CN110146036B - Three-dimensional measurement method and system based on grating projection and binocular polarization camera - Google Patents
Three-dimensional measurement method and system based on grating projection and binocular polarization camera Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The embodiment of the invention discloses a smooth object three-dimensional measurement method based on grating projection and a binocular polarization camera, which comprises the following steps: step 100, adjusting a polaroid to obtain an object image with a high dynamic range; 200, calibrating a binocular camera, and acquiring internal parameters and external parameters of the camera; step 300, setting a grating projection, and projecting the stripes on the surface of a smooth object; step 400, extracting and matching stripes to obtain homonymy points; 500, reconstructing a three-dimensional model to obtain the three-dimensional model of the smooth object; the invention obtains the coordinate information of the surface of the smooth object based on the binocular stereoscopic vision space intersection, realizes the accurate three-dimensional measurement of the surface of the smooth object, can effectively avoid the saturation condition caused by the mirror reflection of the surface of the smooth object, improves the applicable dynamic range of the system, and simultaneously can reduce the calibration difficulty of the system and reduce the operation cost of the system.
Description
Technical Field
The embodiment of the invention relates to the technical field of non-contact measurement, in particular to a three-dimensional measurement method and system based on grating projection and a binocular polarization camera.
Background
The optical three-dimensional measurement technology can rapidly and accurately acquire three-dimensional information of an object under a non-contact condition, and is widely applied to the fields of intelligent quality inspection, three-dimensional reconstruction, contour dimension monitoring and the like at present. Three-dimensional measurement of grating projection is the most important component in optical three-dimensional measurement technology, and three-dimensional information of an object is obtained by projecting grating stripes to the surface of a measured object and processing images acquired by a sensor to extract phase information of the stripes.
The traditional grating projection three-dimensional measurement method has a good effect on an object with a rough surface, but has certain limitation on an object with a smooth surface. This is mainly because the fringe image acquired by the sensor is saturated due to specular reflection, and the sensor cannot effectively extract accurate phase information, thereby reducing the three-dimensional modeling accuracy. In addition, the grating projection three-dimensional measurement method based on the single sensor has extremely high requirements on system calibration, high-precision calibration needs to be carried out again when the sensor or other system units need to be replaced, the cost is high, and the running cost of the system is increased.
Disclosure of Invention
Therefore, the embodiment of the invention provides a high-efficiency heat exchange structure self-adaptive optimization design method and system based on a variational method, which can set reasonable polarization imaging conditions according to imaging geometry, effectively avoid fringe image saturation, improve the working dynamic range of the system, reduce the calibration complexity by using a binocular camera, quickly finish system calibration when a sensor or other system units are replaced, and reduce the system operation cost so as to solve the problems in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the application provides a three-dimensional measurement method based on grating projection and a binocular polarization camera, which is characterized by comprising the following steps:
step 100, adjusting a polaroid to obtain an object image with a high dynamic range;
200, calibrating a binocular camera, and acquiring internal parameters and external parameters of the camera;
step 300, setting a grating projection, and projecting the stripes on the surface of a smooth object;
the step 300 includes: generating an M-element N-order sequence by adopting a DeBruijin coding mode, then determining the mapping relation between color RGB characteristics and the DeBruijin sequence, generating a DeBruijin color stripe, and projecting the DeBruijin color stripe on the surface of a smooth object;
step 400, extracting and matching stripes to obtain homonymy points;
the step 400 includes: acquiring a DeBruijin color stripe projected on the surface of a smooth object, and converting the color stripe into a gray stripe, wherein the conversion equation is as follows:
Rgray＝0.30Rr+0.59Rg+0.11Rb
wherein R isr，Rg，RbAre respectively converter colorsThree-channel brightness values of red, green and blue, R, of a color imagegrayIs the corresponding gray value;
extracting the central line of the stripe through the sub-pixel, and determining the central position of each stripe; finally, acquiring a stripe code word sequence according to the stripe center position of the binocular camera and corresponding color information, comparing the binocular image sequences, and completing homonymy point matching;
500, reconstructing a three-dimensional model to obtain the three-dimensional model of the smooth object;
the three-dimensional model reconstruction method specifically comprises the following steps:
performing intersection in binocular stereoscopic vision space to obtain surface point cloud of a smooth object;
for the obtained matching points, the spatial coordinate information of the matching points can be obtained according to a binocular stereoscopic vision intersection technology, and the method comprises the following steps:
wherein (x)1，y1)，(x2，y2) Coordinates, M, of points of common name of images of the binocular camera, respectively1And M2The projection matrix corresponding to the camera is provided by the camera calibration process, and the space coordinate, Z, of the homonymous point is obtained by the formulac1，Zc2Respectively is the coordinate of the object surface point on the Z axis of the binocular camera coordinate system;
carrying out filtering pretreatment on the point cloud to remove noise, and extracting point cloud data;
and processing the point cloud data according to the irregular triangulation network to obtain a high-precision three-dimensional model of the object with a smooth surface.
