CN112504165A - Composite stereo phase unfolding method based on bilateral filtering optimization - Google Patents

Composite stereo phase unfolding method based on bilateral filtering optimization Download PDF

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CN112504165A
CN112504165A CN202011607484.8A CN202011607484A CN112504165A CN 112504165 A CN112504165 A CN 112504165A CN 202011607484 A CN202011607484 A CN 202011607484A CN 112504165 A CN112504165 A CN 112504165A
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phase
projector
bilateral filtering
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左超
张晓磊
胡岩
沈德同
尹维
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Nanjing University Of Technology Intelligent Computing Imaging Research Institute Co ltd
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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
    • G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images

Abstract

The invention provides a composite stereo phase unwrapping method based on bilateral filtering optimization, which comprises the following steps of firstly using a projector for projection, synchronously acquiring a group of three-step phase shift fringe images and a speckle pattern by two cameras, calculating the three-step phase shift fringe images by using a least square method to obtain a wrapped phase image, and constructing a three-dimensional matching cost space related to a candidate phase level according to parameters between the wrapped phase image and the cameras and the projectors. The wrapping phase diagram and the speckle pattern are utilized, the matching cost value of each candidate phase level of each pixel is obtained through bilateral filtering, the phase level diagram is calculated through the WTA so as to obtain an absolute phase diagram, robust and high-precision absolute three-dimensional shape measurement is finally realized through phase matching between two cameras, and compared with the traditional method, the robust and high-precision absolute three-dimensional shape measurement can be realized only by four projection patterns.

Description

Composite stereo phase unfolding method based on bilateral filtering optimization
Technical Field
The invention relates to the technical field of optical measurement, in particular to a composite three-dimensional phase unwrapping method based on bilateral filtering optimization.
Background
In recent decades, rapid three-dimensional topography measurement techniques have been widely used in various fields, such as intelligent monitoring, industrial quality control, and three-dimensional face recognition. Among the numerous three-dimensional topography measurement methods, fringe projection profilometry based on structured light and triangulation principles is one of the most practical techniques because it has the advantages of no contact, full field, high accuracy and high efficiency.
The mainstream fringe projection profilometry generally needs three processes to realize three-dimensional measurement, namely phase recovery, phase expansion and phase-to-height mapping. Among the phase recovery techniques, the two most commonly used methods are fourier profilometry and phase-shift profilometry. The phase can be extracted by only one fringe pattern in the Fourier profile technology, but the method is influenced by frequency spectrum aliasing, so that the quality of a measuring result is poor, and an object with a complex appearance cannot be measured. Compared to fourier profilometry, phase-shift profilometry has the advantage of being insensitive to ambient light, enabling pixel-level phase measurements to be obtained, which is suitable for measuring objects with complex surfaces. But this method typically requires the projection of multiple phase-shifted fringe patterns (at least three) to achieve phase extraction.
With the rapid development of high-speed cameras and DLP projection technology, phase-shift profilometry can also be used to achieve rapid three-dimensional measurements. However, both fourier and phase-shift profilometry use an arctangent function to extract the phase, the value domain of the arctangent function [0,2 π ], and therefore both methods can only obtain wrapped phase maps, where there are phase jumps of 2 π. Therefore, it is necessary to implement a phase unwrapping technique to change the wrapped phase map into an absolute phase map. The mainstream phase unwrapping method at present is time domain phase unwrapping and space domain phase unwrapping. On the one hand, the spatial domain phase unwrapping can realize the phase unwrapping only by wrapping the phase diagram, but can not effectively measure complex objects or a plurality of isolated objects, and phase unwrapping errors easily occur. On the other hand, time-domain phase unwrapping can stably unwrappe the wrapped phase, but requires the use of multiple wrapped phase maps of different frequencies, which greatly affects the efficiency of phase unwrapping and thus reduces the speed of three-dimensional measurement.
