CN108629841A - One kind being based on laser speckle multiple views three-dimensional vision information method and system - Google Patents
One kind being based on laser speckle multiple views three-dimensional vision information method and system Download PDFInfo
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The present invention is suitable for image processing field, provides one kind and being based on laser speckle multiple views three-dimensional vision information method and system, method includes：Step A, utilize the binocular calibration data for measuring pose data and single view between the pre- Calibration of Laser speckle transmitting of net calibration technique and the multiple views of harvester, step B, utilize the corresponding points of the speckle correlation technique transmitting of search laser speckle and the speckle image of the laser directive testee back reflection of harvester acquisition, step C, using binocular stereo vision principle to the corresponding points that search, and binocular calibration data corresponding with corresponding points are calculated, rebuild profiling object surface three-dimensional point cloud, step D, fusion superposition is carried out to profiling object surface three-dimensional point cloud using pose data, obtain multiple views three-dimensional data.Due to can disposably get whole data by the above method, measurement process is simple and convenient, and measuring speed is fast.
Description
Technical field
The invention belongs to image processing fields, more particularly to based on laser speckle multiple views three-dimensional vision information method and are
System.
Background technology
Existing three-dimensional vision information method is mostly fringe projection method for reconstructing, has image procossing high-precision and processing effect
The fast feature of rate, but since this method needs to project multiple image to object, when obtaining the data of object under test, it is difficult to once
Property gets whole data, needs to carry out multiple acquisition, measurement process is cumbersome.
Invention content
The embodiment of the present invention provides a kind of based on laser speckle multiple views three-dimensional vision information method and system, it is intended to solve
In the prior art due to when obtaining the data of object under test, it is difficult to disposably get whole data, needing to carry out more
Secondary acquisition, the cumbersome problem of measurement process.
In a first aspect, an embodiment of the present invention provides one kind being based on laser speckle multiple views three-dimensional vision information method, institute
It states and includes based on laser speckle multiple views three-dimensional vision information method：
Step A, the pose measured between the pre- Calibration of Laser speckle transmitting of net calibration technique and the multiple views of harvester is utilized
The binocular calibration data of data and single view；
Step B, the laser directive quilt of the laser speckle transmitting and harvester acquisition is searched for using speckle correlation technique
Survey the corresponding points of the speckle image of object back reflection；
Step C, using binocular stereo vision principle to the corresponding points that search, and Bi-objective corresponding with the corresponding points
Fixed number rebuilds profiling object surface three-dimensional point cloud according to being calculated；
Step D, fusion superposition is carried out to the profiling object surface three-dimensional point cloud using the pose data, obtained described
Multiple views three-dimensional data.
Further, the step B includes：
Utilize the pixel for going zero normalized crosscorrelation method to calculate right image target window in the speckle image
Related coefficient；
Extreme point in the related coefficient is determined as to the corresponding points of the left image target window in the speckle image；
The corresponding points of the left image target window are limited using grayscale restraint, and to the correspondence after limiting
Point scans for, with the corresponding points of the determination speckle image.
Further, the step A includes：
Target point three-dimensional point cloud is determined using binocular stereo vision principle；
A cloud rough registration processing is carried out to the target point three-dimensional point cloud, rough registration parameter spin matrix R is obtained and slightly matches
Quasi- parameter translational matrix T；
Using iteration closest approach algorithm, the rough registration parameter spin matrix R and rough registration parameter translational matrix T are carried out
Point cloud essence registration process, obtains smart registration parameter spin matrix RaWith smart registration parameter translation matrix Ta；
By the smart registration parameter spin matrix RaWith smart registration parameter translation matrix TaIt is determined as the position between the multiple views
Appearance data.
Further, further include before the step B：
The speckle that laser speckle transmitting is acquired with harvester using speckle regions extraction method and polar curve orthosis
Image is pre-processed.