In step 100, when the sensor is in the direction of specular reflection, which causes the fringe image acquired by the sensor to be saturated, the transmission axis of the polarizer is adjusted to selectively shield the strong longitudinal wave or transverse wave, thereby reducing the light intensity of the entrance pupil of the camera.
An embodiment of the invention is further characterized in that prior to step 200, a lens radial distortion correction is first performed on the image and an eccentric distortion correction is first performed on the lens curve.
The embodiment of the invention is further characterized in that the specific steps of correcting the radial distortion of the lens are as follows:
setting a lens correction model:
δxr＝x(a1r2+a2r4+a3r6+...)
δyr＝y(a1r2+a2r4+a3r6+...)
wherein (x, y) represents the pixel coordinates of the image point in the image,
a1，a2，a3… denotes the respective radial distortion coefficient, δxr，δyrPixel coordinates corrected for radial distortion.
The embodiment of the invention is further characterized in that the eccentric distortion correction comprises the following specific steps:
setting a lens correction model:
δxd＝b1(3x2+y2)+2b2xy+...
δyd＝2b1xy+b2(3x2+y2)+...
wherein (x, y) represents the pixel coordinates of the image point in the image, b1，b2… denotes the respective eccentricity distortion coefficient, δxd，δydThe pixel coordinates after correction for the eccentric distortion.
The embodiment of the invention is also characterized in that the calibration of the binocular camera comprises the following specific steps:
putting a plane calibration plate in a binocular camera view field, randomly moving the calibration plate from different directions, acquiring calibration table images at different positions, extracting coordinates of calibration points in the calibration plate, and solving initial values of camera parameters by using a perspective transformation matrix, namely:
wherein [ X, Y, Z, 1]TWorld coordinates of points on the surface of the object, [ x, y, 1 ]]TFor corresponding image point coordinates, M is a perspective transformation matrix, alpha11，α12，…，α34Being elements of a matrix M, ZcThe Z-axis coordinate of the object surface point in a camera coordinate system;
elimination of ZcThe following equation can then be obtained:
α11X+α12Y+α13Z+α14-xXα31-xYα32-xZα33＝xα34
α21X+α22Y+α23Z+α24-yXα31-yYα32-yZα33＝yα34
adopting at least 6 calibration points to complete equation solution, wherein the solution of the equation is the initial value of the camera parameter;
and iterating the initial values by an LM (Linear modeling) nonlinear optimization method to obtain global optimal solutions of internal parameters and external parameters of the two cameras, and completing calibration of the cameras.
In addition, the invention also provides a three-dimensional measurement system based on the grating projection and the binocular polarization cameras, which comprises a grating projection unit, a data processing unit and two binocular polarization cameras, wherein a grating projection area is arranged below the grating projection unit, a plane calibration plate is arranged in the grating projection area, the plane calibration plate is arranged in a common view field of the two binocular polarization cameras, and the data processing unit is electrically connected with the two binocular polarization cameras.
