CN110296667A - High reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection - Google Patents
High reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection Download PDFInfo
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- CN110296667A CN110296667A CN201910745042.0A CN201910745042A CN110296667A CN 110296667 A CN110296667 A CN 110296667A CN 201910745042 A CN201910745042 A CN 201910745042A CN 110296667 A CN110296667 A CN 110296667A
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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
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
Abstract
The invention discloses the high reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection, are handled three big key components by laser triangulation principle, line-structured light incident angle method of adjustment, three dimensional point cloud and are formed.The invention has the advantages that (1) traditional highlight minimizing technology is denoised to mirror-reflection noise or outlier in three dimensional point cloud, it is will lead in this way in removal noise while having also been removed local effective information, the present invention is by changing laser incident angle, so that the position that mirror-reflection noise or outlier occur shifts, mirror-reflection noise is removed while effective information can be retained so as to post-processing, to improve measurement accuracy.(2) this method has very high practical value in terms of for the high precision three-dimensional measurement with high reflection surface object.
Description
Technical field
The invention belongs to field of photodetection, and in particular to a kind of high reflection surface of line-structured light multi-angle projection is three-dimensional
Measurement method.
Background technique
Line-structured light scanning three-dimensional measurement method has speed fast, smart when measurement has the class mirror article of high reflection surface
Degree is high, price is low and line structured light vision sensor it is small in size, install and debug the advantages that simple, be suitable for general object
The three-dimensional measurement of body is widely used to the numerous areas such as industrial manufacture, historical relic's protection, medical treatment.General line laser structured light is surveyed
Measuring experimental provision includes laser line generator, CCD camera, motorized precision translation stage, translation stage controller, computer, scaling board and determinand
Body；Line laser is projected into testee surface by laser line generator, if object is moved along laser beam axis or body surface is deep
Degree changes, then the imaging point on CCD photosurface can also move, at this point, projecting object table by CCD camera reception
The line laser image that face is distorted demarcates resulting camera inside and outside parameter and laser plane by camera calibration and laser plane
The elevation information of the available object of principle of equation combination laser triangulation, can recover by the relevant treatment of computer
Corresponding three dimensional point cloud.
In actual measurement situation, there are many testees that there are the feature of mirror-reflection, such as metal parts, pottery
Porcelain, optical device, polishing mold, weld seam etc., measuring with the method that cable architecture scans to specular reflective characteristics object is
Current hot spot and difficult point will lead to image supersaturation when line laser projects the body surface with specular reflective characteristics
Or it is excessively dark, if testee surface shows specular reflective characteristics, it will lead to laser stripe information that camera receives not
Accurately, it is distorted the three dimensional point cloud recovered, precision is greatly reduced, is unable to satisfy measurement request.Method is mostly at present
It is denoised what is recovered with noise or the point cloud data of outlier caused by mirror-reflection by related algorithm, these sides
Method point cloud data of corresponding position after removing noise is vacancy, both without noise or without effective information, is often adopted at this time
Relevant empty portions are compensated with the mode of fitting, but it is larger with the actual elevation information difference of object, to measurement
The influence of precision is still very big.
In field of industrial manufacturing, largely it is related to the precision manufactureing to the object with specular reflection surface, to mirror
The three-dimensional measurement of face reflecting surface object has great meaning in practice, but at present for specular reflection surface
The three-dimensional measurement or difficult point of object, relevant research are still in infancy, proposed by the invention for specular surface
Line laser structured light method for three-dimensional measurement provides a kind of new solution to solve the measurement of the object of specular reflection surface.
Summary of the invention
Present invention aims at proposing a kind of high reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection,
The method compared to traditional specular reflection surface object 3 D measuring method, to mirror-reflection noise in point cloud data
Removal, the present invention are significantly improved in measurement accuracy.