Three common spatial domain phase unwrapping techniques are used: multifrequency methods, multiwavelength methods and number theory methods. Among them, the multifrequency method can achieve the best phase unwrapping result, and the multi-wavelength rule is the most sensitive to noise (document "Temporal phase unwrapting algorithms for fringe projection profile: A complementary view", author Chao Zuo, etc.). The principle of the multi-frequency method is to use a single-period low-frequency wrapped phase to expand a high-frequency wrapped phase diagram, and due to the influence of noise in the measurement process, the multi-frequency method can only expand a high-frequency wrapped phase diagram with the frequency of 20. The phase diagram with higher frequency has higher precision, so that a plurality of groups of fringe diagrams with different frequencies are projected to realize high-precision three-dimensional measurement. This further reduces the measurement efficiency of fringe projection profilometry and thus inhibits its ability to measure moving objects.
Therefore, for the three-dimensional imaging technology based on fringe projection profilometry, a method with both measurement accuracy and measurement efficiency is not available at present.
Disclosure of Invention
The invention aims to provide a composite three-dimensional phase unwrapping method based on bilateral filtering optimization, which can realize robust and high-precision absolute three-dimensional shape measurement only by four projection patterns.
In order to achieve the above purpose, the invention provides the following technical scheme: a composite stereo phase unfolding method based on bilateral filtering optimization comprises the following steps:
the method comprises the following steps: projecting by using a projector, synchronously acquiring a group of three-step phase shift fringe pattern and a speckle pattern by using two cameras, and calibrating by using a system to obtain a parameter A between the cameras and the projector;
step two: calculating a three-step phase shift fringe image by a least square method to obtain a wrapped phase image;
step three: constructing a three-dimensional matching cost space related to the candidate phase level according to the wrapped phase diagram and the parameter A;
step four: obtaining the matching cost value of each candidate phase level of each pixel by bilateral filtering by utilizing the wrapped phase diagram and the speckle pattern, and calculating a phase level diagram by WTA so as to obtain an absolute phase diagram;
step five: and finally, the robust and high-precision absolute three-dimensional shape measurement is realized through the phase matching between the two cameras.
Further, in the present invention, the three-step phase-shifted fringe image in step one is represented as:
I1(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)]；
I2(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)+2π/3]；
I3(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)+4π/3]；
wherein I1(x,y)，I2(x,y)，I3And (x, y) is the corresponding three-step phase-shift fringe image light intensity, (x, y) is the pixel coordinate of the camera plane, A (x, y) is the background light intensity, B (x, y) is the modulation degree of the fringe, and phi (x, y) is the phase to be solved.
Further, in the present invention, in the second step, the wrapping phase Φ (x, y) is obtained by using the collected three-step phase shift fringe image through the least square method, which is specifically as follows:
Figure BDA0002873947000000031
due to the truncation effect of the arctan function, the wrapped phase phi (x, y) is obtained, the value range of which is [0,2 pi ], and the relation between the wrapped phase phi and phi (x, y) is as follows:
Φ(x,y)＝φ(x,y)+2πk(x,y)；
where k (x, y) is the periodic order of the phase, with a range of integers [0, f-1], and f is the frequency of the fringe pattern.
Further, in the present invention, the two cameras are a left camera and a right camera respectively, and in step three, for the wrapped phase diagram phi (x, y) obtained from the left camera, there are N possible values, which are [0, N-1 ], of the periodic order k (x, y) of the corresponding phase]Building up three-dimensionalAbsolute phase space phil(n, x, y) is specifically represented by the following formula:
Φl(n,x,y)＝φ(x,y)+2πn,n＝0,1,2,3,...,N-1；
since the projector projects a vertical fringe pattern, the horizontal coordinate on the plane of the projector can be obtained according to the absolute phase, which is specifically as follows:
Figure BDA0002873947000000032
wherein x isP(n, x, y) is the horizontal coordinate on the projector plane, W is the lateral resolution of the projector, and the coordinate on the right camera plane can be obtained according to the parameter a between the left and right cameras and the projector, which is specifically as follows:
Figure BDA0002873947000000041
Figure BDA0002873947000000042