The embodiment of the invention has the following advantages:
(1) the dynamic range of the system is high, the surface of a smooth object can reflect incident radiation in a mirror surface mode, the light intensity of the entrance pupil of the camera is too large, the camera is saturated, the detail information of the surface of the smooth object cannot be extracted, the polarizing component is introduced, the light transmission axis of the polarizing film is adjusted, strong longitudinal waves or transverse waves are selectively shielded, and the light intensity of the entrance pupil of the camera is reduced, so that the dynamic range of the system can be expanded, and the detail information of the surface of the smooth object can be obtained in the mirror surface reflection direction;
(2) the calibration difficulty is low, the monocular camera is used for establishing a three-dimensional model of the surface of an object, the relative position relation between the grating projection and the monocular camera needs to be calibrated at high precision, in addition, when a certain object is replaced, the high-precision calibration needs to be repeated, the binocular camera is introduced, the feature points are extracted, the space solid geometric relation is established, and the surface three-dimensional model is obtained. The calibration requirement of the method is relatively low, and when one object is replaced, the calibration can be carried out quickly, so that the running cost of the system is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic overall flow diagram of the present invention;
FIG. 2 is a block diagram of the system architecture of the present invention;
1-a grating projection unit; 2-a data processing unit; 3-a binocular polarization camera; 4-a grating projection area; 5-plane calibration plate.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 2, the invention provides a three-dimensional measurement system based on grating projection and binocular polarization cameras, which comprises a grating projection unit (1), a data processing unit (2) and two binocular polarization cameras (3), wherein a grating projection area (4) is arranged below the grating projection unit (1), a plane calibration plate (5) is arranged in the grating projection area (4), the plane calibration plate (5) is arranged in a common view field of the two binocular polarization cameras (3), and the data processing unit (2) is electrically connected with the two binocular polarization cameras (3).
In the three-dimensional measurement system based on the grating projection and the binocular polarization camera, the grating projection unit provides projection gratings with different modes and projects the projection gratings on the surface of a smooth object; acquiring grating projection of the surface of a smooth object by a binocular polarization camera unit; the data processing unit obtains a three-dimensional model of the surface of the smooth object based on binocular stereo vision processing. The method comprises the steps of firstly setting projection gratings with different modes, then realizing calibration of a binocular polarization camera based on a projection stripe image, finally extracting the center position of the stripe through a data processing unit, and obtaining coordinate information of the surface of a smooth object based on the intersection of a binocular stereo vision space, thereby realizing accurate three-dimensional measurement of the surface of the smooth object.
In order to better explain the above measurement method, the following description will be made with reference to specific examples.
Example (b):
in addition, the invention also provides a three-dimensional measurement method based on grating projection and a binocular polarization camera, which comprises the following steps:
step 100, adjusting a polarizer to acquire an object image with a high dynamic range, comprising the following steps: when the sensor is in the specular reflection direction and the stripe image acquired by the sensor is saturated due to specular reflection, the light transmission axis of the polaroid is adjusted to selectively shield strong longitudinal waves or transverse waves, so that the entrance pupil light intensity of the camera is reduced and is within the ideal imaging light intensity of the camera, and the problem of image saturation is solved. In the process of adjusting the transmission axis of the polaroid, the light intensity of the entrance pupil of the camera is weakened from strong, then the process of weakening and strengthening is carried out, and the angle which can reflect the surface characteristics of the object most and is in a reasonable dynamic range is selected.
200, calibrating a binocular camera to obtain internal parameters and external parameters of the camera, wherein the method comprises the following steps: the image is corrected for lens radial distortion, and the correction model can be expressed as:
δxr＝x(a1r2+a2r4+a3r6+...)
δyr＝y(a1r2+a2r4+a3r6+...)
wherein (x, y) represents the pixel coordinates of the image point in the image,
a1，a2，a3… denotes the respective radial distortion coefficient, δxr，δyrPixel coordinates corrected for radial distortion.
The lens surface flaw brings eccentric distortion, and the correction model can be expressed as:
δxd＝b1(3x2+y2)+2b2xy+...
δyd＝2b1xy+b2(3x2+y2)+...
where (x, y) denotes the pixel coordinates of the image point in the image, b1，b2… denotes the respective eccentricity distortion coefficient, δxd，δydThe pixel coordinates after correction for the eccentric distortion.