The invention proposes a kind of high reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection, utilize mirror
The characteristic of face reflection model carries out the side of three-dimensional measurement by changing line laser incident angle to the object with high reflection surface
Method.A three-dimensional Reference is added in measuring system, has at Reference surface markers one and line laser projects
The mark line that the striped that is formed at its surface is overlapped, when encountering the more region of mirror-reflection in line laser structured light measurement process
When, the incident angle of line laser is adjusted, and guarantee the reference line that the laser stripe after adjusting the angle and reference substance surface are marked
It is overlapped, position of the laser plane at this time in world coordinate system and camera coordinates system does not change, two also avoided
The tedious steps of secondary calibration and Point-clouds Registration etc., due to changing the incident angle of line-structured light, so as to change camera
Mirror-reflection is in the position that body surface occurs in the picture received, and using this characteristic, incidence angles degree is sharp twice
The position for two image mirror-reflections that striations obtains in same viewing field of camera is different, but two laser stripes are actually
It is to be incident upon same position, point cloud data obtained is one in the case where not including noise caused by mirror-reflection twice
It causes, therefore the point cloud data obtained twice can be unified in the same position under world coordinate system or camera coordinates system,
Union is asked to two groups of point cloud datas, at this point, noise caused by the mirror-reflection in point cloud data comprising two groups of different locations, and
And all places all include effective elevation information, it is only necessary to which noise remove caused by two groups of mirror-reflections can be obtained completely
Three dimensional point cloud, shortage of data can be formed in the point cloud data of corresponding position after removing noise by avoiding general algorithm
Disadvantage ensure that measurement accuracy.
The invention is realized in this way can substantially be divided into Four processes: one, completing to measure for the first time, judge whether to contain
There are mirror-reflection noise or outlier；Two, if not, recovering the three-dimensional appearance data of testee, if so, positioning appearance
Object, is adjusted to the position of mirror-reflection generation by the position that face reflecting background or outlier occur by translation stage；Three, it adjusts
Laser line generator incident angle, and position of the laser plane projected twice under world coordinate system is guaranteed not by reference to object
Become, carries out second and measure；Four, the three dimensional point cloud measured twice is merged, removes mirror-reflection noise or outlier.
High reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection, which is characterized in that including following step
It is rapid:
Laser is fixed on a position by step 1, and incident line laser stripe is to testee body surface, in measured object
One Reference with reference line of body side fixed placement, and guarantee that laser stripe is incident upon the ginseng on Reference surface at this time
It examines on line, so that reference line is overlapped with laser stripe just；
Step 2 calibration for cameras inside and outside parameter and laser plane equation；
Step 3 translates object in one direction by electricity driving displacement platform, and camera acquisition carries the object figure of laser stripe
Piece, and the height of object is calculated by computer and recovers the three dimensional point cloud on testee surface；
Step 4 filters out mirror-reflection noise or the noise that peels off in point cloud data, and returns object using electricity driving displacement platform
The position for returning to generation mirror-reflection re-measures, and adjusts laser incidence angle, and guarantee on laser stripe and Reference
Reference line is overlapped, to resurveying image at the noise position of positioning；
Step 5 obtains point cloud data to collecting image for the second time and calculate its height, merges resulting point cloud data twice,
Mirror-reflection noise therein or outlier are removed.
The invention has the advantages that
(1) laser incident angle is adjusted according to the reference line of reference substance, ensure that the laser before and after adjustment incident angle
Position of the plane under world coordinate system or camera coordinates system is constant, thereby may be ensured that the essence of the measurement method of multi-angle projection
Degree.
(2) point cloud data is obtained to collecting image for the second time and calculate its height, merge resulting point cloud data twice, keep away
The problem of having exempted to remove loss of learning after mirror-reflection noise or outlier in subsequent processing, improves measurement accuracy.
(3) this method has very high practical valence in terms of for the high precision three-dimensional measurement with high reflection surface object
Value.
Detailed description of the invention
Fig. 1 experimental configuration device figure.
Fig. 2 slants formula laser triangulation schematic diagram.
Reference schematic diagram of the Fig. 3 with reference line.
High reflection surface method for three-dimensional measurement flow chart of the Fig. 4 based on line-structured light multi-angle projection.
