CN110207620B - Three-dimensional reconstruction method for determining optical series of digital grating projection structure through different frequencies - Google Patents

Three-dimensional reconstruction method for determining optical series of digital grating projection structure through different frequencies Download PDF

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CN110207620B
CN110207620B CN201910481611.5A CN201910481611A CN110207620B CN 110207620 B CN110207620 B CN 110207620B CN 201910481611 A CN201910481611 A CN 201910481611A CN 110207620 B CN110207620 B CN 110207620B
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grating
digital
fringe
stripe
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刘飞
罗慧方
吴延雪
张茵楠
杨时超
严谨
吴高旭
张圣明
吴明雄
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Chongqing University
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    • 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
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2518—Projection by scanning of the object
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

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Abstract

The invention aims to provide a novel method for realizing three-dimensional measurement and reconstruction by projecting structured light through a digital grating. The method mainly comprises the following steps: firstly, generating a group of sinusoidal fringe grating images with different periodic frequencies, projecting the obtained grating images to the surface of an object to be measured through a projector, collecting the grating images through a video camera, obtaining phases according to a new proposed phase solving method, establishing a relation between the video camera and the projector to obtain three-dimensional data of the object to be measured, and performing three-dimensional reconstruction. Compared with the traditional projection mode, the method optimizes the number of the projected images through a new phase solution mode, and improves the efficiency of image acquisition and data processing.