Putting a plane calibration plate in a binocular camera view field, randomly moving the calibration plate from different directions, acquiring calibration table images at different positions, extracting coordinates of calibration points in the calibration plate, and solving initial values of camera parameters by using a perspective transformation matrix, namely:
wherein [ X, Y, z, 1]TWorld coordinates of points on the surface of the object, [ x, y, 1 ]]TFor corresponding image point coordinates, M is a perspective transformation matrix, alpha11，α12，…，α34Being elements of a matrix M, ZcIs the Z-axis coordinate of the object surface point in the camera coordinate system. Elimination of ZcThe following equation can then be obtained:
α11X+α12Y+α13Z+α14-xXα31-xYα32-xZα33＝xα34
α21X+α22Y+α23Z+α24-yXα31-yYα32-yZα33＝yα34
the above equation describes the mapping relationship between the world coordinates of the points and the image coordinates. Equation solution can be completed by adopting more than 6 calibration points, and initial values of camera parameters are obtained. Generally, the number of equations can greatly exceed the number of unknowns by adopting more calibration points, so that the error influence can be reduced, and the accuracy of an initial value can be improved.
And finally, iteratively acquiring the global optimal solution of all the internal and external parameters of the camera by using the initial values and combining a Levenberg-Marquardt (LM) nonlinear optimization method to finish camera calibration.
Step 400, stripe extraction and matching to obtain the homonymy point, comprising the following steps:
acquiring a DeBruijin color stripe projected on the surface of a smooth object, and converting the color stripe into a gray stripe, wherein the conversion equation is as follows:
Rgray＝0.30Rr+0.59Rg+0.11Rb
wherein R isr，Rg，RbRed, green and blue three-channel brightness values, R, of the converter color image, respectivelygrayAre the corresponding gray values. And then, accurately extracting the central line of the stripe by adopting a sub-pixel technology, and determining the central position of each stripe. And finally, acquiring a stripe code word sequence according to the stripe center position of the binocular camera and corresponding color information, comparing the binocular image sequences, and completing homonymy point matching.
And 5, reconstructing the three-dimensional model to obtain the three-dimensional model of the smooth object, wherein the method comprises the following steps:
and (4) acquiring surface point cloud of the smooth object by the binocular stereoscopic vision space intersection. For the obtained matching points, the spatial coordinate information of the matching points can be obtained according to a binocular stereoscopic vision intersection technology, and the method comprises the following steps:
wherein (x)1，y1)，(x2，y2) Coordinates, M, of points of common name of images of the binocular camera, respectively1And M2The projection matrix for the corresponding camera is provided by the camera calibration process. The spatial coordinates, Z, of the homonymous points can be obtained by the above formulac1，Zc2Respectively the coordinates of the object surface points on the Z axis of the binocular camera coordinate system.
The obtained point cloud has a noise problem, and the point cloud needs to be preprocessed and filtered to realize high-quality point cloud data extraction.
And finally, processing the point cloud data according to the irregular triangulation network to obtain a high-precision three-dimensional model of the object with a smooth surface.
The invention has the advantages of the following two aspects:
(1) the use of the polaroid can effectively avoid the fringe image saturation condition caused by mirror reflection and improve the working dynamic range of the system;
(2) the binocular camera can reduce the calibration complexity, can quickly finish system calibration when a sensor or other system units are replaced, and reduces the system operation cost.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. A three-dimensional measurement method based on grating projection and a binocular polarization camera is characterized by comprising the following steps:
step 100, adjusting a polaroid to obtain an object image with a high dynamic range;
200, calibrating a binocular camera, and acquiring internal parameters and external parameters of the camera;
step 300, setting a grating projection, and projecting the stripes on the surface of a smooth object;
the step 300 includes: generating an M-element N-order sequence by adopting a DeBruijin coding mode, then determining the mapping relation between color RGB characteristics and the DeBruijin sequence, generating a DeBruijin color stripe, and projecting the DeBruijin color stripe on the surface of a smooth object;
step 400, extracting and matching stripes to obtain homonymy points;
the step 400 includes: acquiring a DeBruijin color stripe projected on the surface of a smooth object, and converting the color stripe into a gray stripe, wherein the conversion equation is as follows:
Rgray＝0.30Rr+0.59Rg+0.11Rb
wherein R isr，Rg，RbRed, green and blue three-channel brightness values, R, of the converter color image, respectivelygrayIs the corresponding gray value;
extracting the central line of the stripe through the sub-pixel, and determining the central position of each stripe; finally, acquiring a stripe code word sequence according to the stripe center position of the binocular camera and corresponding color information, comparing the binocular image sequences, and completing homonymy point matching;
500, reconstructing a three-dimensional model to obtain the three-dimensional model of the smooth object;
the three-dimensional model reconstruction method specifically comprises the following steps:
performing intersection in binocular stereoscopic vision space to obtain surface point cloud of a smooth object;
for the obtained matching points, the spatial coordinate information of the matching points can be obtained according to a binocular stereoscopic vision intersection technology, and the method comprises the following steps:
wherein (x)1，y1)，(x2，y2) Coordinates, M, of points of common name of images of the binocular camera, respectively1And M2The projection matrix corresponding to the camera is provided by the camera calibration process, and the space coordinate, Z, of the homonymous point is obtained by the formulac1，Zc2Respectively is the coordinate of the object surface point on the Z axis of the binocular camera coordinate system;
carrying out filtering pretreatment on the point cloud to remove noise, and extracting point cloud data;
and processing the point cloud data according to the irregular triangulation network to obtain a high-precision three-dimensional model of the object with a smooth surface.
