CN110443888B - Structured light three-dimensional reconstruction device and method for forming multiple reflection imaging - Google Patents
Structured light three-dimensional reconstruction device and method for forming multiple reflection imaging Download PDFInfo
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Abstract
The invention discloses a structured light three-dimensional reconstruction device and a method for forming multiple reflection imaging. The device includes: the laser device irradiates a target object, light emitted by the target object enters the cameras through reflection of the double-mirror system, and the number of the cameras is 1. The device or the method can improve the multi-purpose image matching precision and reduce the cost of the structured light three-dimensional reconstruction device.
Description
Technical Field
The invention relates to the field of structured light three-dimensional reconstruction, in particular to a structured light three-dimensional reconstruction device and a method for forming multiple reflection imaging.
Background
Structured light and multi-purpose three-dimensional reconstruction are a very important area in machine vision. Under the condition of multi-view, to find corresponding points in the multi-view image, image feature points and feature lines need to be extracted, and then feature matching is carried out. However, for smooth metal and other objects, the reflected light on the surface has obvious directivity, which causes the structured light images obtained at different angles to have obvious brightness difference. This will affect the matching of the multi-purpose images. In addition, too many cameras to create multiple views also add significant cost to the system.
Disclosure of Invention
The invention aims to provide a structured light three-dimensional reconstruction device and a method for forming multiple reflection imaging, which can improve the multi-purpose image matching precision and reduce the cost of the structured light three-dimensional reconstruction device.
In order to achieve the purpose, the invention provides the following scheme:
a structured light three-dimensional reconstruction apparatus forming multiple reflection imaging, comprising: the laser device irradiates a target object, light emitted by the target object enters the cameras through reflection of the double-mirror system, and the number of the cameras is 1.
Optionally, the dual-mirror system adopts a dual-plane mirror, the dual-mirror system at least includes a mirror surface that is not a total reflection mirror, and a preset distance is provided between the two mirror surfaces.
Optionally, the method further includes: and the semi-reflecting and semi-transmitting mirror is arranged between the double-mirror system and the target object, and needs to deviate from the optical path between the laser and the target object.
A structured light three-dimensional reconstruction method forming multiple reflection imaging, comprising:
irradiating a target object through a laser to form structured light irradiation;
reflecting the light irradiated by the structured light for multiple times through a double-mirror system;
enabling the reflected light path to enter a camera to obtain a multiple reflection image of the target object after the structured light irradiation;
matching the reflection image for multiple times according to constraint conditions and polar geometric conditions to obtain a plurality of matching points;
and (4) carrying out serialization on each matching point to finish the three-dimensional reconstruction of the target object irradiated by the structured light.
Optionally, after the irradiating the target object with the laser to form the structured light irradiation, before the performing multiple reflections on the structured light irradiation with the dual-mirror system, the method further includes:
and turning the light irradiated by the structured light through a semi-reflecting and semi-transparent lens.
Optionally, the irradiating the target object by the laser to form structured light irradiation specifically includes:
the target is irradiated with a line laser or a laser with structured light of a set form to form structured light irradiation.
Optionally, the performing continuity on each matching point to complete three-dimensional reconstruction of the target object irradiated by the structured light includes:
and (4) carrying out serialization on each matching point by adopting a plane difference method or a fitting method to complete the three-dimensional reconstruction of the target object irradiated by the structured light.
Optionally, the constraint condition is an included angle between two mirror surfaces in the dual-mirror system and a distance between the two mirror surfaces, and the polar geometric condition is a geometric relationship between the dual-mirror system and the camera.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a structured light three-dimensional reconstruction device for forming multiple reflection imaging, which can realize that a camera can acquire multiple images at one time through a double-mirror system, thereby not only reducing the cost of the structured light three-dimensional reconstruction device, but also realizing high-precision three-dimensional reconstruction of an object with strong reflection condition of structured light.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of a three-dimensional structured light reconstruction device for forming multiple reflection imaging according to the present invention;
FIG. 2 is a flow chart of a structured light three-dimensional reconstruction method for forming multiple reflection imaging according to the present invention;
FIG. 3 is a schematic diagram of the distribution of light rays when multiple reflected images are generated by the double mirror system of the present invention;
FIG. 4 is a diagram of the results of the multiple reflection image of the present invention presented on a photograph taken by a camera;
FIG. 5 is a schematic diagram illustrating the analysis of the geometrical relationship between the reflected images in the double mirror system according to the present invention;
FIG. 6 is a schematic diagram of an analysis of the equivalence relationship between multi-reflection images and multi-view photography according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention aims to provide a structured light three-dimensional reconstruction device and a method for forming multiple reflection imaging, which can improve the multi-purpose image matching precision and reduce the cost of the structured light three-dimensional reconstruction device.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention aims to overcome the following problems: under the condition of multiple eyes, because the reflected light of a smooth object or a metal material has great difference in different directions, the images of the same object point of the structured light obtained by the camera from different angles have obviously different brightness and darkness, the relative light intensity change of the light of adjacent object points is also greatly possibly changed violently, and the relative brightness and darkness relation of the adjacent object points is also changed violently, so that the matching of the corresponding points of the structured light obtained by different cameras has larger error, and even the matching is not feasible. In addition, the invention also needs to reduce the use of multiple cameras, reduce the cost and reduce the difficulty in installation and adjustment.