wherein, F1(x,y)、F2(x,y)、F3(x,y)、F4(x,y)、F5(x,y)、F6(x,y)、F7(x,y)、F8(x,y)、C(x,y)、kk13And kk23For the parameters between the left and right cameras and the projector, a three-dimensional matching Cost space Cost about the candidate phase order is then constructedOrder(n,x,y)。
Further, in the present invention, in step four, the matching cost value of each candidate phase order of each pixel is obtained through bilateral filtering based on a window, which is specifically as follows:
Figure BDA0002873947000000043
in the formula (I), the compound is shown in the specification,
Figure BDA0002873947000000044
Figure BDA0002873947000000045
Δφ(i,j,x,y)＝|φ(x,y)-φ(x+i,y+j)|；
CostZNSSD(n,x,y)＝2-2×CostZNCC(x,y,xR,yR)；
Figure BDA0002873947000000046
wherein
Figure BDA0002873947000000047
And
Figure BDA0002873947000000048
the speckle image light intensity collected by the left camera and the right camera,
Figure BDA0002873947000000049
and
Figure BDA00028739470000000410
calculating a phase level map through WTA to obtain an absolute phase map for the light intensity mean value of the corresponding local window, which is specifically as follows:
Figure BDA00028739470000000411
Φ(x,y)＝φ(x,y)+2πk(x,y)。
further, in the invention, in the fifth step, the stereo matching based on the phase information is realized by minimizing the difference between the absolute phases of the two visual angles to obtain the matching point of the whole pixel, then the sub-pixel matching is realized by utilizing the phase information of the matching point of the whole pixel and the adjacent points thereof and the linear interpolation algorithm, so that a high-precision and dense disparity map is obtained, the disparity data is converted into the three-dimensional information by utilizing the calibration parameters of the camera based on the disparity data between the two camera visual angles, and finally the robust and high-precision absolute three-dimensional morphology measurement is realized.
The beneficial effects are that the technical scheme of this application possesses following technological effect:
the method comprises the steps of firstly using a projector for projection, synchronously acquiring a group of three-step phase shift fringe images and a speckle pattern by two cameras, calculating the three-step phase shift fringe images by using a least square method to obtain a wrapped phase image, and constructing a three-dimensional matching cost space related to a candidate phase order according to parameters between the wrapped phase image and the cameras and the projector. The wrapping phase diagram and the speckle pattern are utilized, the matching cost value of each candidate phase level of each pixel is obtained through bilateral filtering, the phase level diagram is calculated through the WTA so as to obtain an absolute phase diagram, robust and high-precision absolute three-dimensional shape measurement is finally realized through phase matching between two cameras, and compared with the traditional method, the robust and high-precision absolute three-dimensional shape measurement can be realized only by four projection patterns.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
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The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic flow chart of the steps of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings. In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
The invention provides a composite three-dimensional phase unwrapping method based on bilateral filtering optimization, which can realize robust and high-precision absolute three-dimensional shape measurement only by four projection patterns. The method comprises the following six steps:
the method comprises the following steps: a set of three-step phase-shifted fringe patterns and a speckle pattern are acquired synchronously by using projector projection and two cameras. The acquired three-step phase-shifted fringe image is represented as:
I1(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)]；
I2(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)+2π/3]；
I3(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)+4π/3]；
wherein I1(x,y)，I2(x,y)，I3And (x, y) is the corresponding three-step phase-shift fringe image light intensity, (x, y) is the pixel coordinate of the camera plane, A (x, y) is the background light intensity, B (x, y) is the modulation degree of the fringe, and phi (x, y) is the phase to be solved. I isspkAnd (x, y) is the light intensity of the collected speckle image.
Step two: and (3) acquiring a wrapping phase phi (x, y) by using the acquired three-step phase shift fringe image through a least square method, wherein the wrapping phase phi (x, y) is specifically as follows:
Figure BDA0002873947000000061
it is noted that, due to the truncation effect of the arctan function, the wrapped phase φ (x, y) is obtained with a value range [0,2 π ], which is related to φ (x, y) as follows:
Φ(x,y)＝φ(x,y)+2πk(x,y)；
where k (x, y) is the periodic order of the phase, with a range of integers [0, f-1], and f is the frequency of the fringe pattern. The core of the phase unwrapping technique in fringe projection is how to solve for k (x, y).