Further, the step D includes：
Merge equation and the pose data using preset three-dimensional point cloud, to the profiling object surface three-dimensional point cloud into
Row viewpoint change；
It is superimposed equation using preset cloud, the profiling object surface three-dimensional point cloud after viewpoint change is overlapped, is obtained
To the multiple views three-dimensional data；
Wherein, the preset three-dimensional point cloud fusion equation is：Pt=Ra·Ps+Ta；
PtFor the profiling object surface three-dimensional point cloud after viewpoint change, PsFor the profiling object surface three-dimensional point cloud,
RaFor the smart registration parameter spin matrix, TaFor the smart registration parameter translation matrix；
Wherein, the preset cloud superposition equation is：Pw=P1+∑Pt n, n=2,3 ..., n；
PwFor the multiple views three-dimensional data, P1For the profiling object surface three-dimensional point cloud of first viewpoint, Pt nFor viewpoint
N-th of profiling object surface three-dimensional point cloud after transformation.
Further, further include before the step C：The corresponding points searched are carried out using disparity continuity determining method
Error dot rejecting is handled.
Second aspect, another embodiment of the present invention provide a kind of based on laser speckle multiple views three-dimensional vision information system
System, it is described to include based on laser speckle multiple views three-dimensional vision information system：Laser speckle emits and harvester, pre- calibration mold
Block, search module calculate and rebuild module, fusion laminating module；
Pre- demarcating module, for utilizing the multiple views for measuring net calibration technique pre- Calibration of Laser speckle transmitting and harvester
Between pose data and single view binocular calibration data；
Search module, the laser for searching for the laser speckle transmitting and harvester acquisition using speckle correlation technique
The corresponding points of the speckle image of directive testee back reflection；
Calculate and rebuild module, for using binocular stereo vision principle to the corresponding points that search, and with the corresponding points
Corresponding binocular calibration data are calculated, and profiling object surface three-dimensional point cloud is rebuild；
Laminating module is merged, it is folded for carrying out fusion to the profiling object surface three-dimensional point cloud using the pose data
Add, obtains the multiple views three-dimensional data.
Further, the laser speckle, which emits with harvester, includes：Laser speckle transmitter and camera.
Further, the laser speckle transmitter includes：Laser emitter and the chromium plate for being carved with two-value speckle pattern.
An embodiment of the present invention provides one kind being based on laser speckle multiple views three-dimensional vision information method, utilizes measurement network mark
Determine the binocular calibration data of the pose data and single view between the pre- Calibration of Laser speckle transmitting of technology and the multiple views of harvester,
Utilize the speckle of the speckle correlation technique transmitting of search laser speckle and the laser directive testee back reflection of harvester acquisition
The corresponding points of image, using binocular stereo vision principle to the corresponding points that search, and Bi-objective fixed number corresponding with corresponding points
According to being calculated, profiling object surface three-dimensional point cloud is rebuild, profiling object surface three-dimensional point cloud is melted using pose data
Superposition is closed, multiple views three-dimensional data is obtained.Compared with prior art, due to can by the laser speckle in the application emit with
Harvester can disposably get the multi aspect images of object under test, and carrying out above-mentioned calculating to multi aspect images can be primary
Property obtain whole measurement data, do not need multiple acquisition, measurement process is simple and convenient, and because need not repeatedly survey
Amount, so measuring speed is faster.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is that a kind of flow based on laser speckle multiple views three-dimensional vision information method provided in an embodiment of the present invention is shown
It is intended to；
Fig. 2 is the flow diagram of the refinement step of the step 101 in Fig. 1；
Fig. 3 is the flow diagram of the refinement step of the step 102 in Fig. 1；
Fig. 4 is the flow diagram of the refinement step of the step 104 in Fig. 1；
Fig. 5 is a kind of knot based on laser speckle multiple views three-dimensional vision information system that second embodiment of the invention provides
Structure schematic diagram；
Fig. 6 is another structure based on laser speckle multiple views three-dimensional vision information system provided in an embodiment of the present invention
Schematic diagram；
Fig. 7 is the three-dimensional point cloud reconstructed results of single view in the present invention；
Fig. 8 is the three-dimensional point cloud reconstructed results of multiple views in the present invention.
