CN108596847A - Deep hole inner surface image geometric distortion correction method based on multi-line structured light - Google Patents
Deep hole inner surface image geometric distortion correction method based on multi-line structured light Download PDFInfo
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Abstract
本发明公开了一种基于多线结构光的深孔内表面图像几何畸变校正方法,包括以下步骤:步骤一,建立深孔内表面模型和与之对应的深孔内表面展开模型;步骤二,获取针对深孔内表面模型的曲面采集图像和针对深孔内表面展开模型的平面采集图像;步骤三,设计高斯结构光点阵图案;步骤四,对同一行或列的高斯点继续插值;步骤五,依托高斯结构光点阵图案扫描深孔内表面获取的曲面采集图像和平面采集图像中对应高斯结构光点之间的图像位置以及形变关系,对图像畸变进行矫正;本发明的基于多线结构光的深孔内表面图像几何畸变校正方法,可用于常见的深孔类零部件内表面的采集图像的几何畸变的校正,其计算简单、精度高、采用非接触式扫描且适用范围广。
The invention discloses a method for correcting the geometric distortion of deep hole inner surface images based on multi-line structured light, comprising the following steps: step 1, establishing a deep hole inner surface model and a corresponding deep hole inner surface unfolding model; Obtain the surface acquisition image for the deep hole inner surface model and the plane acquisition image for the deep hole inner surface expansion model; Step 3, design the Gaussian structured light lattice pattern; Step 4, continue to interpolate the Gaussian points in the same row or column; Step 5. Relying on the image position and deformation relationship between the corresponding Gaussian structured light points in the curved surface acquisition image obtained by scanning the inner surface of the deep hole with the Gaussian structured light lattice pattern and the plane acquired image, the image distortion is corrected; the multi-line based The geometric distortion correction method of deep hole inner surface image based on structured light can be used to correct the geometric distortion of the collected image of the inner surface of common deep hole parts. It has simple calculation, high precision, non-contact scanning and wide application range.
Description
技术领域technical field
本发明涉及一种基于多线结构光的深孔内表面图像几何畸变校正方法,属于数字图像处理和机器视觉技术领域。The invention relates to a method for correcting geometric distortion of deep hole inner surface images based on multi-line structured light, and belongs to the technical fields of digital image processing and machine vision.
背景技术Background technique
深孔类零部件作为现代工业制造领域的重要组成部分,广泛应用于油气管道、火炮身管等部件的生产过程中。为此,定期对使用过程中的深孔类零部件进行检测,变得十分必要,而其中最重要的检测内容就是针对深孔内表面几何形状的三维检测。目前针对深孔类零部件内表面的检测主要是将针对被测物体外表面检测的相关方法加以改造、应用,其中应用最为广泛的就是基于结构光的光学检测方法。该方法按照光源不同可分为结构光投影法和激光投射法;考虑到深孔类零部件内表面有限的物理空间,结构光激光检测设备更容易进行整合、压缩,更适合在深孔内部进行三维检测。As an important part of modern industrial manufacturing, deep hole parts are widely used in the production process of oil and gas pipelines, artillery barrels and other components. For this reason, it is very necessary to regularly inspect the deep hole parts during use, and the most important inspection content is the three-dimensional inspection of the geometric shape of the inner surface of the deep hole. At present, the detection of the inner surface of deep hole parts is mainly to modify and apply the related methods for the detection of the outer surface of the measured object. Among them, the most widely used optical detection method is based on structured light. According to different light sources, this method can be divided into structured light projection method and laser projection method; considering the limited physical space on the inner surface of deep hole parts, structured light laser detection equipment is easier to integrate and compress, and is more suitable for deep hole inspection. 3D detection.