Step three: and constructing a three-dimensional matching cost space about the candidate phase orders according to the parameters between the wrapped phase map and the camera and the projector. And obtaining parameters between the camera and the projector through system calibration. For the wrapped phase map φ (x, y) obtained from the left camera, there are N possible values for the periodic order k (x, y) of the corresponding phase, which is [0, N-1 ]]. Thus constructing a three-dimensional absolute phase space phil(n, x, y) is specifically represented by the following formula:
Φl(n,x,y)＝φ(x,y)+2πn,n＝0,1,2,3,...,N-1；
since the projector projects a vertical fringe pattern, the horizontal coordinate on the plane of the projector can be obtained according to the absolute phase, which is specifically as follows:
Figure BDA0002873947000000071
wherein x isP(n, x, y) is the horizontal coordinate on the projector plane, and W is the lateral resolution of the projector. Further, from the parameters between the left and right cameras and the projector, the coordinates on the right camera plane can be obtained, as follows:
Figure BDA0002873947000000072
Figure BDA0002873947000000073
wherein, F1(x,y)，F2(x,y)，F3(x,y)，F4(x,y)，F5(x,y)，F6(x,y)，F7(x,y)，F8(x,y)，C(x,y)，kk13，kk23Parameters between the left and right cameras and the projector. And then constructing a three-dimensional matching Cost space Cost about the candidate phase levelOrder(n,x,y)。
Step four: and obtaining the matching cost value of each candidate phase order of each pixel by bilateral filtering by utilizing the wrapped phase diagram and the speckle diagram, and calculating the phase order diagram by the WTA so as to obtain the absolute phase diagram. Obtaining a matching cost value of each candidate phase order of each pixel through bilateral filtering based on a window, wherein the matching cost value is specifically as follows:
Figure BDA0002873947000000081
in the formula (I), the compound is shown in the specification,
Figure BDA0002873947000000082
Figure BDA0002873947000000083
Δφ(i,j,x,y)＝|φ(x,y)-φ(x+i,y+j)|；
CostZNSSD(n,x,y)＝2-2×CostZNCC(x,y,xR,yR)；
Figure BDA0002873947000000084
wherein
Figure BDA0002873947000000085
And
Figure BDA0002873947000000086
powder for left and right camera acquisitionThe intensity of the spot image is such that,
Figure BDA0002873947000000087
and
Figure BDA0002873947000000088
is the mean value of the light intensity of the corresponding local window. Calculating a phase order graph through the WTA so as to obtain an absolute phase graph, wherein the absolute phase graph is as follows:
Figure BDA0002873947000000089
Φ(x,y)＝φ(x,y)+2πk(x,y)；
step five: stereoscopic matching based on phase information is achieved by minimizing the difference between the absolute phases of the two views to obtain a matching point of an integer pixel. And then, sub-pixel matching is realized through a linear interpolation algorithm by utilizing the phase information of the matching point of the whole pixel and the adjacent points thereof, so that a high-precision and dense disparity map is obtained. Based on parallax data between two camera visual angles, the parallax data is converted into three-dimensional information by using calibration parameters of the cameras, and finally, robust and high-precision absolute three-dimensional shape measurement is realized.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims (6)

1. A composite stereo phase unfolding method based on bilateral filtering optimization is characterized in that: the method comprises the following steps:
the method comprises the following steps: projecting by using a projector, synchronously acquiring a group of three-step phase shift fringe pattern and a speckle pattern by using two cameras, and calibrating by using a system to obtain a parameter A between the cameras and the projector;
step two: calculating a three-step phase shift fringe image by a least square method to obtain a wrapped phase image;
step three: constructing a three-dimensional matching cost space related to the candidate phase level according to the wrapped phase diagram and the parameter A;
step four: obtaining the matching cost value of each candidate phase level of each pixel by bilateral filtering by utilizing the wrapped phase diagram and the speckle pattern, and calculating a phase level diagram by WTA so as to obtain an absolute phase diagram;
step five: and finally, the robust and high-precision absolute three-dimensional shape measurement is realized through the phase matching between the two cameras.