Specific implementation mode
In being described below, for illustration and not for limitation, it is proposed that such as specific system structure, interface, technology it
The detail of class understands the embodiment of the present invention to cut thoroughly.However, it will be clear to one skilled in the art that there is no this
The present invention can also be realized in the other embodiments of a little details.In other situations, it omits to well-known system, dress
It sets, the detailed description of circuit and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Referring to Fig. 1, one kind that Fig. 1, which is first embodiment of the invention, to be provided is surveyed based on laser speckle multiple views three-dimensional data
The flow diagram of amount method, includes the following steps：
Step 101 utilizes the position measured between the pre- Calibration of Laser speckle transmitting of net calibration technique and the multiple views of harvester
The binocular calibration data of appearance data and single view；；
Further, referring to Fig. 2, being the flow diagram of the refinement step of step 101, including：
Step 201 determines target point three-dimensional point cloud using binocular stereo vision principle；
In embodiments of the present invention, as shown in fig. 6, laser speckle transmitting is emitted with harvester 501 by n laser speckle
Device 601 and 2n camera 602 form, and 1 laser speckle transmitter 601 and 2 cameras 602 constitute 1 group of view collection device, n
Group view collection device constitutes 1 complete laser speckle transmitting and harvester.
Wherein, 1 group of view collection device can determine 1 target point three-dimensional point cloud.
Step 202 carries out a cloud rough registration processing to the target point three-dimensional point cloud, obtains rough registration parameter spin matrix
R and rough registration parameter translational matrix T；
In embodiments of the present invention, after the three-dimensional point cloud for determining n groups target point using binocular stereo vision principle, by
Two, third and more three-dimensional point clouds and first obtained three-dimensional point cloud carry out a cloud rough registration processing, obtain rough registration ginseng
Number spin matrix R and rough registration parameter translational matrix T.
Step 203, using iteration closest approach algorithm, to the rough registration parameter spin matrix R and rough registration parameter translational
Matrix T carries out a cloud essence registration process, obtains smart registration parameter spin matrix RaWith smart registration parameter translation matrix Ta；
Step 204, by the smart registration parameter spin matrix RaWith smart registration parameter translation matrix TaIt is determined as described regarding more
Pose data between point.
Wherein, above-mentioned steps 201~204 are described using the pre- Calibration of Laser speckle transmitting of measurement net calibration technique and are adopted
Pose data between the multiple views of acquisition means, and utilize and measure the pre- Calibration of Laser speckle transmitting of net calibration technique and harvester
The detailed process of the binocular calibration data of single view is：Using 2 cameras 602 in 1 group of view collection device, marked using the center of circle
Target obtains the double of the single view between two cameras 602 using the calibration algorithm and combination bundle adjustment optimization algorithm of Zhang Dingyou
Mesh nominal data, the binocular calibration data of single view include internal reference, outer ginseng and distortion factor between two cameras 602.Wherein,
Internal reference includes focal length fc, principal point cc and obliquity factor alpha_c, and outer ginseng includes spin matrix R and translation matrix T, distortion factor
Including coefficient of radial distortion and tangential distortion coefficient etc..
Step 102, the laser directive that the laser speckle transmitting and harvester acquisition are searched for using speckle correlation technique
The corresponding points of the speckle image of testee back reflection；
Further, referring to Fig. 3, being the flow diagram of the refinement step of step 102, including：
Step 301, using going zero normalized crosscorrelation method to calculate the right image target window in the speckle image
Pixel related coefficient；
In embodiments of the present invention, 1 group of view collection device (1 laser speckle transmitter 601 and 2 cameras 602) can
To collect 1 group of speckle image, 1 group of speckle image includes 1 width right image and 1 width left image, is normalized mutually using zero is gone
Pass method calculates the related coefficient of the pixel of the right image target window in this group of speckle image.
Wherein it is possible to which right image is divided into several windows, the window currently calculated is referred to as target window.
It should be noted that before step 301, it is also necessary to using speckle regions extraction method and polar curve orthosis to laser
The speckle image that speckle transmitting is acquired with harvester is pre-processed, and it can be that subsequent search improves search effect to do so
Rate.
Step 302, the left image target window being determined as the extreme point in the related coefficient in the speckle image
Corresponding points；
In embodiments of the present invention, left image can be divided into several windows, the window of left image and the window of right image
Mouth corresponds, and the window of left image corresponding with right image target window is referred to as left image target window.
Step 303 limits the corresponding points of the left image target window using grayscale restraint, and to limiting
Corresponding points afterwards scan for, with the corresponding points of the determination speckle image.
In embodiments of the present invention, the corresponding points of left image target window are limited using grayscale restraint, Ke Yijia
Fast search efficiency determines the corresponding points of speckle image.