基于结构光激光的检测方法就是通过投射线结构光激光条纹到被测物体表面,利用相机采集因被测物体表面几何形状调制而变形的结构光条纹,分析条纹变形程度与被测物体表面几何形状之间的相互关系,反求出被测物体表面几何形状的变化物理信息,最终完成针对工业上深孔类零部件的尺寸测量和三维形貌恢复。The detection method based on structured light laser is to project linear structured light laser stripes onto the surface of the measured object, use the camera to collect the structured light stripes deformed by the geometric shape modulation of the measured object surface, and analyze the degree of deformation of the stripes and the geometric shape of the measured object surface Inversely obtain the physical information of the change in the geometric shape of the surface of the measured object, and finally complete the size measurement and three-dimensional shape restoration for industrial deep hole parts.
但目前,结构光针对深孔内表面几何形状进行检测的过程中,主要是在不考虑深孔内表面弧度、凹槽深度变化等误差因素的基础上,通过计算调制后折断条纹之间的垂直图像距离,进而推导出实际几何形状的深度信息。然而在实际针对深孔内表面进行检测的过程中,CCD相机采集到的经内表面调制后的结构光图像恰恰因为上述误差因素存在不同程度的几何错位。存在几何错位的主要表现有:一是因未深孔内表面弧度特性,导致图像中结构光条纹被调制后呈现弯曲形态,直接导致到针对条纹的线性拟合,结果出现偏差;二是受限于深孔内部的有限空间,导致结构光投射设备难以将激光垂直投射到深孔内表面;三是深孔内表面几何形状的分布特点,为尽可能清晰展现这些几何形状的相关细节信息,导致结构光需要以一定角度斜着投射进来,但这也造成了图像中条纹呈现扩散现象;四是随着相机视野、内表面弧度以及凹槽深度的不断扩大,采集图像存在的畸变越大,针对内表面几何参数的测量精度越低。为进一步提高结构光检测的精度,针对深孔类零部件内表面的结构光图像存在的几何畸变进行校正,越来越引起人们的重视和参与。But at present, in the process of detecting the geometric shape of the inner surface of the deep hole with structured light, it is mainly based on calculating the perpendicularity between the broken stripes after modulation without considering the error factors such as the radian of the inner surface of the deep hole and the variation of the groove depth. Image distance, and then deduce the depth information of the actual geometry. However, in the process of actually detecting the inner surface of deep holes, the modulated structured light images collected by the CCD camera have different degrees of geometric misalignment just because of the above error factors. The main manifestations of geometric dislocation are as follows: First, due to the radian characteristics of the inner surface of the deep hole, the structured light stripes in the image are modulated and present a curved shape, which directly leads to the linear fitting of the stripes, resulting in deviations in the results; second, the limitation Due to the limited space inside the deep hole, it is difficult for the structured light projection equipment to project the laser vertically onto the inner surface of the deep hole; the third is the distribution characteristics of the geometric shapes on the inner surface of the deep hole. Structured light needs to be projected obliquely at a certain angle, but this also causes the stripes in the image to appear diffuse; Fourth, with the continuous expansion of the camera's field of view, inner surface curvature, and groove depth, the greater the distortion of the collected image, for The lower the measurement accuracy of the geometric parameters of the inner surface is. In order to further improve the accuracy of structured light detection, correcting the geometric distortion of structured light images on the inner surface of deep hole parts has attracted more and more people's attention and participation.
发明内容Contents of the invention
为解决上述问题,本发明提出了一种基于多线结构光的深孔内表面图像几何畸变校正方法,可应用于常见的多种类型的深孔类零部件内表面的采集图像存在的几何畸变的校正,其计算简单、精度高、采用非接触式扫描且适用范围广。In order to solve the above problems, the present invention proposes a method for correcting the geometric distortion of deep hole inner surface images based on multi-line structured light, which can be applied to the geometric distortion existing in the collected images of the inner surface of various types of deep hole parts. The calibration is simple in calculation, high in precision, non-contact scanning and widely applicable.
