CN109816738A - A kind of striped boundary extraction algorithm based on coded structured light - Google Patents
A kind of striped boundary extraction algorithm based on coded structured light Download PDFInfo
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Abstract
The striped boundary extraction algorithm based on coded structured light that the invention discloses a kind of, includes the following steps, S1: selection structure light coding mode；S2: establishing master pattern, projects to structured light patterns on model according to selected scheme, according to selected coding mode to model based coding；S3: projecting to structured light patterns on testee according to selected scheme, encodes according to selected coding mode to testee photo；S4: the photo coding in step S3 is retrieved in model based coding in step s 2, obtains target striped；S5: being configured target striped code pattern, extracts boundary to code pattern；The present invention can be efficiently extracted to the striped boundary line after structure light coding, the interference that the noise spot for solving to generate in an encoding process while auxiliary finds pixel and streak line matching relationship extracts fringe center, the shortcomings that avoiding traditional approach method, more rapid and convenient, more accurately.
Description
Technical field
The present invention relates to computerized algorithm technical field, specially a kind of striped Boundary Extraction based on coded structured light is calculated
Method.
Background technique
The acquisition of scene three-dimensional information has important research and application value to computer vision and robotics, by
Be widely applied, three-dimensional information acquiring technology can be divided into active method and two kinds of passive approach, active method need one it is special
Optical projectors generate certain coding pattern, and for coding pattern, the position of characteristic point is exactly the boundary of image；It is existing
There is boundary detection method to have the Edge Detection Using based on differential, the Edge Detection Using based on binaryzation method and based on positive an inverse pattern
Striped Edge Detection Using.
Differential-boundary detective operators, which exist, to be lost boundary, can not inhibit noise or the feelings on pseudo- boundary, continuum boundary occurs
Condition；Based on the border detection rule of binaryzation method, there are actual measurements in the process due to some external factors such as environment light and object
The influence of the internal factors such as surface characteristics, so that the boundary of the coding pattern of projection is not an ideal step boundary, but
There are the change procedures of a gray scale gradual change, can bring no small problem to the determination of threshold value；Striped side based on positive an inverse pattern
For boundary's detection method since by positive coding pattern, all back projection is primary again, the time that will lead to Image Acquisition is double, if compiled
The width number of code pattern is more, then can waste many times.
Summary of the invention
The technical problem to be solved by the present invention is to existing boundaries detection method existing defects, and process is many and diverse, can not be quick
Acquisition striped boundary rapidly and accurately provides a kind of striped boundary extraction algorithm based on coded structured light, to solve above-mentioned
Problem.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
The present invention provides a kind of striped boundary extraction algorithm based on coded structured light, includes the following steps,
S1: selection structured light projection scheme and coding mode；
S2: establishing master pattern, projects to structured light patterns on model according to selected scheme, according to selected coding
Mode is to model based coding；
S3: projecting to structured light patterns on testee according to selected scheme, according to selected coding mode to quilt
Survey object picture coding；
S4: the photo coding in step S3 is retrieved in model based coding in step s 2, obtains target striped；
S5: being configured target striped code pattern, extracts boundary to code pattern.
As a preferred technical solution of the present invention, in the step S1, the projection scheme of structure light uses Gray
Code coding is combined with Line Shifting coding and is encoded.
As a preferred technical solution of the present invention, the Gray Code is encoded to setting n width projection pattern, and n is not small
In 1；The chequered with black and white striped of twice is provided in first width projection pattern, it is chequered with black and white to be provided with four in the second width pattern
Striped, and so on, 2 are provided in the n-th width projection patternnThe chequered with black and white striped in road；To the same point on model, respectively
It goes to project with n width projection pattern, 0 is denoted as in blackstreak, 1 is denoted as in white stripes, each puts a corresponding n
The coding of bit length.
