CN108827184A - A kind of structure light self-adaptation three-dimensional measurement method based on camera response curve - Google Patents
A kind of structure light self-adaptation three-dimensional measurement method based on camera response curve Download PDFInfo
- Publication number
- CN108827184A CN108827184A CN201810403285.1A CN201810403285A CN108827184A CN 108827184 A CN108827184 A CN 108827184A CN 201810403285 A CN201810403285 A CN 201810403285A CN 108827184 A CN108827184 A CN 108827184A
- Authority
- CN
- China
- Prior art keywords
- exposure
- image
- time
- value
- camera
- 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.)
- Granted
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
Abstract
The structure light self-adaptation three-dimensional measurement method based on camera response curve that this application provides a kind of, including default measurement intensity value ranges and exposure time range, obtain benchmark image and benchmark time for exposure in default measurement range；The datum mark in benchmark image is selected, and camera response function is calculated according to the light exposure of the variation acquisition of the time for exposure with datum mark and gray value；The relative irradiation angle value that all the points are obtained using camera response function, calculates exposure frequency and time for exposure based on relative irradiation angle value and camera response function；The image co-registration new stripe pattern sequence that is that is obtained with different exposure time and for three-dimensional reconstruction.The present invention can adaptively rebuild the object with complex surface reflectivity, expand the scope of application of structural light measurement technology, improve the degree of automation of measurement, can also obtain good measurement effect to complex reflex rate surface.
Description
Technical field
The invention belongs to field of optical measuring technologies more particularly to a kind of structure light based on camera response curve are adaptive
Method for three-dimensional measurement.
Background technique
Structural light measurement technology is that the grating fringe image of certain pattern is projected to determinand surface, and camera is obtained through quilt
Its raster pattern for deforming of object shape modulation is surveyed, and then a kind of active optical for calculating the three-dimensional information data of measured object is surveyed
Amount technology, the intensity for raster pattern are very sensitive.When surface exposure is too strong or insufficient, such as mirror-reflection,
Camera imaging can not really reflect the true intensity value in surface, and measurement accuracy is caused to decline or can not rebuild.Multiple exposure techniques
It is used in structured light reconstruction technology, above-mentioned reflective for solving the problems, such as, after obtaining multiple exposure image, selection is same respectively
The point that one position pixel value gray scale highest is not saturated still participates in rebuilding.Though the method for structured light technique combination multiple exposure
So achieve preferable measurement effect, but its time for exposure, exposure frequency be entirely with operator's experience, affect measurement efficiency and
Industrial application.
It should be noted that the above description of the technical background be intended merely to it is convenient to the technical solution of the application carry out it is clear,
Complete explanation, and facilitate the understanding of those skilled in the art and illustrate.Cannot merely because these schemes the application's
Background technology part is expounded and thinks that above-mentioned technical proposal is known to those skilled in the art.
Summary of the invention
The structure light self-adaptation three-dimensional measurement method based on camera response curve that it is an object of that present invention to provide a kind of, can be certainly
It adapts to rebuild the object with complex surface reflectivity, expands the scope of application of structural light measurement technology, improve measurement
The degree of automation can also obtain good measurement effect to complex reflex rate surface.
The structure light self-adaptation three-dimensional measurement method based on camera response curve that the present invention provides a kind of, including：
S1：Default measurement intensity value ranges and exposure time range, obtain benchmark image in default measurement range and benchmark exposes
Between light time；
S2：Select the datum mark in benchmark image, and the light exposure and ash of the variation acquisition according to the time for exposure with datum mark
Angle value calculates camera response function；
S3：The relative irradiation angle value of all the points is obtained using camera response function, is responded based on relative irradiation angle value and camera
Function calculates exposure frequency and time for exposure；
S4：The image co-registration new stripe pattern sequence that is that is obtained with different exposure time and for three-dimensional reconstruction.