Description

Three-dimensional reconstruction method for determining optical series of digital grating projection structure through different frequencies
Technical Field
The invention belongs to the field of machine vision research, relates to a three-dimensional reconstruction method, and particularly relates to a method for realizing grating series measurement and calculation through active three-dimensional measurement of frequency-coded digital grating projection structured light, so as to realize three-dimensional reconstruction.
Background
As a method for obtaining the external shape of an object using optical and electronic instruments, optical three-dimensional measurement techniques are classified into two major categories: active three-dimensional measurement and passive three-dimensional measurement. The active three-dimensional measurement technology is used for projecting different types of structured light to the surface of an object to obtain a structured light image which is modulated and deformed by the surface of the object, and obtaining three-dimensional measurement data of the object according to the characteristics of the structured light and the relationship between the characteristics and the relationship, so that the reconstruction of a three-dimensional model of the object is realized.
The active three-dimensional measurement technology is developed rapidly, and various modes such as a structured light method, a phase measurement method and the like exist. The structured light method obtains the three-dimensional information of the object in a non-contact mode, and the measurement mode is simple to realize and strong in operability, so that the method has wide application value and prospect. The structured light method has a plurality of branches, and Phase Measurement Profiling (PMP) and Fourier Transform Profiling (FTP) are the most widely used at present. PMP calculates the phase of each pixel in the image from a plurality of grating images with a certain phase difference, and further calculates the height information of the object. Theoretically, at least three grating images are needed to calculate the phase information of the grating stripes, and the conventional phase-solving method based on the multi-frequency extrapolation principle has high requirements on the number of the grating images, so that the time consumption of image acquisition and phase calculation is limited.
Disclosure of Invention
The invention aims to provide a novel method for realizing three-dimensional measurement and reconstruction by projecting structured light through a digital grating. Compared with the traditional projection mode, the method optimizes the number of the projection images, and improves the efficiency of image acquisition and data processing.
In order to achieve the purpose, the invention provides the technical scheme that: firstly, a group of sinusoidal stripe grating images with different periodic frequencies are obtained by computer programming, the obtained grating images are projected to the surface of an object to be measured through a projector, then stripe grating images modulated by the surface of the object are obtained through the acquisition of a video camera and are sent to the computer, and three-dimensional data of the object to be measured are obtained and three-dimensional reconstruction is carried out according to the related data processing and the establishment of the relation between the video camera and the projector.
The method specifically comprises the following steps:
step 1: constructing a digital grating structured light three-dimensional measurement system, which comprises an object to be measured, a camera, a projector and a computer processing terminal;
step 2: calibrating to obtain internal and external parameters of the camera and the projector, and establishing the relation between the coordinate systems;
and step 3: determining the frequency p of the stripe grating and the stripe period frequency alpha with a certain arrangement rule along with the period incrementn(n-1, 2, …, p) generating four interrelated digital fringe raster images;
and 4, step 4: projecting the generated sinusoidal stripe grating image with a certain frequency and the sinusoidal grating image with the periodically increasing stripe frequency variation to the surface of an object to be measured through a projector, and simultaneously collecting the stripe grating image modulated by the surface of the object through a camera and transmitting the stripe grating image to a computer;
and 5: the computer processes the grating image obtained by shooting, and corresponding parameters are solved through the relation among the sine images to obtain the phase value and the stage number of each position grating stripe so as to obtain the absolute phase value of each point of the grating stripe;
step 6: and (5) reconstructing according to the parameter values obtained by calibration in the step (2) and the grating fringe phase values obtained by calculation in the step (5) to obtain the three-dimensional morphology of the object to be measured.
The invention has the beneficial effects that: a novel three-dimensional reconstruction method is provided, the principle is simple and clear, and the method is easy to implement. The transmission frequency of images required by the traditional multi-frequency extrapolation implementation method is reduced, the processing efficiency of the three-dimensional data of the object to be measured can be effectively improved, and the method has a more feasible application value in dynamic measurement.
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Fig. 1 is a schematic structural diagram of the digital grating structured light three-dimensional measurement system. 1 refers to a computer, which processes the relevant image information; 2, a projector, which projects the generated fringe grating image onto the surface of the object to be measured; 3, a camera is used for shooting to obtain a grating fringe pattern obtained after the modulation of the object to be measured; and 4, calculating the object to be measured to obtain relevant three-dimensional data of the object to be measured to obtain a three-dimensional model of the object.
Fig. 2 is a flow chart of the implementation of the method.
Figure 3 is a diagram of the resulting grating fringes.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
With reference to fig. 1 to 2, the present invention discloses a three-dimensional reconstruction method for determining the optical order of a digital grating projection structure through different frequencies. The method is realized by taking a structured light three-dimensional measurement system based on digital grating projection as a carrier. The system consists of a DLP projector, a CCD camera, a processing terminal and a measured object. The projector and the camera are positioned at the front end of the object to be measured, the generated digital grating image is projected to the surface of the object through the projector, the modulated grating image on the surface of the object is obtained through shooting of the camera, the obtained image is transmitted to the processing terminal in real time for calculation processing, and the three-dimensional reconstruction information of the object is obtained. The method comprises the following steps:
step 1: constructing a digital grating structured light three-dimensional measurement system which takes a computer 1, a projector 2, a camera 3 and an object to be measured 4 as main bodies as shown in a figure I;
step 2: determining the position of a world coordinate system, and establishing the relationship between different coordinate systems through calibration;
and step 3: determining the total frequency p of the stripe grating as 10, and the stripe period frequency alpha with a certain arrangement rule along with the period incrementn(n＝1,2,…,10)，αnIs limited in a certain range, alpha is not equal to 0, four digital grating stripe images which are related with each other are generated, each four images form a group, and the mathematical expression is as follows:
Figure GDA0003015226480000031
Figure GDA0003015226480000032
Figure GDA0003015226480000033
Figure GDA0003015226480000034
the A, B parameters are respectively assigned;
and 4, step 4: generating a sinusoidal fringe grating image I1、I2、I3、I4Projecting the image to the surface of an object 4 to be measured in the first drawing through a projector 2, and simultaneously collecting a modulated fringe grating image through a camera 3 and transmitting the modulated fringe grating image to a computer 1;
and 5: the computer 1 processes the captured raster image, and the relationship between the sinusoidal images in this example is:
Figure GDA0003015226480000035
Figure GDA0003015226480000036
Figure GDA0003015226480000037
Figure GDA0003015226480000038
Figure GDA0003015226480000039
solving corresponding parameters to obtain phase values of each position grating stripe
Figure GDA00030152264800000310
And the value, root, of the fringe period frequency alphaAnd calculating the value n according to the relation between the alpha, the grating stripe frequency p and the level n, wherein the expression is as follows:
Figure GDA00030152264800000311
thereby to form a phase value
Figure GDA00030152264800000312
And calculating the absolute phase value of each point of the grating fringe by the order n:
Figure GDA0003015226480000041
step 6: and (5) reconstructing according to the parameter values obtained by calibration in the step (2) and the grating fringe phase values obtained by calculation in the step (5) to obtain the three-dimensional morphology of the object to be measured.
The above description is only for the purpose of describing one preferred embodiment of the present invention in detail, but the present invention is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. All similar methods for calculating the phase gradient according to the rule to solve the actual phase of the structured light grating stripe and finally obtain the three-dimensional data of the object and equivalent changes and improvements made according to the application scope of the invention still belong to the patent coverage scope of the invention.