It should be noted that after determining the corresponding points of speckle image, it is also necessary to using disparity continuity determining method to searching
The corresponding points that rope arrives carry out error dot rejecting processing, to ensure that is searched is the corresponding points of accurate speckle image.
Further, the sub-pix optimization and positioning of corresponding points are realized using newton-La Fuxun iterative optimization methods.
Step 103, using binocular stereo vision principle to the corresponding points that search, and binocular corresponding with the corresponding points
Nominal data is calculated, and profiling object surface three-dimensional point cloud is rebuild；
Step 104 carries out fusion superposition using the pose data to the profiling object surface three-dimensional point cloud, obtains institute
State multiple views three-dimensional data.
Further, referring to Fig. 4, being the flow diagram of the refinement step of step 104, including：
Step 401 merges equation and the pose data using preset three-dimensional point cloud, to the profiling object surface three
Dimension point cloud carries out viewpoint change；
In embodiments of the present invention, preset three-dimensional point cloud fusion equation is：Pt=Ra·Ps+Ta；
PtFor the profiling object surface three-dimensional point cloud after viewpoint change, PsFor the profiling object surface three-dimensional point cloud,
RaFor the smart registration parameter spin matrix, TaFor the smart registration parameter translation matrix.
Step 402 is superimposed equation using preset cloud, and the profiling object surface three-dimensional point cloud after viewpoint change is carried out
Superposition, obtains the multiple views three-dimensional data.
In embodiments of the present invention, preset cloud superposition equation is：Pw=P1+∑Pt n, n=2,3 ..., n；
PwFor the multiple views three-dimensional data, P1For the profiling object surface three-dimensional point cloud of first viewpoint, Pt nFor viewpoint
N-th of profiling object surface three-dimensional point cloud after transformation.
Wherein, the three-dimensional point cloud reconstructed results of single view are as shown in fig. 7, in conjunction with the spin matrix R demarcated in advanceaWith translation square
Battle array TaMultiple views three-dimensional point cloud reconstructed results it is as shown in Figure 8.
In embodiments of the present invention, using measuring more regarding for the transmitting of net calibration technique pre- Calibration of Laser speckle and harvester
The binocular calibration data of pose data and single view between point are filled using the search laser speckle transmitting of speckle correlation technique with acquisition
The corresponding points for setting the speckle image of the laser directive testee back reflection of acquisition, using binocular stereo vision principle to searching
Corresponding points, and binocular calibration data corresponding with corresponding points are calculated, and are rebuild profiling object surface three-dimensional point cloud, are utilized position
Appearance data carry out fusion superposition to profiling object surface three-dimensional point cloud, obtain multiple views three-dimensional data.Compared with prior art, by
In the multi-party bitmap that can disposably get object under test with harvester by the transmitting of the laser speckle in the application
Picture, whole measurement data can disposably be obtained by carrying out above-mentioned calculating to multi aspect images, do not needed multiple acquisition, measured
Process is simple and convenient, and because need not repeatedly measure, measuring speed is faster.
Referring to Fig. 5, being based on laser speckle multiple views three-dimensional vision information for one kind that second embodiment of the invention provides
The structural schematic diagram of system, including：Laser speckle emits and harvester 501, pre- demarcating module 502, search module 503, meter
It calculates and rebuilds module 504, fusion laminating module 505；
Wherein, other than laser speckle transmitting is with harvester 501, pre- demarcating module 502, calculates search module 503
It is all virtual module to rebuild module 504 and fusion laminating module 505, is the function module that code is realized.
Pre- demarcating module 502, for utilizing the pre- Calibration of Laser speckle transmitting of measurement net calibration technique and harvester 501
The binocular calibration data of pose data and single view between multiple views；
Search module 503 is acquired for searching for the laser speckle transmitting using speckle correlation technique with harvester 501
Laser directive testee back reflection speckle image corresponding points；
Calculate and rebuild module 504, for using binocular stereo vision principle to the corresponding points that search, and with it is described corresponding
The corresponding binocular calibration data of point are calculated, and profiling object surface three-dimensional point cloud is rebuild；
Laminating module 505 is merged, for melting to the profiling object surface three-dimensional point cloud using the pose data
Superposition is closed, the multiple views three-dimensional data is obtained.