Further, the default measurement intensity value ranges and exposure time range specifically include：
S21：Presetting measurement intensity value ranges is~, preset the exposure time range i.e. default minimum camera exposure timeMost
It exposes completely the timeValue；SettingWhen value, where target object when need to meet projection striped under current value in camera view
The maximum value in region is less than；SettingTarget object institute when value, when need to meet projection striped under current value in camera view
Minimum value in region is greater than；
It is described to obtain benchmark image in default measurement range and the benchmark time for exposure includes:Projector projects pure to target object
White image, in default exposure time range fromIt arrivesConstantly change the camera exposure time, counts camera view during the adjustment
Number of all pixels gray value in measurement intensity value ranges in figure saves image and corresponding time for exposure during adjustment,
The image of maximum pixel gray value is corresponded in selection course as benchmark image, when exposing on the basis of the time for exposure of benchmark image
Between.
Further, select on benchmark image grey scale pixel value forPoint as datum mark, datum mark brightness value is uniformly set
It is set to an arbitrary constant, such as 300；
Establish template image, have identical size with benchmark image, template image grey scale pixel value is determined by following formula：
（1）
Above formula（1）In,It is benchmark image in coordinateThe gray value at place；
The time for exposure is continuously increased since the benchmark time for exposure until the grey scale pixel value of datum mark is more than or equal to, in preservation
Grey scale pixel value and time for exposure during stating, represent camera response function with quintic algebra curve, such as formula（2）It is shown：
（2）
Using the light exposure of the datum mark during adjustment as input value, corresponding grey scale pixel value is as output valve, benefit
5 unknowm coefficients are obtained with least square fitting algorithm, this is the camera response letter being calculated
Number, according to camera response function, can respectively obtainCorresponding light exposureWithCorresponding light exposure。
Further, the relative irradiation angle value that all the points are obtained using camera response function passes through the relative irradiation of acquisition
Angle value combining camera receptance function calculates exposure frequency and the time for exposure includes：
S41：To template imageThe point that middle grey scale pixel value is 1, the image sequence that traversal step S21 is calculated, when finding
When this coordinate pixel value is within the scope of optimum measurement on a certain image in sequence, calculated camera response function is obtained
To this point light exposure, light exposure divided by image correspond to the time for exposure i.e. for this point contrast angle value；
S42：To template imageThe point that middle grey scale pixel value is 0, according to grey scale pixel value and phase of the benchmark image under this point
Machine receptance function obtains this and puts corresponding light exposure, and what light exposure was put divided by the benchmark time for exposure for this contrasts angle value.
S43：Obtain all target points contrast angle value after, find minimum value therein,/Value be one
The secondary time for exposure deletes the light exposure under current exposure time and existsBetween point corresponding contrast angle value；Repeat S43
Until all brightness values are all deleted, the time for exposure obtained in calculating process is the time for exposure needed for measuring.
Further, phase-shifting technique is walked in conjunction with N and multiple exposing method carries out image synthesis, including：
S51：Projectoscope projects a solid white image and changes the camera exposure time respectively according to the result of step S43 and obtain target
Image sequence；
S52：Projector projects N bar graphs again, changes the camera exposure time and obtains target image sequence, first with figure
As sequenceTemplate image is obtained, calculation formula is as follows：
(3)
Above formula（3）In,It is that i-th exposes corresponding template image in coordinateGrey scale pixel value,
,Being is being i-th, and the corresponding camera image of j exposure is in coordinateGrey scale pixel value, then utilize template image
By the bar graph image sequence of bar graph image sequences fusion Cheng Xin：
(4)
Above formula（4）In,, it is that i-th exposes corresponding camera image in coordinate when projecting jth width bar graph
Grey scale pixel value,It isWidth blending image is in coordinateGrey scale pixel value.
Further, fused image sequence is utilized, projector is considered as a virtual camera, finds projector view
Point corresponding with camera view carries out solution phase and three-dimensional reconstruction using trigonometry.
Referring to following description and accompanying drawings, specific implementations of the present application are disclosed in detail, specify the original of the application
Reason can be in a manner of adopted.It should be understood that presently filed embodiment is not so limited in range.In appended power
In the range of the spirit and terms that benefit requires, presently filed embodiment includes many changes, modifications and is equal.