Claims (2)

1. A three-dimensional reconstruction method for determining the optical series of a digital grating projection structure through different frequencies is characterized by mainly comprising the following steps:
step 1: constructing a digital grating structured light three-dimensional measurement system, which comprises an object to be measured, a camera, a projector and a computer processing terminal;
step 2: calibrating to obtain internal and external parameters of the camera and the projector, and establishing the relation between the coordinate systems;
and step 3: determining the frequency p of the stripe grating and the stripe period frequency alpha with a certain arrangement rule along with the period incrementn(n is 1,2, …, p), four interrelated digital striped raster images, αnIs limited in a certain range, alpha is not equal to 0, every four images form a group, and the mathematical expression is as follows:
Figure FDA0003030343010000011
Figure FDA0003030343010000012
Figure FDA0003030343010000013
Figure FDA0003030343010000014
the A, B parameters are respectively assigned;
and 4, step 4: generating a sinusoidal stripe grating image I with a certain frequency1、I2And a sinusoidal raster image I with a periodically increasing fringe frequency variation3、I4Projecting the image to the surface of an object to be measured through a projector, and simultaneously acquiring a digital fringe grating image modulated by the surface of the object through a camera and transmitting the digital fringe grating image to a computer;
and 5: the computer processes the digital stripe grating image obtained by shooting, corresponding parameters are solved through the relationship among the digital stripe grating images, phase values and series of each position grating stripe are obtained, and therefore the absolute phase value of each point of the grating stripe is obtained, and the specific relationship among the parameters is as follows:
Figure FDA0003030343010000015
Figure FDA0003030343010000016
Figure FDA0003030343010000017
Figure FDA0003030343010000018
Figure FDA0003030343010000019
solving corresponding parameters to obtain phase values of each position grating stripe
Figure FDA00030303430100000110
And the value of the fringe period frequency alpha, and the value of n is obtained by calculation according to the relation between alpha, the grating fringe frequency p and the series n, wherein the expression is as follows:
Figure FDA00030303430100000111
thereby to form a phase value
Figure FDA00030303430100000112
And calculating the absolute phase value of each point of the grating fringe by the order n:
Figure FDA00030303430100000113
step 6: and (5) reconstructing according to the parameter values obtained by calibration in the step (2) and the grating fringe phase values obtained by calculation in the step (5) to obtain the three-dimensional morphology of the object to be measured.
2. As in claimThe three-dimensional reconstruction method for determining the optical progression of a digital grating projection structure through different frequencies, according to claim 1, is characterized in that: in the step 3, the grating frequency p should be a reasonable value, and the fringe period frequency alpha with a certain arrangement rule increases with the periodn(n-1, 2, …, p) should be increased or decreased in equal gradient;
and reconstructing the three-dimensional characteristics of the object to be measured according to the obtained absolute phase value of the digital fringe grating image.
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