本发明的基于多线结构光的深孔内表面图像几何畸变校正方法,包括以下步骤:The geometric distortion correction method of deep hole inner surface image based on multi-line structured light of the present invention comprises the following steps:
步骤一,建立深孔内表面模型和与之对应的深孔内表面展开模型;Step 1, establishing a deep hole inner surface model and a corresponding deep hole inner surface expansion model;
步骤二,获取针对深孔内表面模型的曲面采集图像和针对深孔内表面展开模型的平面采集图像;Step 2, obtaining a curved surface acquisition image for the deep hole inner surface model and a plane acquisition image for the deep hole inner surface unfolded model;
步骤三,设计高斯结构光点阵图案;Step 3, designing a Gaussian structured light lattice pattern;
步骤四,对同一行或列的高斯点继续插值;Step 4, continue to interpolate the Gaussian points in the same row or column;
步骤五,依托高斯结构光点阵图案扫描深孔内表面获取的曲面采集图像和平面采集图像中对应高斯结构光点之间的图像位置以及形变关系,对图像畸变进行矫正。Step 5: Based on the image position and deformation relationship between the corresponding Gaussian structured light points in the curved surface acquisition image obtained by scanning the inner surface of the deep hole with the Gaussian structured light lattice pattern and the plane acquired image, the image distortion is corrected.
进一步地,所述步骤一其具体操作方法如下:针对常见深孔类零部件,采用3D MAX软件建立其深孔内表面模型(DIM模型);然后建立与之对应的深孔内表面展开模型。Further, the specific operation method of the first step is as follows: for common deep hole parts, use 3D MAX software to establish the deep hole inner surface model (DIM model); and then establish the corresponding deep hole inner surface expansion model.
再进一步地,所述步骤一中的深孔内表面展开模型是通过将深孔内表面模型的内表面相对轴线展开成平面,得到深孔内表面展开后的平面模型(DIPM模型)。Still further, the developed model of the inner surface of the deep hole in the first step is to obtain the developed plane model (DIPM model) of the inner surface of the deep hole by developing the inner surface of the inner surface model of the deep hole relative to the axis into a plane.
进一步地,所述步骤二其具体操作方法如下:利用预先设置好的多线结构光条纹图案斜着投射到被测物体表面,同时利用相机斜着拍摄结构光扫描区域,获取所需的采集图像,具体的,在软件仿真环境下,将结构光激光条纹分别投射到两类对应模型的同一位置处的表面,分别获取与之对应的采集图像。Further, the specific operation method of the second step is as follows: use the pre-set multi-line structured light stripe pattern to project obliquely onto the surface of the measured object, and at the same time use the camera to obliquely shoot the structured light scanning area to obtain the required acquisition image , specifically, in a software simulation environment, the structured light laser stripes are respectively projected onto the surfaces at the same position of the two types of corresponding models, and corresponding acquisition images are obtained respectively.
进一步地,所述步骤三其具体操作方法如下:将按照高斯分布的结构光点按照行列矩阵形式排布,依据被测物体表面几何形状复杂程度变换排布后的光点密度,表面几何形状复杂,则光点密度增大,反之密度降低。Further, the specific operation method of the third step is as follows: Arrange the structured light spots according to the Gaussian distribution in the form of a row-column matrix, and transform the arranged light spot density according to the complexity of the surface geometry of the measured object. The surface geometry is complex , the light spot density increases, otherwise the density decreases.
进一步地,所述步骤四其具体操作方法如下:根据三次样条插值算法,从水平方向插值、拟合各自方向单行上的所有高斯点,获取两类模型采集图像中对应插值后拟合曲线之间的对应关系。Further, the specific operation method of step 4 is as follows: according to the cubic spline interpolation algorithm, interpolate from the horizontal direction and fit all Gaussian points on a single line in each direction, and obtain the corresponding interpolated fitting curve in the two types of model acquisition images. Correspondence between.