The working principle of the invention is as follows: the light from the target is emitted through the uniform inlet, and in the following process, the light can be deflected by the double-mirror system and finally enters the camera, so that the light of the obtained multiple-reflection image mainly comes from the uniform inlet to limit the angle of the light of the target, and the influence of the inconsistent intensity of the light at different angles on imaging is greatly reduced. In addition, the double mirror system also provides multiple reflection images, and fixed geometrical constraint relations exist among the multiple reflection images, and the constraint relations can improve the recovery precision of the final three-dimensional imaging.
Based on the working principle of the invention, the aim of the invention is realized by the following technical scheme: the light emitted by the laser irradiates a target object, the light of the target object uniformly enters the processing system through a light deflection system, then the light is sent into the double-mirror system to form reflected images for many times, the images finally enter the camera, corresponding points are matched under constraint conditions provided by the system through subsequent operation on the images, and finally the three-dimensional coordinate of the corresponding position of the structured light on the target object is calculated.
FIG. 1 is a schematic diagram of a structured light three-dimensional reconstruction device for forming multiple reflection imaging according to the present invention. As shown in fig. 1, a structured light three-dimensional reconstruction apparatus for forming multiple reflection imaging includes: the laser device 1 irradiates a target object 5, light emitted by the target object 5 is bent through the semi-reflecting and semi-transparent mirror 2, the bent light path enters the camera 4 through reflection of the double-mirror system 3, and the number of the cameras 4 is 1.
The double-mirror system 3 adopts a double-plane reflector, the double-mirror system 3 at least comprises a mirror surface which is not a total reflection mirror, and a preset distance is arranged between the two mirror surfaces. The two-mirror system 3 is disposed between the laser 1 and the target 5, and is disposed offset from the optical path between the laser 1 and the target 5. The half-reflecting and half-transmitting mirror 2 is arranged between the double mirror system 3 and the target 5, and the half-reflecting and half-transmitting mirror is arranged offset from the optical path between the laser 1 and the target 5. The semi-reflecting and semi-transmitting lens is arranged to prevent the subsequent reflected light from reflecting with stronger energy and irradiating on a target object, so as to destroy the original structural light form and form a uniform incident light aperture.
The semi-reflecting and semi-transparent mirror 2 can be replaced by a screening lens.
FIG. 2 is a flow chart of a structured light three-dimensional reconstruction method for forming multiple reflection imaging according to the present invention. As shown in fig. 2, a structured light three-dimensional reconstruction method for forming multiple reflection imaging includes:
step 101: through the target object of laser instrument irradiation, form the structured light and shine, specifically include:
the target is irradiated with a line laser or a laser with structured light of a set form to form structured light irradiation.
Step 102: the light irradiated by the structured light is reflected a plurality of times by the two-mirror system.
Step 103: and enabling the reflected light path to enter a camera to obtain a multiple reflection image of the target object irradiated by the structured light.
Step 104: matching the reflection image for multiple times according to the constraint condition and the polar geometric condition to obtain a plurality of matching points; the constraint condition is the included angle of two mirror surfaces in the double-mirror system and the distance between the two mirror surfaces, and the polar geometric condition is the geometric relationship between the double-mirror system and the camera.
Step 105: the method is characterized by comprising the following steps of (1) carrying out serialization on all matching points to complete three-dimensional reconstruction of a target object irradiated by structured light, and specifically comprising the following steps:
and (4) carrying out serialization on each matching point by adopting a plane difference method or a fitting method to complete the three-dimensional reconstruction of the target object irradiated by the structured light.
Between step 101 and step 102, further comprising:
and turning the light irradiated by the structured light through a semi-reflecting and semi-transparent lens.
