CN113008164A - Rapid high-precision three-dimensional surface shape reconstruction method - Google Patents
Rapid high-precision three-dimensional surface shape reconstruction method Download PDFInfo
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- 239000011159 matrix material Substances 0.000 claims abstract description 15
- 230000010363 phase shift Effects 0.000 claims abstract description 13
- 238000013519 translation Methods 0.000 claims abstract description 11
- 230000004927 fusion Effects 0.000 claims description 4
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- 238000005070 sampling Methods 0.000 claims description 3
- 238000009616 inductively coupled plasma Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 6
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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
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Abstract
The invention discloses a rapid high-precision three-dimensional surface shape reconstruction method, which comprises the steps of projecting 7 strips of visible light on an object to be detected, obtaining three-dimensional data of the object to be detected under the visual angles of a left camera and a right camera by utilizing a multi-frequency strip phase shift method and calibration parameters between the cameras and a projector, calculating three-dimensional information of the left visual angle and the right visual angle by utilizing an iterative closest point algorithm (ICP) to obtain a rotation matrix and a translation matrix between the left visual angle and the right visual angle, fusing the rotation matrix and the translation matrix, and splicing the three-dimensional data of the object to be detected under the two visual angles. The invention only needs to project 7 stripe patterns, ensures the measuring speed on the premise of ensuring high precision, and fuses the three-dimensional data of the object to be measured under two visual angles by utilizing the ICP algorithm, thereby ensuring the integrity of the measured data.
Description
Technical Field
The invention belongs to the technical field of optical measurement, and particularly relates to a quick high-precision three-dimensional surface shape reconstruction method.
Background
The three-dimensional surface shape measuring technology is researched for decades, wherein the optical three-dimensional measuring technology becomes the three-dimensional shape measuring technology with the most development prospect at present by virtue of the advantages of non-contact, high precision, high speed and the like. Non-contact three-dimensional data acquisition techniques based on computer vision theory can be broadly divided into two categories, active and passive, depending on whether active light source illumination is required. Passive measurement generally does not need to use an active light source, but only obtains a plurality of images of a measured object by using a common camera under natural illumination, and then calculates the spatial three-dimensional coordinates of the object according to a stereo vision technology. The active measurement is to actively emit controllable light beams, such as laser, structured light and the like, on the surface of a measured object through a measurement system, then collect images formed by the light beams on the surface of the object, and calculate the spatial three-dimensional coordinates of the surface of the measured object through geometric relations. Currently, the pulsed laser ranging method is adopted by most three-dimensional laser scanners.
The digital speckle correlation method is a novel optical measurement method which is used for carrying out quantitative analysis on the full-field displacement and the strain of a measured object by analyzing the gray value information of the surface of the measured object before and after the measured object moves or deforms on the basis of the gray value information of the surface of the object. Although the method based on speckle coding can improve the precision and efficiency of binocular matching to a certain extent, the calculation of the correlation coefficient in the speckle coding algorithm is still time-consuming, and in addition, the speckle coding is also easily influenced by light intensity noise.
Disclosure of Invention
The invention aims to provide a quick high-precision three-dimensional surface shape reconstruction method.
The technical solution for realizing the purpose of the invention is as follows: a quick high-precision three-dimensional surface reconstruction method comprises the following steps:
step 1: constructing an object measuring system, wherein the measuring system comprises a left camera, a right camera, a projector system and an object to be measured, the left camera and the right camera are horizontally arranged, the projector system is positioned between the cameras, and the object to be measured is positioned in a measuring range;
step 2: projecting 7 stripe patterns to an object to be measured through a projector, synchronously acquiring the stripe patterns modulated by surface information of the object to be measured by a left camera and a right camera to obtain two groups of stripe patterns and obtain the phase of the object to be measured under the visual angles of the two cameras; converting the phase information of the object to be measured into three-dimensional information by using calibration parameters between a camera and a projector, and obtaining three-dimensional data of the object to be measured at a left visual angle and a right visual angle;
and step 3: and acquiring a rotation matrix and a translation matrix between the three-dimensional data at the two visual angles by utilizing an ICP iterative algorithm, and splicing and fusing the three-dimensional data at the two visual angles based on the acquired rotation matrix and translation matrix to complete the three-dimensional reconstruction of the object to be measured.
Preferably, the distance from the object to be measured to the measuring system is 50 cm.
Preferably, the fringe pattern projected by the projector is a gray scale map.
Preferably, the camera that collects the fringe pattern is a black and white camera.