The feature for describing and/or showing for a kind of embodiment can be in a manner of same or similar one or more
It uses in a other embodiment, is combined with the feature in other embodiment, or the feature in substitution other embodiment.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when using herein, but simultaneously
It is not excluded for the presence or additional of one or more other features, one integral piece, step or component.
Detailed description of the invention
Fig. 1 is a kind of structure light self-adaptation three-dimensional measurement method process based on camera response curve provided by the invention
Figure；
Fig. 2 is camera response curve figure；
Fig. 3 is benchmark time for exposure selection schematic diagram；
Fig. 4 is that the reflective schematic diagram of target is measured in experiment；
Fig. 5 is the camera response curve schematic diagram calculated in experiment；
Fig. 6 is image syncretizing effect figure in experiment；
Fig. 7 is model measurement effect picture in experiment.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction in the present invention
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's all other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
The present invention is a kind of structure light self-adaptation three-dimensional measurement method based on camera response curve, and core is to utilize base
Camera response curve is calculated with the gray value of the variation of time for exposure on schedule, finally according to response under curve and different exposure time
Image calculate exposure frequency and time for exposure.The response curve of camera is camera exposure amountWith image pixel value
Between relation curve, as shown in Figure 2.
Light exposureNumerically equal to illuminationWith the time for exposureIt is multiplied, i.e.,.Camera illumination curve can be with table
It is shown as：
（5）
The structure light self-adaptation three-dimensional measurement method based on camera response curve that the present invention provides a kind of, including：
S1：Default measurement intensity value ranges and exposure time range, obtain benchmark image in default measurement range and benchmark exposes
Between light time；
S2：Select the datum mark in benchmark image, and the light exposure and ash of the variation acquisition according to the time for exposure with datum mark
Angle value calculates camera response function；
S3：The relative irradiation angle value of all the points is obtained using camera response function, is responded based on relative irradiation angle value and camera
Function calculates exposure frequency and time for exposure；
S4：The image co-registration new stripe pattern sequence that is that is obtained with different exposure time and for three-dimensional reconstruction.
In the present embodiment, measurement intensity value ranges are preset described in step S1 and exposure time range specifically includes：
S21：Presetting measurement intensity value ranges is~, preset the exposure time range i.e. default minimum camera exposure timeMost
It exposes completely the timeValue；SettingWhen value, where target object when need to meet projection striped under current value in camera view
The maximum value in region is less than；SettingTarget object institute when value, when need to meet projection striped under current value in camera view
Minimum value in region is greater than；
Acquisition benchmark image and the benchmark time for exposure in default measurement range include in step sl:Projector is to target
Object projects solid white image, in default exposure time range fromIt arrivesConstantly change the camera exposure time, during the adjustment
Number of all pixels gray value in measurement intensity value ranges in camera view is counted, image and correspondence during adjustment are saved
Time for exposure, the image of maximum pixel gray value is corresponded in selection course as benchmark image, the time for exposure of benchmark image is
The benchmark time for exposure.
In the present embodiment, selected described in step S2 on benchmark image grey scale pixel value forPoint as datum mark,
Datum mark brightness value is uniformly set as an arbitrary constant, and such as 300；
Establish template image, have identical size with benchmark image, template image grey scale pixel value is determined by following formula：
（1）
Above formula（1）In,It is benchmark image in coordinateThe gray value at place；
The time for exposure is continuously increased since the benchmark time for exposure until the grey scale pixel value of datum mark is more than or equal to, in preservation
Grey scale pixel value and time for exposure during stating, represent camera response function with quintic algebra curve, such as formula（2）It is shown：
（2）
Using the light exposure of the datum mark during adjustment as input value, corresponding grey scale pixel value is as output valve, benefit
5 unknowm coefficients are obtained with least square fitting algorithm, this is the camera response letter being calculated
Number, according to camera response function, can respectively obtainCorresponding light exposureWithCorresponding light exposure。
In the present embodiment, the relative irradiation angle value of all the points is obtained described in step S3 using camera response function
Included the following steps by the relative irradiation angle value combining camera receptance function of acquisition to calculate exposure frequency and time for exposure：
S41：To template imageThe point that middle grey scale pixel value is 1, the image sequence that traversal step S21 is calculated, when finding
When this coordinate pixel value is within the scope of optimum measurement on a certain image in sequence, calculated camera response function is obtained
To this point light exposure, light exposure divided by image correspond to the time for exposure i.e. for this point contrast angle value；
S42：To template imageThe point that middle grey scale pixel value is 0, according to grey scale pixel value and phase of the benchmark image under this point
Machine receptance function obtains this and puts corresponding light exposure, and what light exposure was put divided by the benchmark time for exposure for this contrasts angle value.