进一步地,所述步骤五其具体操作方法如下:将高斯结构光点阵图案分别投射到深孔内表面模型和深孔内表面展开后的平面模型,分别获取对应的曲面采集图像和平面采集图像;分析各自图像上高斯结构光点之间的图像位置以及相互间的对应关系,再通过插值算法构造成完整的形变函数曲线,从而知道对曲面采集图像中所含几何畸变的校正。Further, the specific operation method of Step 5 is as follows: project the Gaussian structured light lattice pattern onto the inner surface model of the deep hole and the planar model after the inner surface of the deep hole is unfolded, and obtain the corresponding curved surface acquisition image and plane acquisition image respectively ; Analyze the image position and the corresponding relationship between the Gaussian structured light points on the respective images, and then construct a complete deformation function curve through an interpolation algorithm, so as to know the correction of the geometric distortion contained in the surface acquisition image.
再进一步地,所述步骤五中对曲面采集图像和平面采集图像进行处理,其处理方法如下:采用基于灰度差的边缘检测算法预处理图像,如下式所示:Further, in the step five, the curved surface acquisition image and the plane acquisition image are processed, and the processing method is as follows: an edge detection algorithm based on gray scale difference is used to preprocess the image, as shown in the following formula:
; (1) ; (1)
对图像中所有高斯点进行识别,求取记录高斯点图像位置的横坐标矩阵Vx和纵坐标矩阵Vy,分别如下式所示:Identify all Gaussian points in the image, and obtain the abscissa matrix Vx and ordinate matrix Vy that record the image position of the Gaussian points, as shown in the following formulas respectively:
; (2) ; (2)
; (3) ; (3)
采用三次样条差值算法对同一行的所有高斯结构光点进行插值;对比两类图像中对应高斯结构光点之间的图像位置,计算相互间的变形关系。The cubic spline difference algorithm is used to interpolate all the Gaussian structured light points in the same row; the image positions between the corresponding Gaussian structured light points in the two types of images are compared, and the mutual deformation relationship is calculated.
再进一步地,所述步骤五中的图像几何校正方法如下:依托获取的两类图像中对应高斯点相互间图像位置关系,对实际仿真过程中采集得到的多线结构光的曲面采集图像进行校正,对原始的曲面采集图像进行校正;横向坐标校正和纵向坐标校正分别如下式所示:Furthermore, the image geometric correction method in the step five is as follows: relying on the image position relationship between the corresponding Gaussian points in the two types of images obtained, correct the surface acquisition image of the multi-line structured light acquired during the actual simulation process , to correct the original surface acquisition image; the transverse coordinate correction and longitudinal coordinate correction are shown in the following formulas respectively:
; (4) ;(4)
。 (5) . (5)
本发明与现有技术相比较,本发明的基于多线结构光的深孔内表面图像几何畸变校正方法,通过采用多线结构光条纹图案扫描深孔内表面来获取其三维形状;通过高斯结构光点阵图案扫描深孔内表面以及与之对应的展开模型来确定内表面模型存在的形变规律;在对可展开的曲面模型进行分析中,通过采用三次样条插值算法,从水平方向插值、拟合各自方向单行上的所有高斯点,进而构造出深孔内表面存在的畸变模型,便于后续进行比对、校正。Compared with the prior art, the present invention is based on the method for correcting geometric distortion of deep hole inner surface images based on multi-line structured light, and obtains its three-dimensional shape by scanning the deep hole inner surface with multi-line structured light fringe pattern; through the Gaussian structure The light lattice pattern scans the inner surface of the deep hole and the corresponding expansion model to determine the deformation law of the inner surface model; in the analysis of the expandable surface model, by using the cubic spline interpolation algorithm, interpolation from the horizontal direction, Fit all Gaussian points on a single line in each direction, and then construct the distortion model existing on the inner surface of the deep hole, which is convenient for subsequent comparison and correction.
附图说明Description of drawings
图1是本发明的深孔内表面模型结构示意图。Fig. 1 is a schematic structural view of the deep hole inner surface model of the present invention.
图2是本发明的深孔内表面展开模型结构示意图。Fig. 2 is a structural schematic diagram of the deep hole inner surface unfolding model of the present invention.
图3是本发明的曲面采集图像结构示意图。Fig. 3 is a schematic diagram of the structure of the curved surface acquisition image of the present invention.
图4是本发明的平面模型结构示意图。Fig. 4 is a schematic diagram of the planar model structure of the present invention.