Preferably, the 7 fringe patterns comprise 3 sets, the first set of 2 images, corresponding to a phase shift of 4 steps, corresponding to a fringe period number of 1; the second group of 2 images corresponds to 4 steps of phase shift and 15 fringe periods; the third set corresponds to a phase shift of 3 steps and a fringe period number of 180.
Preferably, the three-dimensional data of the object under test at a single viewing angle is a set of three-dimensional point clouds.
Preferably, based on a rotation and translation matrix obtained by an ICP iterative algorithm, the three-dimensional point cloud of one view angle is rotated and translated and then added with the three-dimensional point cloud of another view angle to obtain a group of new point cloud data; and performing down-sampling and moving least square processing on the added new point cloud data to realize splicing and fusion of three-dimensional data under two visual angles.
Compared with the prior art, the invention has the following remarkable advantages: the method utilizes a multi-frequency stripe phase shift method to reconstruct the object to be measured, only 7 stripe patterns need to be projected, the measuring speed is ensured on the premise of ensuring high precision, and the three-dimensional data of the object to be measured under two visual angles are fused by utilizing an ICP (inductively coupled plasma) algorithm, so that the integrity of the measured data is ensured.
The present invention is described in further detail below with reference to the attached drawings.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 shows the phase results of the acquired fringe pattern and three-dimensional data: (a) is a collected stripe pattern; (b) obtaining a wrapped phase diagram; (c) obtaining an absolute phase diagram; (d) the three-dimensional face data is obtained.
FIG. 3 is a schematic diagram of a face three-dimensional data stitching and fusing result: (a) three-dimensional face data under the visual angle of a left camera; (b) three-dimensional face data under the visual angle of a right camera; (c) the unit face data after splicing and fusion.
Detailed Description
As shown in fig. 1, a fast high-precision three-dimensional surface reconstruction method includes:
step 1: constructing an object measuring system, wherein the measuring system comprises a left camera, a right camera, a projector system and an object to be measured, the left camera and the right camera are horizontally arranged, the projector system is positioned between the cameras, and the object to be measured is positioned in a measuring range;
in a further embodiment, the distance from the object to be measured to the measuring system is 50 cm.
In a further embodiment, the camera is a black and white camera.
Step 2: projecting 7 stripe patterns to an object to be measured through a projector, synchronously acquiring the stripe patterns modulated by surface information of the object to be measured by a left camera and a right camera to obtain two groups of stripe patterns and obtain the phase of the object to be measured under the visual angles of the two cameras; converting the phase information of the object to be measured into three-dimensional information by using calibration parameters between a camera and a projector, and obtaining three-dimensional data of the object to be measured at a left visual angle and a right visual angle;
in a further embodiment, the fringe pattern projected by the projector is a gray scale image.
In a further embodiment, the 7 fringe patterns comprise 3 sets, the first set of 2 images, corresponding to a phase shift of 4 steps, corresponding to a fringe period number of 1; the second group of 2 images corresponds to 4 steps of phase shift and 15 fringe periods; the third set corresponds to a phase shift of 3 steps and a fringe period number of 180.
Specifically, the projector and the camera work synchronously, that is, after the projector projects a stripe pattern, the camera collects the stripe pattern of the object to be measured.
And step 3: utilizing an ICP iterative algorithm to obtain rotation and translation matrixes between three-dimensional data at two visual angles, splicing and fusing the three-dimensional data at the two visual angles based on the obtained rotation and translation matrixes, and completing three-dimensional face reconstruction, wherein the specific method comprises the following steps:
and based on a rotation and translation matrix obtained by an ICP iterative algorithm, the three-dimensional point cloud at one view angle is rotated and translated and then added with the three-dimensional point cloud at another view angle to obtain a group of new point cloud data.
And performing down-sampling and moving least square processing on the added new point cloud data to realize splicing and fusion of three-dimensional data under two visual angles.
The method and the device have the advantages that the ICP iterative algorithm is utilized to splice and fuse the three-dimensional data of the object to be measured at two visual angles, so that the three-dimensional data of the object to be measured is more complete and the precision is higher.
The method comprises the steps of firstly placing two cameras along the horizontal direction, positioning a projector between the two cameras, carrying out two-dimensional image acquisition on an object to be detected under the visual angles of the left camera and the right camera by using a multi-frequency fringe phase shift method, and calculating to obtain the phase information of the object to be detected. And converting the phase information into corresponding three-dimensional information by using the calibration parameters between the camera and the projector. And then splicing and fusing the two groups of three-dimensional object data to be detected through an ICP iterative algorithm to obtain more complete three-dimensional data. Compared with the traditional three-dimensional reconstruction method, the method can realize the rapid and high-precision three-dimensional surface shape reconstruction.