As a preferred technical solution of the present invention, the Line Shifting encoding setting has 28-nBreadth degree is 28 -nChequered with black and white ladder-like striped be scanned, after run-down, striped is formed into new figure to left 1pixel
Case translates 2 as scanning next time8-nIt is secondary, form 28-nWidth pattern；To the same point on model, respectively with 28-nWidth projection
Pattern goes to project, and 0 is denoted as in blackstreak, and 1 is denoted as in white stripes, each point is one 2 corresponding8-nBit length
Coding.
As a preferred technical solution of the present invention, n is set as 5 in Gray Code coding in structure light coding mode,
Five codings are obtained by Gray Code coding；When n=5, the pattern width of Line Shifting coding is 8pixel, to the left
Translation 7 times available groups identical with pattern when translating for the first time；It is provided with 5 secondary Gray Code coding patterns and 7 width Line altogether
Shifting coding pattern, projection obtain one 12 codings later.
As a preferred technical solution of the present invention, in the step S2, model is to open up one piece in a computer to put down
Colourless plate, whiteboard surface is bright and clean without other colors and big with projection pattern etc., and projection pattern is sized to 256 ×
640pixel；Using the coding mode in step S1, model is encoded.
As a preferred technical solution of the present invention, in the step S3, using the coding mode in step S1, to throwing
The photo of testee of the shadow on model is encoded.
As a preferred technical solution of the present invention, in the step S4, by the coding obtained in step S3 in step
The model index established in S2 obtains all target stripeds met, all target strip extractions met is come out, and obtains mesh
Mark striped code pattern；In the model of step S2, the coding ordered arrangement of striped when being retrieved in step s3, will meet
The striped of coding proposes out to be a continuous candy strip.
As a preferred technical solution of the present invention, in the step S5, in a line of code pattern, when encounter with together
When the corresponding pixel of one coding is greater than 1, take that pixel adjacent with next coding corresponding as the coding
Point on striped；For the coding phase of striped boundary line two sides, as one, mutually binding carries out searching element.
The beneficial effects obtained by the present invention are as follows being: the present invention is when extracting striped boundary, according to two adjacent correct mesh
Mark encodes corresponding streak line to extract, and has been effectively shielded from the interference of noise spot.Binaryzation method is needed when extracting image boundary
Different zones are distinguished with threshold value, but the determination of threshold value is a very big problem, the present invention does not need to determine threshold value, directly with volume
Code determines a region, with good stability.Based on the striped Edge Detection Using of positive an inverse pattern due to will just encode
All back projection is primary again for pattern, and the time that will lead to Image Acquisition is double, and the present invention only need to be by encoded pattern projection one
Time, it is not only time saving to be also easy to operate.Three kinds of methods mentioned above simultaneously are both needed to carry out handling to image information just to can determine shaping
The position on line boundary, and master pattern established by the present invention can directly orient the position where striped boundary, allows striped
Boundary Extraction is come highly efficient.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
In the accompanying drawings:
Fig. 1 is overall flow schematic diagram of the present invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment: as shown in Figure 1, the present invention provides a kind of striped boundary extraction algorithm based on coded structured light, including
Following steps,
S1: selection structured light projection scheme and coding mode；
S2: establishing master pattern, projects to structured light patterns on model according to selected scheme, according to selected coding
Mode is to model based coding；
S3: projecting to structured light patterns on testee according to selected scheme, according to selected coding mode to quilt
Survey object picture coding；
S4: the photo coding in step S3 is retrieved in model based coding in step s 2, obtains target striped；
S5: being configured target striped code pattern, extracts boundary to code pattern.
Further, in the step S1, the projection scheme of structure light is encoded using Gray Code and Line
Shifting coding, which combines, to be encoded.
Further, the Gray Code is encoded to setting n width projection pattern, and n is not less than 1；In first width projection pattern
It is provided with the chequered with black and white striped of twice, four chequered with black and white stripeds are provided in the second width pattern, and so on, the n-th width
2 are provided in projection patternnThe chequered with black and white striped in road；To the same point on model, go to throw with n width projection pattern respectively
Shadow is denoted as 0 in blackstreak, and 1 is denoted as in white stripes, each puts the coding of a corresponding n bit length.