In embodiments of the present invention, module 504 and fusion are rebuild in above-mentioned pre- demarcating module 502, search module 503, calculating
The content that laminating module 505 describes is consistent with the content of step 101, step 102, step 103 and step 104 description respectively, this
Place is not repeated here.
Wherein, laser speckle, which emits with harvester 501, includes：Laser speckle transmitter 601 and camera 602.Laser dissipates
Spot transmitter 601 includes：Laser emitter and the chromium plate for being carved with two-value speckle pattern.
The specific preparation method of laser speckle transmitter 601 is：Laser emitter is placed in barrel end, frosted glass is placed in
Barrel forward end, mobile laser emitter, the second best in quality position of speckle is fixed on by laser emitter.Multiple laser emitters close
Manage arrangement direction and position, you can to produce random speckle distributional environment.
Wherein, 2 cameras 602 and 1 laser speckle transmitter 601 form 1 group of view collection device, pass through 3 groups or more
The reasonable distribution of view collection device, and by Arduino development boards control synchronize, form multiple views laser speckle transmitting with
Harvester.
In embodiments of the present invention, pre- demarcating module 502 using measure the transmitting of net calibration technique pre- Calibration of Laser speckle with
The binocular calibration data of pose data and single view between the multiple views of harvester 501, search module 503 are related using speckle
It is corresponding with the speckle image for the laser directive testee back reflection that harvester 501 acquires that method searches for laser speckle transmitting
Point calculates and rebuilds module 504 using binocular stereo vision principle to the corresponding points that search, and Bi-objective corresponding with corresponding points
Fixed number rebuilds profiling object surface three-dimensional point cloud, fusion laminating module 505 is using pose data to body surface according to being calculated
Contoured three-dimensional point cloud carries out fusion superposition, obtains multiple views three-dimensional data.Compared with prior art, since the application can be passed through
In laser speckle transmitting can disposably get the multi aspect images of object under test with harvester 501, to multi-party bitmap
Whole measurement data can be disposably obtained as carrying out above-mentioned calculating, do not need multiple acquisition, measurement process is simple and convenient,
And because need not repeatedly measure, measuring speed is faster.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
It is apparent to those skilled in the art that for convenience of description and succinctly, the end of foregoing description
The specific work process at end and unit, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In several embodiments provided herein, it should be understood that disclosed terminal and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Step in present invention method
Suddenly it can be sequentially adjusted, merged and deleted according to actual needs.
Unit in terminal of the embodiment of the present invention can be combined, divided and deleted according to actual needs.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain subject to.
Claims (9)
1. one kind being based on laser speckle multiple views three-dimensional vision information method, which is characterized in that the method includes：
Step A, the pose data measured between the pre- Calibration of Laser speckle transmitting of net calibration technique and the multiple views of harvester are utilized
And the binocular calibration data of single view；
Step B, the laser directive measured object of the laser speckle transmitting and harvester acquisition is searched for using speckle correlation technique
The corresponding points of the speckle image of body back reflection；
Step C, using binocular stereo vision principle to the corresponding points that search, and Bi-objective fixed number corresponding with the corresponding points
According to being calculated, profiling object surface three-dimensional point cloud is rebuild；
Step D, fusion superposition is carried out to the profiling object surface three-dimensional point cloud using the pose data, obtains described regarding more
Point three-dimensional data.
2. being based on laser speckle multiple views three-dimensional vision information method as described in claim 1, which is characterized in that the step
B includes：
Using go zero normalized crosscorrelation method calculate right image target window in the speckle image pixel correlation
Coefficient；
Extreme point in the related coefficient is determined as to the corresponding points of the left image target window in the speckle image；
The corresponding points of the left image target window are limited using grayscale restraint, and to the corresponding click-through after limiting
Row search, with the corresponding points of the determination speckle image.
3. being based on laser speckle multiple views three-dimensional vision information method as described in claim 1, which is characterized in that the step
A includes：
Target point three-dimensional point cloud is determined using binocular stereo vision principle；
A cloud rough registration processing is carried out to the target point three-dimensional point cloud, obtains rough registration parameter spin matrix R and rough registration ginseng
Number translation matrix T；
Using iteration closest approach algorithm, a cloud is carried out to the rough registration parameter spin matrix R and rough registration parameter translational matrix T
Smart registration process obtains smart registration parameter spin matrix RaWith smart registration parameter translation matrix Ta；
By the smart registration parameter spin matrix RaWith smart registration parameter translation matrix TaThe pose number being determined as between the multiple views
According to.