图5是本发明的高斯结构光结构示意图。Fig. 5 is a schematic diagram of the Gaussian structured light structure of the present invention.
图6是本发明的高斯点曲面采集图像结构示意图。Fig. 6 is a schematic diagram of the Gaussian point surface acquisition image structure of the present invention.
图7是本发明的高斯点平面采集图像结构示意图。Fig. 7 is a schematic diagram of the Gauss point plane acquisition image structure of the present invention.
图8是本发明的曲面采集图像高斯点插值结构示意图。Fig. 8 is a schematic diagram of the Gaussian point interpolation structure of the curved surface acquisition image of the present invention.
图9是本发明的平面采集图像高斯点插值结构示意图。Fig. 9 is a schematic diagram of the Gaussian point interpolation structure of the plane acquisition image of the present invention.
图10是本发明的校正后的曲面采集图像结构示意图。Fig. 10 is a schematic diagram of the structure of the collected image of the curved surface after correction in the present invention.
图11是本发明的原始的平面采集图像对比原始的平面采集图像结构示意图。Fig. 11 is a schematic diagram of the structure of the original plane acquisition image compared with the original plane acquisition image according to the present invention.
图12是本发明的校正后的曲面采集图像对比原始的平面采集图像结构示意图。FIG. 12 is a schematic diagram of the structure of the corrected curved surface acquisition image compared with the original planar acquisition image according to the present invention.
具体实施方式Detailed ways
实施例1:Example 1:
本发明的基于多线结构光的深孔内表面图像几何畸变校正方法,包括以下步骤:The geometric distortion correction method of deep hole inner surface image based on multi-line structured light of the present invention comprises the following steps:
步骤一,模型搭建,Step 1, model building,
如图1所示,针对常见深孔类零部件,采用3D MAX软件建立其模型,即深孔内表面模型,DIM模型;如图2所示,建立与之对应的深孔内表面展开模型,DIPM模型,即将深孔内表面模型的内表面相对轴线展开成平面;As shown in Figure 1, for common deep hole parts, the 3D MAX software is used to establish its model, that is, the deep hole inner surface model, DIM model; as shown in Figure 2, the corresponding deep hole inner surface expansion model is established, DIPM model, that is, the inner surface of the deep hole inner surface model is developed into a plane relative to the axis;
步骤二,获取采集图像,Step 2, acquire the collected image,
如图3所示,在软件仿真环境下,将结构光激光条纹投射到DIM模型某一处表面,获取曲面采集图像;如图4所示,将相同结构光激光条纹投射到DIPM模型的同一位置处的表面,获取平面采集图像;As shown in Figure 3, in the software simulation environment, the structured light laser stripe is projected onto a certain surface of the DIM model to obtain the surface acquisition image; as shown in Figure 4, the same structured light laser stripe is projected onto the same position of the DIPM model The surface at the place, to obtain the plane acquisition image;
步骤三,高斯点阵特征图案,Step 3, Gaussian lattice feature pattern,
根据上述模型表面几何形状的实际特点,设计专门的高斯结构光点阵图案,每个高斯结构光点,如图5所示;According to the actual characteristics of the surface geometry of the above model, a special Gaussian structured light lattice pattern is designed, and each Gaussian structured light point is shown in Figure 5;
步骤四,特征图案扫描被测物体,Step 4, scan the measured object with the characteristic pattern,
将设计好的高斯结构光点阵图案分别投射到DIM模型和DIPM模型相同位置表面,采集图像分别如图6和图7所示;采用基于灰度差的边缘检测算法预处理图像,如式(1)所示;对图像中所有高斯点进行识别,求取记录高斯点图像位置的横坐标矩阵V x 和纵坐标矩阵V y ,分别如式(2)和式(3)所示;采用三次样条差值算法对同一行的所有高斯结构光点进行插值,分别如图8和图9所示;对比两类图像中对应高斯结构光点之间的图像位置,计算相互间的变形关系;The designed Gaussian structured light lattice pattern is projected onto the surface of the same position of the DIM model and the DIPM model respectively, and the collected images are shown in Figure 6 and Figure 7 respectively; the image is preprocessed using the edge detection algorithm based on the gray level difference, as shown in the formula ( As shown in 1), identify all Gaussian points in the image, and obtain the abscissa matrix V x and ordinate matrix V y for recording the image position of Gaussian points, as shown in formula (2) and formula (3) respectively; three times The spline difference algorithm interpolates all the Gaussian structured light points in the same row, as shown in Figure 8 and Figure 9 respectively; compares the image positions between the corresponding Gaussian structured light points in the two types of images, and calculates the mutual deformation relationship;