Further, the Line Shifting encoding setting has 28-nBreadth degree is 28-nIt is chequered with black and white ladder-like
Striped is scanned, and after run-down, striped is formed new pattern to left 1pixel, as scanning next time, is put down
Move 28-nIt is secondary, form 28-nWidth pattern；To the same point on model, respectively with 28-nWidth projection pattern goes to project, and is in black bar
It is denoted as 0 in line, 1 is denoted as in white stripes, each point is one 2 corresponding8-nThe coding of bit length.
Further, n is set as 5 in Gray Code coding in structure light coding mode, is obtained by Gray Code coding
Obtain five codings；When n=5, the pattern width of Line Shifting coding is 8pixel, be can get and first to left 7 times
Pattern identical group when secondary translation；It is provided with 5 secondary Gray Code coding patterns and 7 width Line Shifting coding patterns altogether,
Projection obtains one 12 codings later.
Further, in the step S2, model is to open up one piece of plane blank, the bright and clean nothing of whiteboard surface in a computer
Other colors and big with projection pattern etc., projection pattern is sized to 256 × 640pixel；Use the coding staff in step S1
Formula encodes model.
Further, in the step S3, using the coding mode in step S1, to the testee being projected on model
Photo encoded.
Further, in the step S4, the model index that the coding obtained in step S3 is established in step s 2 is obtained
All target stripeds met are obtained, all target strip extractions met are come out, obtain target striped code pattern；In step S2
Model in, the striped for meeting coding when being retrieved in step s3, is proposed out to be one by the coding ordered arrangement of striped
A continuous candy strip.
Further, in the step S5, in a line of code pattern, when encountering pixel corresponding with one and same coding
When greater than 1, take with adjacent that pixel of next coding as the point on the corresponding striped of the coding；For striped side
The coding phase of boundary line two sides, as one, mutually binding carries out searching element.
Specific: the projection scheme of setting structure light is that Gray Code coding is encoded with Line Shifting in step S1
It combines and is encoded, and determine that technical solution is to project using 5 secondary Gray Code projection patterns and 7 secondary Line Shifting
Pattern, which combines, to be encoded；Step S2 opens up one piece of blank model in a computer, is projected for target picture, blank
Moulded dimension is 256 × 640pixel, and whiteboard surface is bright and clean and not by external interference, and noise spot is avoided to influence, and subsequent projection is compiled
The code of mistake is generated during code；By scheme described in step S1, model is projected, it is all to obtain model
Strip encoding；In step s3, target picture is projected, obtains the strip encoding of photo；And in step s 4, for photograph
The coding of piece is retrieved on model, obtains all target stripeds identical with photo coding, and all target stripeds are constituted
Target striped code pattern；In step s 5, it is configured for the coding for the boundaries on either side extracted, as integrally being examined
Rope, what is be retrieved is exactly boundary；For example, boundaries on either side striped coding is respectively a or b, if only retrieving a or only retrieving b
Encounter coding permutations be aaa when, boundary can not be retrieved；Only retrieval b is also this reason, and ab is gone to search as a whole
Rope, to obtain the boundary for exactly needing to extract between two stripeds.
The present invention mainly passes through smooth blank model and projects, and an artificial constructed ecotopia avoids survey
Dead angle is measured to reject not exclusively, the reasons such as external light influence may cause the mistake of the binary sequence, generate one it is wrong
Coding, while when avoiding projector projection pattern being projected in measured object surface is not accomplished the big projection such as completely, is projected to
The case where pattern on measured object surface may be amplified provides the foundation to the correct acquisition of succeeding target coding.With auxiliary
The advantages of helping extraction striped, accelerating extraction rate；The influence of noise spot is effectively avoided, there is anti-noise ability；Master pattern energy
The information of true reflection correct coding, with good stability, method is easy, easy to implement, need to only project a code pattern
Case, image acquisition time are short.