4. being based on laser speckle multiple views three-dimensional vision information method as described in claim 1, which is characterized in that the step
Further include before B：
The speckle image that laser speckle transmitting is acquired with harvester using speckle regions extraction method and polar curve orthosis
It is pre-processed.
5. being based on laser speckle multiple views three-dimensional vision information method as described in claim 1, which is characterized in that the step
D includes：
Equation and the pose data are merged using preset three-dimensional point cloud, the profiling object surface three-dimensional point cloud is regarded
Point transformation；
It is superimposed equation using preset cloud, the profiling object surface three-dimensional point cloud after viewpoint change is overlapped, institute is obtained
State multiple views three-dimensional data；
Wherein, the preset three-dimensional point cloud fusion equation is：Pt=Ra·Ps+Ta；
PtFor the profiling object surface three-dimensional point cloud after viewpoint change, PsFor the profiling object surface three-dimensional point cloud, RaFor
The essence registration parameter spin matrix, TaFor the smart registration parameter translation matrix；
Wherein, the preset cloud superposition equation is：
PwFor the multiple views three-dimensional data, P1For the profiling object surface three-dimensional point cloud of first viewpoint, Pt nAfter viewpoint change
N-th of profiling object surface three-dimensional point cloud.
6. being based on laser speckle multiple views three-dimensional vision information method as described in claim 1, which is characterized in that the step
Further include before C：Error dot rejecting processing is carried out to the corresponding points searched using disparity continuity determining method.
7. one kind being based on laser speckle multiple views three-dimensional vision information system, which is characterized in that the system comprises：Laser speckle
Transmitting rebuilds module with harvester, pre- demarcating module, search module, calculating, merges laminating module；
Pre- demarcating module, between utilizing the pre- Calibration of Laser speckle of measurement net calibration technique to emit the multiple views harvester
The binocular calibration data of pose data and single view；
Search module, the laser directive for searching for the laser speckle transmitting and harvester acquisition using speckle correlation technique
The corresponding points of the speckle image of testee back reflection；
Calculate and rebuild module, for using binocular stereo vision principle to the corresponding points that search, and it is corresponding with the corresponding points
Binocular calibration data calculated, rebuild profiling object surface three-dimensional point cloud；
Laminating module is merged, for carrying out fusion superposition to the profiling object surface three-dimensional point cloud using the pose data,
Obtain the multiple views three-dimensional data.
8. being based on laser speckle multiple views three-dimensional vision information system as claimed in claim 7, which is characterized in that the laser
Speckle emits with harvester：Laser speckle transmitter and camera.
9. being based on laser speckle multiple views three-dimensional vision information system as claimed in claim 8, which is characterized in that the laser
Speckle transmitter includes：Laser emitter and the chromium plate for being carved with two-value speckle pattern.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111738971A (en) * | 2019-03-19 | 2020-10-02 | 北京伟景智能科技有限公司 | Circuit board stereo scanning detection method based on line laser binocular stereo vision |
| CN111738971B (en) * | 2019-03-19 | 2024-02-27 | 北京伟景智能科技有限公司 | Circuit board stereoscopic scanning detection method based on line laser binocular stereoscopic vision |
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| CN110189380B (en) * | 2019-05-30 | 2021-12-07 | Oppo广东移动通信有限公司 | Calibration data optimization method, structured light module and storage medium |
| CN111540004A (en) * | 2020-04-16 | 2020-08-14 | 北京清微智能科技有限公司 | Single-camera polar line correction method and device |
| CN111540004B (en) * | 2020-04-16 | 2023-07-14 | 北京清微智能科技有限公司 | Single camera polar line correction method and device |
| CN112525106A (en) * | 2020-10-23 | 2021-03-19 | 清华大学 | Three-phase machine cooperative laser-based 3D detection method and device |
| CN112525106B (en) * | 2020-10-23 | 2022-08-26 | 清华大学 | Three-phase machine cooperative laser-based 3D detection method and device |
| CN112902874A (en) * | 2021-01-19 | 2021-06-04 | 中国汽车工程研究院股份有限公司 | Image acquisition device and method, image processing method and device and image processing system |
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