Measurement result of the Fig. 5 to the metal master block surface with high reflection characteristic.
Specific embodiment
One, the foundation of multi-angle projection measurement high reflection surface object model
The three-dimensional surface shape of the object with specular reflective characteristics is measured using oblique fire formula laser triangulation.Its
Principle is as follows: assuming that H0Place plane is reference planes, and laser beam axis and imaging len optical axis are vertical.Incident laser with
With reference planes at α angle incident light to body surface, partially diffuse by imaging len center in line array CCD photosurface
Upper imaging, the angle for emitting light and line array CCD photosurface is β.Object point is tested on incident light direction and it is photosensitive in line array CCD
Formed image point position is one-to-one relationship on face.
According to Similar Principle of Triangle, available following relationship:
I.e.
It can be obtained by formula (2):
Wherein, y is H1The height of opposite reference planes, X is picture point M1And M0Between phase shift, a is H0The imaging object of point
Away from b is H1The imaging image distance of point.
The present invention joined the reference substance with reference line in the system of oblique fire formula laser triangulation to assist line laser
The adjustment of device incidence angle, to ensure that laser plane adjusted and the laser plane before adjustment are in same under world coordinate system
Position.
Two, the conversion and calibration of coordinate system
The conversion by coordinate system is needed in actual measurement model, it is necessary first to pixel coordinate is converted into image and sat
Mark, detailed process can be described as:
The above are the transformational relation of pixel coordinate system and image physical coordinates system, in formula, dx、dyIndicate that each pixel exists
Physical size in image physical coordinates system X-axis and Y direction；(u0,v0) indicate coordinate of the optical center point in pixel coordinate system.
The above are the transformational relations of image physical coordinates system and camera coordinates system, and wherein f is camera focus, if (Xc,Yc,
Zc) camera coordinates of any point P in representation space, (x, y) indicates the corresponding image coordinate of point.C indicates image center, O
Indicate image coordinate system origin.
The above are the transformational relation of world coordinate system and camera coordinates system, in formula, R is 3 × 3 rotating orthogonal matrix, and t is
3 × 1 translation vectors.By the relationship between formula (4), (5), (6) available world coordinate system and image pixel coordinates system:
In formula, fx=f/dx,fy=f/dy.Parameter fx、fy、u0、v0It is solely dependent upon the internal structure of camera, referred to as internal ginseng
Number, R and t depend on camera to the orientation of world coordinate system, the referred to as external parameter of camera, and the internal reference of camera and outer ginseng can be by
The calibration of camera obtains.
By above-mentioned transformation, may be implemented the two-dimensional space from the three-dimensional space of world coordinate system to image coordinate system
Conversion.Above-mentioned formula is also unable to get the elevation information of testee, it is also necessary to demarcate gained by laser plane plus one
Constraint equation, the equation can be described as:
AXw+BYw+CZw+ D=0 (8)
The coefficient of the equation demarcates gained by laser plane, it is assumed that the laser plane calibrated was fastened by world coordinates
Three point A (X on Referencew1,Yw1,Zw1), B (Xw2,Yw2,Zw2), C (Xw3,Yw3,Zw3), the line that these three points are formed is
For reference line, guarantee that laser stripe still passes through reference line after adjusting the incidence angle of laser, laser plane at this time also includes
A, tri- points of B, C thereby may be ensured that two laser planes before and after adjustment incidence angle are same flat under world coordinate system
Face.
Three dimensional point cloud of the testee under world coordinate system can be recovered by formula (7) and (8).
Three, mirror article is measured using multi-angle projection measurement method
After the three dimensional point cloud for recovering testee using computer, detect point cloud data in mirror-reflection noise or
Testee is moved to the position that mirror-reflection occurs by motorized precision translation stage, according to reference substance by the position that outlier occurs
Line laser incident angle is adjusted, the reference line on the laser stripe and reference substance for projecting line laser is overlapped, at this point, after adjustment
Position and adjustment of the laser plane in world coordinate system before it is consistent, without being demarcated again to laser plane, adjust
Continue to measure testee after laser incidence angle, is merged to obtain one to resulting point cloud data is measured twice
New point cloud data identifies mirror-reflection noise therein and peels off and point cloud data and use phase to obtained new point cloud data
It closes algorithm and carries out denoising, to recover the surface topography three dimensional point cloud of the object with mirror features.