2. The composite stereo phase unwrapping method based on bilateral filtering optimization according to claim 1, wherein: the three-step phase-shifted fringe image in step one is represented as:
I1(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)]；
I2(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)+2π/3]；
I3(x,y)＝A(x,y)+B(x,y)cos[Φ(x,y)+4π/3]；
wherein I1(x,y)，I2(x,y)，I3And (x, y) is the corresponding three-step phase-shift fringe image light intensity, (x, y) is the pixel coordinate of the camera plane, A (x, y) is the background light intensity, B (x, y) is the modulation degree of the fringe, and phi (x, y) is the phase to be solved.
3. The composite stereo phase unwrapping method based on bilateral filtering optimization according to claim 1, wherein: in the second step, the wrapping phase phi (x, y) is obtained by using the collected three-step phase shift fringe image through a least square method, and the wrapping phase phi (x, y) is specifically as follows:
Figure FDA0002873946990000011
due to the truncation effect of the arctan function, the wrapped phase phi (x, y) is obtained, the value range of which is [0,2 pi ], and the relation between the wrapped phase phi and phi (x, y) is as follows:
Φ(x,y)＝φ(x,y)+2πk(x,y)；
where k (x, y) is the periodic order of the phase, with a range of integers [0, f-1], and f is the frequency of the fringe pattern.
4. The composite stereo phase unwrapping method based on bilateral filtering optimization according to claim 3, wherein: the two cameras are respectively a left camera and a right camera, and in the third step, for a wrapped phase diagram phi (x, y) obtained from the left camera, N possible values exist, namely [0, N-1 ], of the periodic order k (x, y) of the corresponding phase]Constructing a three-dimensional absolute phase space phil(n, x, y) is specifically represented by the following formula:
Φl(n,x,y)＝φ(x,y)+2πn,n＝0,1,2,3,...,N-1；
since the projector projects a vertical fringe pattern, the horizontal coordinate on the plane of the projector can be obtained according to the absolute phase, which is specifically as follows:
Figure FDA0002873946990000021
wherein x isP(n, x, y) is the horizontal coordinate on the projector plane, W is the lateral resolution of the projector, and the coordinate on the right camera plane can be obtained according to the parameter a between the left and right cameras and the projector, which is specifically as follows:
Figure FDA0002873946990000022
Figure FDA0002873946990000023
wherein, F1(x,y)、F2(x,y)、F3(x,y)、F4(x,y)、F5(x,y)、F6(x,y)、F7(x,y)、F8(x,y)、C(x,y)、kk13And kk23For parameters between the left and right cameras and the projector, then constructing the candidate phasesHierarchical three-dimensional matching Cost space CostOrder(n,x,y)。
5. The composite stereo phase unwrapping method based on bilateral filtering optimization according to claim 4, wherein: in step four, the matching cost value of each candidate phase order of each pixel is obtained through bilateral filtering based on a window, which is specifically as follows:
Figure FDA0002873946990000031
in the formula (I), the compound is shown in the specification,
Figure FDA0002873946990000032
Figure FDA0002873946990000033
Δφ(i,j,x,y)＝|φ(x,y)-φ(x+i,y+j)|；
CostZNSSD(n,x,y)＝2-2×CostZNCC(x,y,xR,yR)；
Figure FDA0002873946990000034
wherein
Figure FDA0002873946990000035
And
Figure FDA0002873946990000036
the speckle image light intensity collected by the left camera and the right camera,
Figure FDA0002873946990000037
and
Figure FDA0002873946990000038
calculating a phase level map through WTA to obtain an absolute phase map for the light intensity mean value of the corresponding local window, which is specifically as follows:
Figure FDA0002873946990000039
Φ(x,y)＝φ(x,y)+2πk(x,y)。
6. the composite stereo phase unwrapping method based on bilateral filtering optimization according to claim 1, wherein: and step five, realizing three-dimensional matching based on phase information by minimizing the difference between the absolute phases of two visual angles to obtain a matching point of a whole pixel, then realizing sub-pixel matching by utilizing the phase information of the matching point of the whole pixel and adjacent points thereof and a linear interpolation algorithm so as to obtain a high-precision and dense disparity map, converting the disparity data into three-dimensional information by utilizing calibration parameters of a camera based on the disparity data between the two camera visual angles, and finally realizing robust and high-precision absolute three-dimensional shape measurement.
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