; (1) ; (1)
; (2) ; (2)
。 (3) . (3)
步骤五,图像几何校正,Step five, image geometry correction,
依托获取的两类图像中对应高斯点相互间图像位置关系,对实际仿真过程中采集得到的多线结构光的曲面采集图像进行校正,对原始的曲面采集图像进行校正,如图10所示;原始的平面采集图像对比原始的平面采集图像,如图11所示;校正后的曲面采集图像对比原始的平面采集图像,如图12所示;其中横向坐标校正如式(4)所示,纵向坐标校正如式(5)所示:Relying on the image position relationship between the corresponding Gaussian points in the obtained two types of images, the surface acquisition image of the multi-line structured light acquired in the actual simulation process is corrected, and the original surface acquisition image is corrected, as shown in Figure 10; The original plane acquisition image is compared with the original plane acquisition image, as shown in Figure 11; the corrected curved surface acquisition image is compared with the original plane acquisition image, as shown in Figure 12; the horizontal coordinate correction is shown in formula (4), and the vertical Coordinate correction is shown in formula (5):
; (4) ;(4)
。 (5) . (5)
对比图11和图12可知,校正后的曲面采集图像和原始的平面采集图像在在斜率上基本一致,条纹基本重合,为接下来计算诊断条纹之间的垂直距离奠定基础。Comparing Figure 11 and Figure 12, it can be seen that the slope of the corrected surface acquisition image and the original plane acquisition image are basically the same, and the stripes basically coincide, which lays the foundation for the calculation of the vertical distance between the diagnostic stripes.
本发明的基于多线结构光的深孔内表面图像几何畸变校正方法,通过采用多线结构光条纹图案扫描深孔内表面来获取其三维形状;通过高斯结构光点阵图案扫描深孔内表面以及与之对应的展开模型来确定内表面模型存在的形变规律;在对可展开的曲面模型进行分析中,通过采用三次样条插值算法,从水平方向插值、拟合各自方向单行上的所有高斯点,进而构造出深孔内表面存在的畸变模型,便于后续进行比对、校正。The geometric distortion correction method of deep hole inner surface image based on multi-line structured light of the present invention obtains its three-dimensional shape by scanning the deep hole inner surface with multi-line structured light fringe pattern; scans the deep hole inner surface with Gaussian structured light lattice pattern and the corresponding expansion model to determine the deformation law of the inner surface model; in the analysis of the expandable surface model, the cubic spline interpolation algorithm is used to interpolate from the horizontal direction and fit all Gaussians on a single line in each direction Points, and then construct the distortion model of the inner surface of the deep hole, which is convenient for subsequent comparison and correction.
本发明实施例可应用于常见的多种类型的深孔类零部件内表面的采集图像存在的几何畸变的校正,其计算简单、精度高、采用非接触式扫描且适用范围广。The embodiment of the present invention can be applied to the correction of the geometric distortion existing in the collected images of the inner surface of various common types of deep-hole parts, and the calculation is simple, the precision is high, non-contact scanning is adopted, and the scope of application is wide.
上述实施例,仅是本发明的较佳实施方式,故凡依本发明专利申请范围所述的构造、特征及原理所做的等效变化或修饰,均包括于本发明专利申请范围内。The above-mentioned embodiments are only preferred implementation modes of the present invention, so all equivalent changes or modifications made according to the structures, features and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.
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