S43：Obtain all target points contrast angle value after, find minimum value therein,/Value be one
The secondary time for exposure deletes the light exposure under current exposure time and existsBetween point corresponding contrast angle value；Repeat S43
Until all brightness values are all deleted, the time for exposure obtained in calculating process is the time for exposure needed for measuring.
In the present embodiment, phase-shifting technique is walked in conjunction with N and multiple exposing method carries out image synthesis, including：
S51：Projectoscope projects a solid white image and changes the camera exposure time respectively according to the result of step S43 and obtain target
Image sequence；
S52：Projector projects N bar graphs again, changes the camera exposure time and obtains target image sequence, first with figure
As sequenceTemplate image is obtained, calculation formula is as follows：
(3)
Above formula（3）In,It is that i-th exposes corresponding template image in coordinateGrey scale pixel value,
,Being is being i-th, and the corresponding camera image of j exposure is in coordinateGrey scale pixel value, then utilize template image
By the bar graph image sequence of bar graph image sequences fusion Cheng Xin：
(4)
Above formula（4）In,, it is that i-th exposes corresponding camera image in coordinate when projecting jth width bar graph
Grey scale pixel value,It isWidth blending image is in coordinateGrey scale pixel value.
In the present embodiment, in conjunction with document " Automated phase-measuring profilometry of 3-D
Algorithm principle in diffuse objects " utilizes fused image sequence, projector is considered as a virtual camera, is looked for
Solution phase and three-dimensional reconstruction are carried out using trigonometry to projector view point corresponding with camera view.
Now by further illustrating beneficial effects of the present invention for following experiment：：
The measuring device for testing the method for the present invention includes a computer, a projector（NEC NP43+）, an industrial CCD
Camera (The Imaging Source, DMK 23G445).This experiment measurement object is the metal with complex reflex rate surface
Blade, directly to the image of Object Projection as shown in figure 3, the camera response curve of experimental calculation by algorithm as shown in figure 4, obtained
To time for exposure be respectively：63.73 ms, 30.3 ms, 13.3 ms, 11.49 ms, 5.81 ms and 1.17 ms.Melt
Image after conjunction is as shown in figure 5, reconstructed results are as shown in Figure 6.
From figs. 5 and 6, it can be seen that fused image phase information is preferably preserved, subject surface is three-dimensional
Data are fully restored out.
Therefore compared with prior art, the invention has the advantages that：
（1）The present invention adaptively can calculate required exposure frequency and time for exposure for measurement surface, improve measurement effect
Rate and the degree of automation industrially have biggish application value；
（2）Suitable strength range can be arranged according to measurement request in the present invention, improve measurement flexibility；
（3）What the present invention can find out all the points in field range contrasts angle value, improves exposure accuracy and robustness；
（4）Automatic exposure algorithm in the present invention is not only useful in structural light measurement mode, can be applied to other 3D visions
In measurement method.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (6)
1. a kind of structure light self-adaptation three-dimensional measurement method based on camera response curve, which is characterized in that including：
S1：Default measurement intensity value ranges and exposure time range, obtain benchmark image in default measurement range and benchmark exposes
Between light time；
S2：Select the datum mark in benchmark image, and the light exposure and ash of the variation acquisition according to the time for exposure with datum mark
Angle value calculates camera response function；
S3：The relative irradiation angle value of all the points is obtained using camera response function, is responded based on relative irradiation angle value and camera
Function calculates exposure frequency and time for exposure；
S4：The image co-registration new stripe pattern sequence that is that is obtained with different exposure time and for three-dimensional reconstruction.