2. The three-dimensional measurement method based on the grating projection and the binocular polarization camera according to claim 1, wherein the adjustment of the polarizer comprises the following specific steps:
when the sensor is in the mirror reflection direction and the stripe image acquired by the sensor is saturated due to the mirror reflection, the light transmission axis of the polaroid is adjusted to selectively shield strong longitudinal waves or transverse waves, so that the light intensity of the entrance pupil of the camera is reduced.
3. The three-dimensional measurement method based on the grating projection and the binocular polarization camera of claim 1, wherein before the step 200, a lens radial distortion correction is firstly performed on the image and an eccentric distortion correction is performed on a curved surface of the lens.
4. The three-dimensional measurement method based on the grating projection and the binocular polarization camera according to claim 3, wherein the specific steps of correcting the radial distortion of the lens are as follows:
setting a lens correction model:
δxr＝x(a1r2+a2r4+a3r6+...)
δyr＝y(a1r2+a2r4+a3r6+...)
wherein (x, y) represents the pixel coordinates of the image point in the image,
a1，a2，a3.., denotes the respective radial distortion coefficient, δxr，δyrPixel coordinates corrected for radial distortion.
5. The three-dimensional measurement method based on the grating projection and the binocular polarization camera according to claim 3, wherein the eccentric distortion correction specifically comprises the following steps:
setting a lens correction model:
δxd＝b1(3x2+y2)+2b2xy+...
δyd＝2b1xy+b2(3x2+y2)+...
wherein (x, y) represents the pixel coordinates of the image point in the image, b1，b2… denotes the respective eccentricity distortion coefficient, δxd，δydThe pixel coordinates after correction for the eccentric distortion.
6. The three-dimensional measurement method based on the grating projection and the binocular polarization camera according to claim 1, wherein the calibration of the binocular camera comprises the following specific steps:
putting a plane calibration plate in a binocular camera view field, randomly moving the calibration plate from different directions, acquiring calibration table images at different positions, extracting coordinates of calibration points in the calibration plate, and solving initial values of camera parameters by using a perspective transformation matrix, namely:
wherein [ X, Y, Z, 1]TWorld coordinates of points on the surface of the object, [ x, y, 1 ]]TFor corresponding image point coordinates, M is a perspective transformation matrix, a11，a12，…，a34Being elements of a matrix M, ZcThe Z-axis coordinate of the object surface point in a camera coordinate system;
elimination of ZcThe following equation can then be obtained:
α11X+α12Y+α13Z+α14-xXα31-xYα32-xZα33＝xα34
α21X+α22Y+α23Z+α24-yXα31-yYα32-yZα33＝yα34
adopting at least 6 calibration points to complete equation solution, wherein the solution of the equation is the initial value of the camera parameter;
and iterating the initial values by an LM (Linear modeling) nonlinear optimization method to obtain global optimal solutions of internal parameters and external parameters of the two cameras, and completing calibration of the cameras.
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