Examples
In order to verify the effectiveness of the invention, a set of rapid and high-precision three-dimensional surface shape reconstruction system and a three-dimensional measurement device of the method thereof are constructed by using two cameras (model acA1300-60gm, Basler), a projector (model DLP PRO 4500) and a computer. The shooting speed of the device when the three-dimensional measurement of the object to be measured is carried out is 60 frames per second. And (3) utilizing the step 1 to locate the object to be measured at a position 50cm away from the system in the three-dimensional surface shape measuring system formed by two cameras and one projector. Obtaining phase information of the object to be detected by using the multi-frequency stripe phase shift method in the step 2, and converting the phase information into three-dimensional information of the object to be detected by using calibration parameters between the camera and the projector; and 3, splicing and fusing the three-dimensional data under the two visual angles by utilizing the ICP iterative algorithm, thereby realizing the rapid and high-precision three-dimensional surface shape reconstruction. And (3) carrying out a three-dimensional reconstruction experiment of the human face, wherein the reconstruction result under the visual angle of a single camera is shown in figure 2, and the spliced and fused three-dimensional reconstruction result of the human face is shown in figure 3. Fig. 2(a) is a collected fringe pattern, fig. 2(b) is an obtained wrapped phase diagram, fig. 2(c) is an obtained absolute phase diagram, fig. 2(d) is obtained three-dimensional face data, fig. 3(a) is three-dimensional face data under a left camera viewing angle, fig. 3(b) is three-dimensional face data under a right camera viewing angle, and fig. 3(c) is spliced and fused unit face data. Experimental results prove that the method can realize rapid and high-precision three-dimensional surface shape reconstruction.
Claims (7)
1. A quick high-precision three-dimensional surface reconstruction method is characterized by comprising the following steps:
step 1: constructing an object measuring system, wherein the measuring system comprises a left camera, a right camera, a projector system and an object to be measured, the left camera and the right camera are horizontally arranged, the projector system is positioned between the cameras, and the object to be measured is positioned in a measuring range;
step 2: projecting 7 stripe patterns to an object to be measured through a projector, synchronously acquiring the stripe patterns modulated by surface information of the object to be measured by a left camera and a right camera to obtain two groups of stripe patterns and obtain the phase of the object to be measured under the visual angles of the two cameras; converting the phase information of the object to be measured into three-dimensional information by using calibration parameters between a camera and a projector, and obtaining three-dimensional data of the object to be measured at a left visual angle and a right visual angle;
and step 3: and acquiring a rotation matrix and a translation matrix between the three-dimensional data at the two visual angles by utilizing an ICP iterative algorithm, and splicing and fusing the three-dimensional data at the two visual angles based on the acquired rotation matrix and translation matrix to complete the three-dimensional reconstruction of the object to be measured.
2. The method for reconstructing the three-dimensional surface shape with high speed and high precision as claimed in claim 1, wherein the distance from the object to be measured to the measuring system is 50 cm.
3. The method for reconstructing the three-dimensional shape with high precision as claimed in claim 1, wherein the projected fringe pattern of the projector is a gray scale image.
4. The method for reconstructing the three-dimensional surface shape with high speed and high precision as claimed in claim 1, wherein the camera for collecting the stripe pattern is a black and white camera.
5. The method for reconstructing the fast and high-precision three-dimensional surface shape according to claim 1, wherein the 7 stripe patterns comprise 3 groups, the first group comprises 2 images, the corresponding phase shift is 4 steps, and the corresponding stripe cycle number is 1; the second group of 2 images corresponds to 4 steps of phase shift and 15 fringe periods; the third set corresponds to a phase shift of 3 steps and a fringe period number of 180.
6. The method for reconstructing the rapid and high-precision three-dimensional shape as claimed in claim 1, wherein the three-dimensional data of the object to be measured under a single view angle is a set of three-dimensional point clouds.
7. The method for reconstructing the rapid high-precision three-dimensional surface shape according to claim 1, wherein a group of new point cloud data is obtained by adding three-dimensional point clouds at one view angle to three-dimensional point clouds at another view angle after rotating and translating the three-dimensional point clouds at one view angle based on a rotation and translation matrix obtained by an ICP iterative algorithm; and performing down-sampling and moving least square processing on the added new point cloud data to realize splicing and fusion of three-dimensional data under two visual angles.
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Application publication date: 20210622 |