2. the structure light self-adaptation three-dimensional measurement method according to claim 1 based on camera response curve, feature exist
In the default measurement intensity value ranges and exposure time range specifically include：
S21：Presetting measurement intensity value ranges is~, preset the exposure time range i.e. default minimum camera exposure timeAnd maximum
Time for exposureValue；SettingTarget object location when value, when need to meet projection striped under current value in camera view
The maximum value in domain is less than；SettingWhen value, where target object when need to meet projection striped under current value in camera view
The minimum value in region is greater than；
It is described to obtain benchmark image in default measurement range and the benchmark time for exposure includes:Projector projects pure to target object
White image, in default exposure time range fromIt arrivesConstantly change the camera exposure time, counts camera view during the adjustment
Number of all pixels gray value in measurement intensity value ranges in figure saves image and corresponding time for exposure during adjustment,
The image of maximum pixel gray value is corresponded in selection course as benchmark image, when exposing on the basis of the time for exposure of benchmark image
Between.
3. the structure light self-adaptation three-dimensional measurement method according to claim 2 based on camera response curve, feature exist
In, select on benchmark image grey scale pixel value forPoint as datum mark, it is any that datum mark brightness value is uniformly set as one
Constant；
Establish template image, have identical size with benchmark image, template image grey scale pixel value is determined by following formula：
（1）
Above formula（1）In,It is benchmark image in coordinateThe gray value at place；
The time for exposure is continuously increased since the benchmark time for exposure until the grey scale pixel value of datum mark is more than or equal to, in preservation
Grey scale pixel value and time for exposure during stating, represent camera response function with quintic algebra curve, such as formula（2）It is shown：
（2）
Using the light exposure of the datum mark during adjustment as input value, corresponding grey scale pixel value is as output valve, benefit
5 unknowm coefficients are obtained with least square fitting algorithm, this is the camera response letter being calculated
Number, according to camera response function, can respectively obtainCorresponding light exposureWithCorresponding light exposure。
4. the structure light self-adaptation three-dimensional measurement method according to claim 3 based on camera response curve, feature exist
In the relative irradiation angle value for obtaining all the points using camera response function passes through the relative irradiation angle value combination phase of acquisition
Machine receptance function calculates exposure frequency and the time for exposure includes：
S41：To template imageThe point that middle grey scale pixel value is 1, the image sequence that traversal step S21 is calculated, when finding sequence
When this coordinate pixel value is within the scope of optimum measurement on a certain image in column, calculated camera response function is obtained
This point light exposure, light exposure divided by image correspond to the time for exposure i.e. for this point contrast angle value；
S42：To template imageThe point that middle grey scale pixel value is 0, according to grey scale pixel value and camera of the benchmark image under this point
Receptance function obtains this and puts corresponding light exposure, and what light exposure was put divided by the benchmark time for exposure for this contrasts angle value；
S43：Obtain all target points contrast angle value after, find minimum value therein,/Value be primary expose
Between light time, deletes the light exposure under current exposure time and existBetween point corresponding contrast angle value；Repeat S43 until
All brightness values are all deleted, and the time for exposure obtained in calculating process is the time for exposure needed for measuring.
5. the structure light self-adaptation three-dimensional measurement method according to claim 4 based on camera response curve, feature exist
In, phase-shifting technique is walked in conjunction with N and multiple exposing method carries out image synthesis, including：
S51：Projectoscope projects a solid white image and changes the camera exposure time respectively according to the result of step S43 and obtain target
Image sequence；
S52：Projector projects N bar graphs again, changes the camera exposure time and obtains target image sequence, first with figure
As sequenceTemplate image is obtained, calculation formula is as follows：
(3)
Above formula（3）In,It is that i-th exposes corresponding template image in coordinateGrey scale pixel value,,Being is being i-th, and the corresponding camera image of j exposure is in coordinateGrey scale pixel value, then utilize template image
By the bar graph image sequence of bar graph image sequences fusion Cheng Xin：
(4)
Above formula（4）In,, it is that i-th exposes corresponding camera image in coordinate when projecting jth width bar graph's
Grey scale pixel value,It isWidth blending image is in coordinateGrey scale pixel value.
6. the structure light self-adaptation three-dimensional measurement method according to claim 5 based on camera response curve, feature exist
In utilizing fused image sequence, projector is considered as a virtual camera, finds projector view and camera view
Corresponding point carries out solution phase and three-dimensional reconstruction using trigonometry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403285.1A CN108827184B (en) | 2018-04-28 | 2018-04-28 | Structured light self-adaptive three-dimensional measurement method based on camera response curve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810403285.1A CN108827184B (en) | 2018-04-28 | 2018-04-28 | Structured light self-adaptive three-dimensional measurement method based on camera response curve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108827184A true CN108827184A (en) | 2018-11-16 |
| CN108827184B CN108827184B (en) | 2020-04-28 |
Family
ID=64147518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810403285.1A Active CN108827184B (en) | 2018-04-28 | 2018-04-28 | Structured light self-adaptive three-dimensional measurement method based on camera response curve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108827184B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883354A (en) * | 2019-03-05 | 2019-06-14 | 盎锐（上海）信息科技有限公司 | Regulating system and method for projection grating modeling |
| CN110440712A (en) * | 2019-08-26 | 2019-11-12 | 英特维科技(苏州)有限公司 | Adaptive big depth of field 3-D scanning method and system |
| CN110475078A (en) * | 2019-09-03 | 2019-11-19 | 河北科技大学 | Camera shutter time method of adjustment and terminal device |
| CN111707221A (en) * | 2020-06-29 | 2020-09-25 | 西安工业大学 | Multi-exposure scattering signal fusion surface roughness measurement method |
| CN112118435A (en) * | 2020-08-04 | 2020-12-22 | 山东大学 | Multi-projection fusion method and system for special-shaped metal screen |
| WO2021078300A1 (en) * | 2019-10-24 | 2021-04-29 | 先临三维科技股份有限公司 | Three-dimensional scanner and three-dimensional scanning method |
| CN112764358A (en) * | 2020-12-28 | 2021-05-07 | 中国人民解放军战略支援部队航天工程大学 | Dynamic control method for optical observation exposure time of geosynchronous orbit target |
| CN113340235A (en) * | 2021-04-27 | 2021-09-03 | 成都飞机工业（集团）有限责任公司 | Projection system based on dynamic projection and phase shift pattern generation method |
| CN113870430A (en) * | 2021-12-06 | 2021-12-31 | 杭州灵西机器人智能科技有限公司 | Workpiece data processing method and device |
| CN116614713A (en) * | 2023-07-14 | 2023-08-18 | 江南大学 | Self-adaptive multiple exposure method for three-dimensional morphology measurement |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013012335A1 (en) * | 2011-07-21 | 2013-01-24 | Ziv Attar | Imaging device for motion detection of objects in a scene, and method for motion detection of objects in a scene |
| CN103002225A (en) * | 2011-04-20 | 2013-03-27 | Csr技术公司 | Multiple exposure high dynamic range image capture |
| CN103411533A (en) * | 2013-08-05 | 2013-11-27 | 上海交通大学 | Structured light self-adapting repeated multi-exposure method |
| CN103761712A (en) * | 2014-01-21 | 2014-04-30 | 太原理工大学 | Image blind convolution method based on adaptive optical system point spread function reconstruction |
| CN104113946A (en) * | 2013-04-17 | 2014-10-22 | 宝山钢铁股份有限公司 | light source illuminance adaptive control device and light source illuminance adaptive control method |
| CN104539921A (en) * | 2014-11-26 | 2015-04-22 | 北京理工大学 | Illumination compensation method based on multi-projector system |
| CN104835130A (en) * | 2015-04-17 | 2015-08-12 | 北京联合大学 | Multi-exposure image fusion method |
| CN104954701A (en) * | 2015-06-19 | 2015-09-30 | 长春理工大学 | Camera response curve generating method |
| CN105651203A (en) * | 2016-03-16 | 2016-06-08 | 广东工业大学 | High-dynamic-range three-dimensional shape measurement method for self-adaptation fringe brightness |