Example (b):
in the actual operation process, the structured light three-dimensional reconstruction method for forming multiple reflection imaging is carried out according to the following steps:
step A: irradiating the target object by using a line laser or a laser with structured light in a specific form to form structured light irradiation;
and B: on the premise of avoiding irradiating light, a half-reflecting and half-transmitting mirror is used for turning a light path so as to prevent subsequent reflected light from reflecting with stronger energy and irradiating a target object to damage the original structured light form;
and C: the light enters a system with a double-plane reflector structure similar to a normal-distribution interferometer, namely a double-mirror system, through the turned light path.
In this step, the following requirements and explanations are provided for the two-mirror system:
C1：
at least one of the mirror surfaces of the two-mirror system is not fully reflective so that reflected light can enter the camera. And the two mirror surfaces are separated by a certain distance, so that the double-mirror system cannot generate interference. As shown in fig. 1, the double mirror system in this embodiment is composed of a total reflection plane mirror and a half reflection and half transmission mirror, the distance between the two mirror surfaces is in millimeter order, and there is a small included angle, so that the light returning from the target is difficult to form interference.
C2：
The multiple images formed by multiple reflections of the structured light on the target object in the double-mirror system enter a camera along the light path. The geometrical relation from the double-mirror system to the camera and the front half-reflecting and half-transmitting mirror, the own mirror surface included angle of the double-mirror system, the mirror thickness and other geometrical parameters can be detected through calibration and become known system parameters. And these parameters are used later in the derivation and calculation.
C3：
Fig. 3 shows the variation of the light path by the top view of the system. The light from the object point passes through the semi-reflecting semi-transparent mirrorM1 was bent and launched into a two-mirror system consisting of M2 and M3. If the object point in the observation image is subjected to multiple reflection imaging, the emergent light range R corresponding to the images F 'and F' is less than R1F′S1And < T1F″′U1It can be seen that in addition to the selective action of the transflective mirror, the light range is also deflected. This ensures that the rays entering the camera are all light from the same angular range or close range of the object point, if the camera position is chosen properly. Therefore, the sudden change of the relative distribution of the light intensity of the adjacent light rays of one image point of the multi-view imaging caused by the difference of the incident directions of the light from the target object can be avoided as much as possible.
In this embodiment, the real result of the multi-reflection image finally entering the camera is shown in fig. 4. FIG. 4 is a graph showing the results of multiple reflections of the present invention on a photograph taken by a camera.
Step D: and matching multiple images of the structured light entering the camera. The constraint brought by the geometric relation of the whole system is used in matching, and the constraint is reflected on the geometric relation among the reflection images.
With respect to the constraint relationship of the entire system, the following is now explained:
D1：
the geometrical relationship between the multiple reflection images is mainly determined by the geometrical relationship of the double mirror system. This relationship is mainly represented by the constraint imposed by the relationship between the pixels shown in fig. 5 in the present embodiment. FIG. 5 is a schematic diagram illustrating the analysis of the geometrical relationship between the reflection images in the double mirror system according to the present invention.
As in fig. 5, the right hand coordinate system, oexyz, is established at mirror M3 with the X and Z axes on the reflection plane of M3; the camera is placed in such a position that its optical axis coincides with the Y-axis and the horizontal line of its image plane is parallel to the X-axis.
It can be shown that all the M3-based pixels (mirrored from the lower index strip "S" pixels (S-type pixels for short) to the lower index strip "M" (M-type pixels for short) through M3) and M2-based pixels (mirrored from the M-type pixels to the S-type pixels through M2) are distributed on a circle having a center on a straight line passing through the B point and perpendicular to the OXY plane.
It can be shown that the M-class points satisfy the following recurrence relation:
wherein θ is shown in FIG. 5.
D2：
A plurality of reflected images of the same object point are obtained by one camera, which is equivalent to one reflected image being fixed, and the same reflected image is shot at different positions by a plurality of cameras.
FIG. 6 is a schematic diagram of an analysis of the equivalence relationship between multi-reflection images and multi-view photography according to the present invention. As shown in fig. 6, the shooting of the reflected image a and the reflected image b by the camera a is equivalent to the shooting of the reflected image a by the camera a and the camera b. The station in the figure shows the motion of OXY in two dimensions. The camera a rotates anticlockwise by 42.15o around the point B to reach the position of the camera B, and the reflected image a rotates clockwise by 42.15o around the point B to reach the position of the reflected image B. And the Z value of each corresponding point on the reflection image or the corresponding point on the camera is of equal height.