This method overcomes conventional method information after to the processing with mirror-reflection noise and the point cloud data that peels off and lacks
The problem of mistake, improves measurement accuracy, has in terms of for the high precision three-dimensional measurement with high reflection surface object larger
Practical significance.
Claims (3)
1. the high reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection, which comprises the following steps:
Laser is fixed on a position, incident line laser stripe to testee body surface, on testee side by step 1
One Reference with reference line of fixed placement, and guarantee that laser stripe is incident upon the reference line on Reference surface at this time
On, so that reference line is overlapped with laser stripe just；
Step 2 calibration for cameras inside and outside parameter and laser plane equation；
Step 3 translates object in one direction by electricity driving displacement platform, and camera acquisition carries the object picture of laser stripe, and
Three dimensional point cloud is calculated by computer；
Step 4 filters out mirror-reflection noise or the noise that peels off in point cloud data, and positions it and position occurs, adjustment laser enters
Firing angle, and guarantee that the reference line on laser stripe and Reference is overlapped, to resurveying image at the noise position of positioning；
Step 5 obtains point cloud data to collecting image for the second time and calculate its height, merges resulting point cloud data twice, to it
In mirror-reflection noise or outlier be removed.
2. the high reflection surface method for three-dimensional measurement according to claim 1 based on line-structured light multi-angle projection, special
Sign is, adjusts laser incidence angle according to the reference line on Reference in the step 4, to weight at the noise position of positioning
New acquisition image, ensure that position of the laser plane before and after adjusting incident angle under world coordinate system or camera coordinates system not
Become.
3. the high reflection surface method for three-dimensional measurement according to claim 1 based on line-structured light multi-angle projection, special
Sign is, obtains point cloud data to collecting image for the second time and calculate its height in step 5, merges resulting twice cloud number
According to the problem of avoiding loss of learning after removing mirror-reflection noise or outlier in subsequent processing, it is ensured that measurement essence
Degree.
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Cited By (12)
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| CN110617766A (en) * | 2019-10-16 | 2019-12-27 | 广东博智林机器人有限公司 | Plane pose measuring method, device and storage medium |
| CN111256587A (en) * | 2020-01-20 | 2020-06-09 | 南昌航空大学 | High-reflectivity surface three-dimensional measurement method based on double-line structured light scanning |
| CN112051232A (en) * | 2020-09-25 | 2020-12-08 | 重庆长安汽车股份有限公司 | Method for evaluating color change of gradient color sample |
| CN112529952A (en) * | 2020-12-15 | 2021-03-19 | 武汉万集信息技术有限公司 | Object volume measuring method and device and electronic equipment |
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| CN114322842A (en) * | 2021-12-09 | 2022-04-12 | 中国石油大学(华东) | High-reflectivity part measuring method and system based on improved Phong model |
| CN114627020A (en) * | 2022-03-18 | 2022-06-14 | 易思维（杭州）科技有限公司 | Method for removing light-reflecting noise points of curved surface workpiece |
| CN115235380A (en) * | 2022-08-30 | 2022-10-25 | 天津大学 | Inner wall surface three-dimensional measurement system, method, device, medium and equipment |
| CN116136395A (en) * | 2023-04-14 | 2023-05-19 | 北京迁移科技有限公司 | Laser measurement system and method |
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| CN112051232A (en) * | 2020-09-25 | 2020-12-08 | 重庆长安汽车股份有限公司 | Method for evaluating color change of gradient color sample |
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| CN114322842B (en) * | 2021-12-09 | 2023-08-18 | 中国石油大学(华东) | High-reflection part measurement method and system based on improved Phong model |
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