| CN105872398A (en) * | 2016-04-19 | 2016-08-17 | 大连海事大学 | Space camera self-adaption exposure method |
| CN106091986A (en) * | 2016-06-08 | 2016-11-09 | 韶关学院 | A kind of method for three-dimensional measurement being applicable to glossy surface |
| CN107845128A (en) * | 2017-11-03 | 2018-03-27 | 安康学院 | A kind of more exposure high-dynamics image method for reconstructing of multiple dimensioned details fusion |
| CN107894215A (en) * | 2017-12-26 | 2018-04-10 | 东南大学 | HDR optical grating projection method for three-dimensional measurement based on fully automatic exposure |
-
2018
- 2018-04-28 CN CN201810403285.1A patent/CN108827184B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103002225A (en) * | 2011-04-20 | 2013-03-27 | Csr技术公司 | Multiple exposure high dynamic range image capture |
| WO2013012335A1 (en) * | 2011-07-21 | 2013-01-24 | Ziv Attar | Imaging device for motion detection of objects in a scene, and method for motion detection of objects in a scene |
| CN104113946A (en) * | 2013-04-17 | 2014-10-22 | 宝山钢铁股份有限公司 | light source illuminance adaptive control device and light source illuminance adaptive control method |
| CN103411533A (en) * | 2013-08-05 | 2013-11-27 | 上海交通大学 | Structured light self-adapting repeated multi-exposure method |
| CN103761712A (en) * | 2014-01-21 | 2014-04-30 | 太原理工大学 | Image blind convolution method based on adaptive optical system point spread function reconstruction |
| CN104539921A (en) * | 2014-11-26 | 2015-04-22 | 北京理工大学 | Illumination compensation method based on multi-projector system |
| CN104835130A (en) * | 2015-04-17 | 2015-08-12 | 北京联合大学 | Multi-exposure image fusion method |
| CN104954701A (en) * | 2015-06-19 | 2015-09-30 | 长春理工大学 | Camera response curve generating method |
| CN105651203A (en) * | 2016-03-16 | 2016-06-08 | 广东工业大学 | High-dynamic-range three-dimensional shape measurement method for self-adaptation fringe brightness |
| CN105872398A (en) * | 2016-04-19 | 2016-08-17 | 大连海事大学 | Space camera self-adaption exposure method |
| CN106091986A (en) * | 2016-06-08 | 2016-11-09 | 韶关学院 | A kind of method for three-dimensional measurement being applicable to glossy surface |
| CN107845128A (en) * | 2017-11-03 | 2018-03-27 | 安康学院 | A kind of more exposure high-dynamics image method for reconstructing of multiple dimensioned details fusion |
| CN107894215A (en) * | 2017-12-26 | 2018-04-10 | 东南大学 | HDR optical grating projection method for three-dimensional measurement based on fully automatic exposure |
Non-Patent Citations (2)
| Title |
|---|
| 李兆杰: "一种基于自动多次曝光面结构光的形貌测量方法", 《光学学报》 * |
| 王倩: "一种用于产品三维轮廓检测的自适应ROI高速相机系统", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109883354A (en) * | 2019-03-05 | 2019-06-14 | 盎锐（上海）信息科技有限公司 | Regulating system and method for projection grating modeling |
| CN110440712A (en) * | 2019-08-26 | 2019-11-12 | 英特维科技(苏州)有限公司 | Adaptive big depth of field 3-D scanning method and system |
| CN110475078A (en) * | 2019-09-03 | 2019-11-19 | 河北科技大学 | Camera shutter time method of adjustment and terminal device |
| WO2021078300A1 (en) * | 2019-10-24 | 2021-04-29 | 先临三维科技股份有限公司 | Three-dimensional scanner and three-dimensional scanning method |
| CN111707221B (en) * | 2020-06-29 | 2021-11-16 | 西安工业大学 | Multi-exposure scattering signal fusion surface roughness measurement method |
| CN111707221A (en) * | 2020-06-29 | 2020-09-25 | 西安工业大学 | Multi-exposure scattering signal fusion surface roughness measurement method |
| CN112118435A (en) * | 2020-08-04 | 2020-12-22 | 山东大学 | Multi-projection fusion method and system for special-shaped metal screen |
| CN112118435B (en) * | 2020-08-04 | 2021-06-25 | 山东大学 | Multi-projection fusion method and system for special-shaped metal screen |
| CN112764358A (en) * | 2020-12-28 | 2021-05-07 | 中国人民解放军战略支援部队航天工程大学 | Dynamic control method for optical observation exposure time of geosynchronous orbit target |
| CN113340235A (en) * | 2021-04-27 | 2021-09-03 | 成都飞机工业（集团）有限责任公司 | Projection system based on dynamic projection and phase shift pattern generation method |
| CN113870430A (en) * | 2021-12-06 | 2021-12-31 | 杭州灵西机器人智能科技有限公司 | Workpiece data processing method and device |
| CN113870430B (en) * | 2021-12-06 | 2022-02-22 | 杭州灵西机器人智能科技有限公司 | Workpiece data processing method and device |
| CN116614713A (en) * | 2023-07-14 | 2023-08-18 | 江南大学 | Self-adaptive multiple exposure method for three-dimensional morphology measurement |
| CN116614713B (en) * | 2023-07-14 | 2023-10-27 | 江南大学 | Self-adaptive multiple exposure method for three-dimensional morphology measurement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108827184B (en) | 2020-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108827184A (en) | A kind of structure light self-adaptation three-dimensional measurement method based on camera response curve | |
| EP3139589B1 (en) | Image processing apparatus and image processing method | |
| CN106705855B (en) | A kind of high dynamic performance method for three-dimensional measurement based on adaptive optical grating projection | |
| JP5132832B1 (en) | Measuring apparatus and information processing apparatus | |
| US20150093042A1 (en) | Parameter calibration method and apparatus | |
| JP6041513B2 (en) | Image processing apparatus, image processing method, and program | |
| Zhang et al. | A robust surface coding method for optically challenging objects using structured light | |
| CN105806259A (en) | Three-dimensional measuring method based on binary grating out-of-focus projection | |
| US20210254968A1 (en) | Method and System for Automatic Focusing for High-Resolution Structured Light 3D Imaging | |
| CN112734824A (en) | Three-dimensional reconstruction method based on generalized luminosity stereo model | |
| Sui et al. | Active stereo 3-d surface reconstruction using multistep matching | |
| Chen et al. | Automated exposures selection for high dynamic range structured-light 3-D scanning | |
| Wang et al. | A phase unwrapping method based on sparse depth for depth perception | |
| Li et al. | An improved 2+ 1 phase-shifting algorithm | |
| Ye et al. | A novel triangular stereo model for 3D reconstruction of uniaxial MEMS-based structured light system | |
| JP6420530B2 (en) | Information processing apparatus, measurement system, control system, light quantity determination method, program, and storage medium | |
| JP2021117228A (en) | Three-dimensional shape measuring device and three-dimensional shape measuring method | |
| JP4382430B2 (en) | Head three-dimensional shape measurement system | |
| CN111462331A (en) | Method for expanding epipolar geometry and calculating three-dimensional point cloud in real time | |
| Li et al. | High-quality fringe pattern generation based on binary pattern optimization with projector defocusing | |
| Zhang et al. | Accurate measurement of high-reflective surface based on adaptive fringe projection technique | |
| JP2021081791A5 (en) | ||
| JP2001052207A (en) | Method and device for processing image and recording medium | |
| Lacher | 3D breast surface reconstructions from consumer-grade RGB-D cameras | |
| JP2006064453A (en) | 3-dimensional geometry input device and method |
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 | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20181116 Assignee: NANJING KINGYOUNG INTELLIGENT SCIENCE AND TECHNOLOGY Co.,Ltd. Assignor: Nanjing University of Aeronautics and Astronautics Contract record no.: X2021320000050 Denomination of invention: An adaptive 3D measurement method of structured light based on camera response curve Granted publication date: 20200428 License type: Common License Record date: 20210719 |