Finally, it should be noted that these are only the preferred embodiment of the present invention, it is not intended to restrict the invention, although
Present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, still can be right
Technical solution documented by foregoing embodiments is modified or equivalent replacement of some of the technical features.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (9)
1. a kind of striped boundary extraction algorithm based on coded structured light, which is characterized in that include the following steps,
S1: selection structured light projection scheme and coding mode；
S2: establishing master pattern, projects to structured light patterns on model according to selected scheme, according to selected coding mode
To model based coding；
S3: projecting to structured light patterns on testee according to selected scheme, according to selected coding mode to measured object
Body photo coding；
S4: the photo coding in step S3 is retrieved in model based coding in step s 2, obtains target striped；
S5: being configured target striped code pattern, extracts boundary to code pattern.
2. a kind of striped boundary extraction algorithm based on coded structured light according to claim 1, which is characterized in that described
In step S1, the projection scheme of structure light, which encodes to combine with Line Shifting coding using Gray Code, to be encoded.
3. a kind of striped boundary extraction algorithm based on coded structured light according to claim 2, which is characterized in that described
Gray Code is encoded to setting n width projection pattern, and n is not less than 1；It is chequered with black and white that twice are provided in first width projection pattern
Striped is provided with four chequered with black and white stripeds in the second width pattern, and so on, 2 are provided in the n-th width projection patternnRoad
Chequered with black and white striped；To the same point on model, goes to project with n width projection pattern respectively, be denoted as in blackstreak
0,1 is denoted as in white stripes, each puts the coding of a corresponding n bit length.
4. a kind of striped boundary extraction algorithm based on coded structured light according to claim 3, which is characterized in that described
Line Shifting encoding setting has 28-nBreadth degree is 28-nChequered with black and white ladder-like striped be scanned, run-down
Later, striped is formed into new pattern to left 1pixel, as scanning next time, translates 28-nIt is secondary, form 28-nWidth pattern；
To the same point on model, respectively with 28-nWidth projection pattern goes to project, and 0 is denoted as in blackstreak, is in white stripes
In be denoted as 1, corresponding one 2 of each point8-nThe coding of bit length.
5. a kind of striped boundary extraction algorithm based on coded structured light according to claim 4, which is characterized in that structure
N is set as 5 in Gray Code coding in pumped FIR laser mode, obtains five codings by Gray Code coding；When n=5, Line
The pattern width of Shifting coding is 8pixel, can get group identical with pattern when first time translation to left 7 times；Altogether
5 secondary Gray Code coding patterns and 7 width Line Shifting coding patterns are provided with, projection obtains one 12 volumes later
Code.
6. a kind of striped boundary extraction algorithm based on coded structured light according to claim 1, which is characterized in that described
In step S2, model is to open up one piece of plane blank in a computer, and whiteboard surface is bright and clean without other colors and and projection pattern
Deng big, projection pattern is sized to 256 × 640pixel；Using the coding mode in step S1, model is encoded.
7. a kind of striped boundary extraction algorithm based on coded structured light according to claim 1, which is characterized in that described
In step S3, using the coding mode in step S1, the photo for the testee being projected on model is encoded.
8. a kind of striped boundary extraction algorithm based on coded structured light according to claim 1, which is characterized in that described
In step S4, the model index that the coding obtained in step S3 is established in step s 2 obtains all target stripeds met,
All target strip extractions met are come out, target striped code pattern is obtained；In the model of step S2, the coding of striped has
Sequence arrangement, when being retrieved in step s3, proposes out to be a continuous candy strip for the striped for meeting coding.
9. a kind of striped boundary extraction algorithm based on coded structured light according to claim 1, which is characterized in that described
In step S5, in a line of code pattern, when encountering pixel corresponding with one and same coding greater than 1, take with it is next
That adjacent pixel is encoded as the point on the corresponding striped of the coding；For the coding phase of striped boundary line two sides, make
Mutually binding is integrated to carry out searching element.
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| WO2022021678A1 (en) * | 2020-07-31 | 2022-02-03 | 中国科学院深圳先进技术研究院 | Three-dimensional object reconstruction method and terminal device |
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