In such an equivalent case, the relationship between imaging of any two reflected images in the same camera may be corresponded by the relationship between imaging of the same reflected image by the corresponding two equivalent cameras. Therefore, the polar geometric constraints introduced by two equivalent cameras can also be applied to the imaging of two reflected images within the same camera by transformation.
In view of the fact that the technique of limiting the image point matching range by relying on such polar geometric constraint relationship is not used only once in another patent, and is also a common matching technique, in the present invention, the technique is not described in detail.
D3：
The matching points found using the polar geometry of D2 will be biased against the D1 constraint. These bias values can be used to optimize the precise matching process. In other words, a good match should minimize the sum of the squares of this deviation.
The optimization method adopted by the embodiment is as follows:
step D3-1: firstly, the corresponding images of two reflection images are selected, under the condition of polar geometry, firstly, the matching point is searched, firstly, the two image points are assumed to be matched, the coordinate of the assumed object point is restored, and then the coordinate of the point is corresponded to the object point coordinate of each reflection image according to the formula (1).
Step D3-2: one of the reflection image images is retained, and the other reflection image is changed to be different from the previous step, and the same steps are carried out.
Step D3-3: the coordinates of each assumed object point are weighted and averaged to obtain an estimate of the coordinates of the last object point. The value of the weighting weight is selected to minimize the sum of the squares of the deviations of the result with respect to equation (1) based on a combination of the light variation and the relative intensity of the image.
Step E: and (3) the final estimation of the coordinates of the object points is carried out, and the results of the corresponding object points are serialized by adopting a plane interpolation or fitting method, so that the three-dimensional position calculation of the corresponding points of the structured light on the object is completed.
The invention reduces the influence of light rays in different directions on the corresponding imaging condition as much as possible by the semi-reflecting and semi-transmitting lens, and realizes that a camera can acquire multi-view images at one time by the double-lens system. The invention can reduce the system cost and realize the high-precision three-dimensional restoration of the object with strong structured light reflection.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A structured light three-dimensional reconstruction apparatus that forms multiple reflection images, comprising: the laser device irradiates a target object, light emitted by the target object is reflected by the double-mirror system to enter the cameras, and the number of the cameras is 1;
the double-mirror system adopts a double-plane reflector, the double-mirror system at least comprises a mirror surface which is not a total reflection mirror, and a preset distance is arranged between the two mirror surfaces; the distance between the two mirror surfaces is in millimeter magnitude, and a small included angle is formed, so that the light returning from the target is difficult to form interference;
the structured light three-dimensional reconstruction device further comprises: and the semi-reflecting and semi-transmitting mirror is arranged between the double-mirror system and the target object, and needs to deviate from the optical path between the laser and the target object.
2. A structured light three-dimensional reconstruction method for forming multiple reflection imaging, the method being based on a structured light three-dimensional reconstruction device for forming multiple reflection imaging, comprising:
irradiating a target object through a laser to form structured light irradiation;
reflecting the light irradiated by the structured light for multiple times through a double-mirror system;
enabling the reflected light path to enter a camera to obtain a multiple reflection image of the target object after the structured light irradiation;
matching the reflection image for multiple times according to constraint conditions and polar geometric conditions to obtain a plurality of matching points;
and (4) carrying out serialization on each matching point to finish the three-dimensional reconstruction of the target object irradiated by the structured light.
3. The method for three-dimensional reconstruction of structured light forming multiple reflection imaging according to claim 2, wherein after the irradiation of the object by the laser to form the structured light irradiation, and before the multiple reflection of the structured light irradiation by the two-mirror system, further comprising:
and turning the light irradiated by the structured light through a semi-reflecting and semi-transparent lens.
4. The method for three-dimensional reconstruction of structured light forming multiple reflection imaging according to claim 2, wherein the irradiating the target object by the laser to form structured light irradiation specifically comprises:
the target is irradiated with a line laser or a laser with structured light of a set form to form structured light irradiation.
5. The method according to claim 2, wherein the step of performing the three-dimensional reconstruction of the target object irradiated by the structured light by continuously performing the matching points comprises:
and (4) carrying out serialization on each matching point by adopting a plane difference method or a fitting method to complete the three-dimensional reconstruction of the target object irradiated by the structured light.
6. The method according to claim 2, wherein the constraint conditions are an included angle between two mirror surfaces in the dual-mirror system and a distance between the two mirror surfaces, and the polar geometry condition is a geometric relationship between the dual-mirror system and the camera.
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| CN106197322B (en) * | 2016-09-20 | 2019-04-02 | 电子科技大学 | A kind of area-structure light three-dimension measuring system and its measurement method |
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