * | 2021-01-18 | 2023-07-07 | 深圳市菲森科技有限公司 | Calibration method and measurement method of three-dimensional measurement system |
| CN112967342B (en) * | 2021-03-18 | 2022-12-06 | 深圳大学 | High-precision three-dimensional reconstruction method and system, computer equipment and storage medium |
| CN112967348A (en) * | 2021-04-01 | 2021-06-15 | 深圳大学 | Three-dimensional reconstruction method based on one-dimensional scanning structured light system and related components thereof |
| CN113409367B (en) * | 2021-07-08 | 2023-08-18 | 西安交通大学 | Stripe projection measurement point cloud point-by-point weighting registration method, equipment and medium |
| CN115164777B (en) * | 2022-07-04 | 2024-07-23 | 四川大学 | Phase shift structured light real-time phase calculation method and device based on one-dimensional lookup table |
| CN117379007B (en) * | 2023-12-07 | 2024-03-15 | 合肥锐视医疗科技有限公司 | 3D optical imaging system and method |
| CN118097039B (en) * | 2024-04-29 | 2024-07-05 | 武汉工程大学 | Surface structured light three-dimensional point cloud reconstruction method and system based on discrete projection light |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4687325A (en) * | 1985-03-28 | 1987-08-18 | General Electric Company | Three-dimensional range camera |
| JP3265476B2 (en) * | 1999-06-25 | 2002-03-11 | 和歌山大学長 | Real-time shape deformation measurement method |
| CN101074869A (en) * | 2007-04-27 | 2007-11-21 | 东南大学 | Method for measuring three-dimensional contour based on phase method |
| CN101949693A (en) * | 2010-08-03 | 2011-01-19 | 河北工业大学 | Method for calibrating three-dimensional imaging system |
| CN102622747A (en) * | 2012-02-16 | 2012-08-01 | 北京航空航天大学 | Camera parameter optimization method for vision measurement |
| CN103994732A (en) * | 2014-05-29 | 2014-08-20 | 南京理工大学 | Three-dimensional measurement method based on fringe projection |
| CN104111039A (en) * | 2014-08-08 | 2014-10-22 | 电子科技大学 | Calibrating method for randomly placing fringe projection three-dimensional measuring system |
| CN106164979A (en) * | 2015-07-13 | 2016-11-23 | 深圳大学 | A kind of three-dimensional facial reconstruction method and system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8462207B2 (en) * | 2009-02-12 | 2013-06-11 | Primesense Ltd. | Depth ranging with Moiré patterns |
| US20160094830A1 (en) * | 2014-09-26 | 2016-03-31 | Brown University | System and Methods for Shape Measurement Using Dual Frequency Fringe Patterns |
-
2016
- 2016-12-28 CN CN201611242689.4A patent/CN106767533B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4687325A (en) * | 1985-03-28 | 1987-08-18 | General Electric Company | Three-dimensional range camera |
| JP3265476B2 (en) * | 1999-06-25 | 2002-03-11 | 和歌山大学長 | Real-time shape deformation measurement method |
| CN101074869A (en) * | 2007-04-27 | 2007-11-21 | 东南大学 | Method for measuring three-dimensional contour based on phase method |
| CN101949693A (en) * | 2010-08-03 | 2011-01-19 | 河北工业大学 | Method for calibrating three-dimensional imaging system |
| CN102622747A (en) * | 2012-02-16 | 2012-08-01 | 北京航空航天大学 | Camera parameter optimization method for vision measurement |
| CN103994732A (en) * | 2014-05-29 | 2014-08-20 | 南京理工大学 | Three-dimensional measurement method based on fringe projection |
| CN104111039A (en) * | 2014-08-08 | 2014-10-22 | 电子科技大学 | Calibrating method for randomly placing fringe projection three-dimensional measuring system |
| CN106164979A (en) * | 2015-07-13 | 2016-11-23 | 深圳大学 | A kind of three-dimensional facial reconstruction method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106767533A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106767533B (en) | Efficient phase-three-dimensional mapping method and system based on fringe projection technology of profiling | |
| WO2018119771A1 (en) | Efficient phase-three-dimensional mapping method and system based on fringe projection profilometry | |
| CN110288642B (en) | Three-dimensional object rapid reconstruction method based on camera array | |
| CN107316325B (en) | Airborne laser point cloud and image registration fusion method based on image registration | |
| CN108151671B (en) | A kind of 3 D digital imaging sensor, 3 D scanning system and its scan method | |
| CN106127745B (en) | The combined calibrating method and device of structure light 3 D vision system and line-scan digital camera | |
| CN108510551B (en) | Method and system for calibrating camera parameters under long-distance large-field-of-view condition | |
| CN104240289B (en) | Three-dimensional digitalization reconstruction method and system based on single camera | |
| CN110487216A (en) | A kind of fringe projection 3-D scanning method based on convolutional neural networks | |
| KR20150112362A (en) | Imaging processing method and apparatus for calibrating depth of depth sensor | |
| CN109945853A (en) | A kind of geographical coordinate positioning system and method based on 3D point cloud Aerial Images | |
| CN114111637B (en) | Virtual dual-purpose stripe structured light three-dimensional reconstruction method | |
| CN112967342B (en) | High-precision three-dimensional reconstruction method and system, computer equipment and storage medium | |
| CN111091599B (en) | Multi-camera-projector system calibration method based on sphere calibration object | |
| WO2020199439A1 (en) | Single- and dual-camera hybrid measurement-based three-dimensional point cloud computing method | |
| CN110345882A (en) | A kind of adaptive structure light three-dimension measuring system and method based on geometrical constraint | |
| CN108020175A (en) | A kind of more optical grating projection binocular vision tongue body surface three dimension entirety imaging methods | |
| CN111192235A (en) | Image measuring method based on monocular vision model and perspective transformation | |
| CN111091076B (en) | Tunnel limit data measuring method based on stereoscopic vision | |
| CN106289188A (en) | A kind of measuring method based on multi-vision aviation image and system | |
| KR101926953B1 (en) | Matching method of feature points in planar array of four - camera group and measurement method based theron | |
| WO2018107427A1 (en) | Rapid corresponding point matching method and device for phase-mapping assisted three-dimensional imaging system | |
| Wang et al. | Light-field-assisted phase unwrapping of fringe projection profilometry | |
| CN109341588B (en) | Binocular structured light three-system method visual angle weighted three-dimensional contour measurement method | |
| Hu et al. | Accurate 3-D shape measurement for large objects using speckle-assisted fringe projection and global markers localization |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |