CN1266452C - Composite coding multiresolution three-dimensional digital imaging method - Google Patents
Composite coding multiresolution three-dimensional digital imaging method Download PDFInfo
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Abstract
The present invention discloses a method for realizing multi-resolution three-dimensional digital imaging by composite codes, namely a three-dimensional digitization technique based on the combination of dot matrix projection and stripe projection. The method uses an imaging device composed of a digital projection illumination transmitter, an image sensing receiver and an image processor. The transmitter is used for transmitting from a pupil, the image sensing receiver is used for entering the pupil, and a triangular measurement system is formed. Firstly, the characteristic that the dot matrix projection three-dimensional digital imaging has no phase ambiguity is used, dot matrix codes are used for obtaining a three-dimensional depth image with low resolution of an object, and stripes are projected on the surface of the object. The characteristic of high precision of space phase modulation is used, the obtained depth image with low resolution of the object is combined to carry out phase extension, and an accurate multi-resolution three-dimensional image of the measured object is further obtained. The present invention integrates the advantages of the three-dimensional digital imaging method with two different coding modes of dot matrix projection and stripe projection. The precision of the three-dimensional digital imaging is high, and the present invention has strong universality for a curved surface with complicated topology.
Description
Technical field
The present invention relates to composite coding multiresolution three-dimensional digital imaging method, belong to the 3 D digital imaging technology.
Background technology
In based on trigon active three-dimensional sensing technology, based on traditional triangulation, because the spatial modulation that the three-dimensional object surface shape produces the structured illumination light beam, changed the angle of imaging beam, promptly changed the imaging luminous point in position that detector array lists, by to the determining and the geometric parameter of system light path of imaging light spot position, calculate distance.Existing technology comprises: the method for the method of employing single beam dot structure illumination and the line structure illumination of employing sheet beam, and phase measuring profilometer comprise phase shift technology of profiling, Fourier conversion technology of profiling and space phase detection technology of profiling.Phase measuring profilometer also finally is summed up as triangulation, only comes in different ways to extract needed geometric parameter in the triangulation calculation in different measuring techniques from the observation light field.
Method based on space lattice projection is by throwing the two-dimensional space dot matrix to testee, form the illumination of area-structure light, the Polaroid 3-dimensional digital picture that can obtain a complete testee, must pointwise or line by line scan and could obtain the shortcoming of complete 3-dimensional digital picture thereby the line structure that has overcome single beam dot structure illumination in the existing trigon active three-dimensional sensing technology and sheet beam throws light on, improved sampling efficiency.Compare with phase measuring profilometer, the dot matrix coding method is direct by the position of imaging dot matrix being determined to calculate the degree of depth of object, does not have the problem of phase ambiguity and error propagation.But the precision of this sensing technology directly is subjected to the influence of imaging luminous point positional accuracy measurement, and the geometric distortion of detector sensitivity and imaging system all can influence its measuring accuracy, and therefore, its measuring accuracy is not as phase measuring profilometer.
Phase measuring profilometer adopts the bar graph coding, and the depth information of object is coded in the carrier fringe, by calculating wrapped phase and phase unwrapping, obtains the degree of depth picture of object indirectly in conjunction with the structural parameters of optical system.Compare with direct geometric measurement, phase measuring profilometer has higher precision, the highlyest can reach one of percentage fringe period; The method of phase measurement is insensitive to the variation of background, contrast and noise in addition.But there are discontinuity zone or surface graded alter a great deal or when having the information blind area for testee, the phase unwrapping of phase measuring profilometer becomes the very problem of difficulty, for example can produce phase ambiguity and error propagation, cause three-dimensional data incomplete, can not get complete three-dimensional data.
The technical literature that can contrast has down with three pieces:
(1) patent of invention: ZL 02131096.3.
(2)Richard?McBain，″high?speed?laser?triangulation?measurements?of?shape?and?thickness″，US?Patent?6,466,305.
(3)ul?R，Yoder?JR.，″topography?measuring?apparatus″，US?Patent?4,902,123.
Summary of the invention
The purpose of this invention is to provide a kind of composite coding that utilizes and realize the methods of differentiating 3 D digital imaging more, this method has improved the degree of confidence of measurement result and high measuring accuracy.
The present invention is realized by following technical proposals, employing comprises the imaging device of digital projection illumination transmitter, image sensing receiver and image processor, utilize dot matrix coding and striped coding to realize the methods of differentiating 3 D digital imaging more, it is characterized in that comprising following process:
1, the two-dimensional lattice figure illuminated objects of digital projection illumination transmitter projection different density degree, deflection image sensing receiver makes the same straight line that is centered close to of its optical axis and projection dot matrix illuminated field.The emergent pupil of digital projection illumination transmitter, the entrance pupil of image sensing receiver and the center of illuminated field constitute a triangle, with the line between the entrance pupil of the emergent pupil of digital projection illumination transmitter and image sensing receiver is baseline, it has constituted some triangles with the center that is incident upon all dot matrix of object, has formed triangulation system; Principle according to affined transformation, be projected in the coding dot matrix on reference planes and testee surface respectively, through rotation of coordinate, translation and perspective projection transformation, obtain the analytic expression of the volume coordinate of the lip-deep coding dot matrix of reference planes and testee on image receiving sensor plane respectively, and further obtain between the corresponding point of reference planes and testee last two dot matrix in surface the relation between respective point place depth value in alternate position spike on the imaging plane x direction and testee; Thereby digital projection illumination transmitter projection two-dimensional space lattice structure optical illumination, obtain the dot matrix image of reference planes and be incident upon the lip-deep dot matrix image of testee at the image receiving sensor, according to known system light path geometric parameter, image processor calculates the alternate position spike on the x direction between the dot matrix image respective point, and the relation between respective point place depth value calculates the depth image of object according to alternate position spike and testee again.
2, digital projection illumination transmitter throws striated structure rayed testee surface again, and the striated structure that is throwed is the single-frequency striped only, or sequential frequency conversion striped sequence.For single-frequency striated structure light, with the method for phase mapping, the degree of depth of the object low resolution that the binding site array projection has obtained looks like to carry out phase unwrapping, further obtains meticulousr many resolutions 3-dimensional digital picture.For sequential frequency conversion striped sequential structure optical projection, obtain the fringe intensity distribution plan sequence of encoding respectively, utilize " phase shift algorithm " to calculate the phase diagram of each frequency striped intensity distribution, in each phase diagram, eliminate 2 π uncertainties, thereby scenery is obtained the degree of depth picture that resolution is gone forward one by one successively; The effect of putting array projection this moment is to utilize the object depth value of its acquisition to determine the boundary condition of frequency conversion striped sequence, saves two-dimensional encoded bar graph required in the phase unwrapping process effectively, has increased the real-time of phase-unwrapping algorithm; Further obtain higher, the meticulousr object of precision and differentiate the 3-dimensional digital picture more.
The dot matrix coding is a kind of three-dimensional digital technology based on affined transformation, the striped coding is a kind of three-dimensional digital technology of phase mapping, the two combination is a kind of technology of composite coding, the three dimensional depth picture value that the dot matrix coding obtains can be determined the object degree of depth on the profile of " thicker ", and can determine the absolute profile of phase place in the phase mapping thus, solve the problem of phase ambiguity; And, when because when having lighting blind zone and imaging blind area, because constituting " dot matrix to " alternate position spike according to reference planes and body surface dot matrix image, the some array projection calculates the object depth value, between " dot matrix to " is separate, though be projected in point in the information blind area owing to not forming the depth value that " point to " can not get discrete point place in the information blind area, but it can not influence the peripheral region, can not cause error propagation, still can obtain an approximate three dimensional depth picture; And based on the phase outline art of fringe projection, not only these blind areas can not get the correct phase value, and cause the propagation of error, have a strong impact on the phase unwrapping of adjacent area, can't obtain the three dimensional depth picture of testee.
Below in conjunction with accompanying drawing the technical scheme based on dot matrix projection three-dimensional digital imagery is described in further detail:
Dot matrix projection three-dimensional digital imaging technology is a kind of three-dimensional digital technology of setting up on the affined transformation basis.Fig. 1 is the structural representation that is projected in dot matrix imaging on the reference planes.Point P is the emergent pupil of digital projection illumination transmitter, and Po is a projection optical axis, the PP of projection ray
1, PP
2And PP
3Determined the position of two-dimensional space dot matrix on reference planes of throwing with the intersection point of reference planes R.Point I is the entrance pupil of image sensing receiver, Io is the imaging optical axis, the angle of it and projection optical axis is α, Ip is the symmetrical plane of image sensing receiver plane with respect to an I, according to the principle of perspective projection, the position of dot matrix imaging on the image sensing receiver can be by being calculated to be picture light and planar I
pThe position of intersection point obtain.
In the dot matrix projection imaging system, the imaging process that is incident upon the dot matrix on the reference planes can be divided into three steps:
At first, be article coordinate that xyz is rotated in the forward the α angle around the y axle, be transformed to coordinate system x ' y ' z ', z ' o ' axle of new coordinate system is overlapped with imaging optical axis Io;
Then, along z ' axle negative sense translation L, making the entrance pupil I of image sensing receiver is true origin coordinate system x ' y ' z ', and the coordinate after the conversion is x
py
pz
p
At last, at coordinate system x
py
pz
pUnder do perspective projection, the perspective projection planar I
pWith z
pAxle is vertical, and on the position of distance initial point F (focal length), it and image sensing receiver plane are with respect to x
po
py
pSymmetry.
So, through after the above-mentioned steps one and two, can obtain reference planes R (z=0) at x
py
pz
pCoordinate under the coordinate system can be expressed as:
Wherein α is the angle between projection optical axis Po and the imaging optical axis Io; L is the distance between the center o of the entrance pupil I of image sensing receiver and illuminated field; Δ x is projected in dot matrix on the reference planes R along the spacing of x direction; k
xRound numbers is Δ x institute multiplying factor, is used for representing the x coordinate figure of difference under article coordinate system.
Then at coordinate system x
py
pz
pUnder do perspective projection, can determine that this dot matrix is in planar I
pOn the position:
Wherein F is the focal length of imaging system.
For a three-dimensional testee, as shown in Figure 2, be the structural representation that is projected in dot matrix imaging on the three-dimensional body of arbitrary surface.With throw light PP identical among Fig. 1
1, PP
2And PP
3With the testee surface give a B mutually
1, B
2And B
3, these intersection points have been determined the locus of two-dimensional space dot matrix on body surface S of projection.The dot matrix that is incident upon body surface S is same through above-mentioned three steps, is imaged on the image sensing receiver.Can obtain dot matrix on the S at x this moment
py
pz
pCoordinate under the coordinate system:
So at coordinate system x
py
pz
pUnder do perspective projection, can draw dot matrix on the body surface in the perspective projection planar I
pOn the position:
Between " dot matrix to " that can obtain that corresponding point forms in two dot matrix according to formula (2), (4) at the alternate position spike Δ x of x direction
p:
Δ x wherein
pCalculation expression in include it and the relation of object between this depth value, thereby obtain the calculation expression of object depth value.Under parameter of optical system is known situation, displacement in the x direction between all " dot matrix to " can calculate in conjunction with the dot matrix image and the lip-deep dot matrix image of testee of reference planes, calculate the depth value of all discrete points on the body surface, thereby obtain the degree of depth picture of object.
Based on the affined transformation of dot matrix and the multiple coding method of tying based on the phase mapping three-dimensional digital technology of striped, exist the object of surface discontinuities or the digitized problem of surface graded very big object dimensional to have remarkable result in solution; And the method for composite coding can be obtained the carrier wave figure of multiple coded system, can utilize this method to obtain the multiplephase bitmap, the constructed object 3-dimensional digital pictures of differentiating more; And can alleviate to a certain extent because the incomplete problem that makes that phase unwrapping can't carry out of data is caused in lighting blind zone and imaging blind area.In addition, owing to overcome phase ambiguity and error propagation problem effectively, make the testable depth range of technology and the testable object range of this composite coding be greater than single ZAP.
The present invention compares with technology with existent method, and the present invention has the following advantages:
1) combines advantage based on an array projection and two kinds of different coding modes of fringe projection three-dimension digital imaging method.Eliminated the problem of phase ambiguity and error propagation, improved the degree of confidence of measurement result, also guaranteed high measurement accuracy, and alleviated to a certain extent because the incomplete problem of data that cause the information blind area.
2) for satisfying different test needs, can throw the composite coding of various ways, comprise: dot matrix adds the single-frequency striped and dot matrix adds sequential frequency conversion striped sequence, merges to utilize different method for sensing to obtain data, realizes the 3 D digital imaging of multiple resolution, different accuracy;
3) the testable depth range of this composite coding technology, and testable object range is greater than single ZAP.
Description of drawings
Fig. 1 is the dot matrix imaging schematic diagram that is projected on the reference planes.
Fig. 2 is the dot matrix imaging schematic diagram that is projected on any three-dimensional body.
Fig. 3 is a composite coding 3-D imaging system structural representation.
Fig. 4 is a step-like object that calculates simulation.
Fig. 5 utilizes the dot matrix projecting method to obtain the 3-dimensional digital picture of object among Fig. 4.
Fig. 6 is that (a) that utilize the fringe projection method to obtain object among Fig. 4 launches phase diagram; (b) 3-dimensional digital picture.
Fig. 7 is the multiple coding method that utilizes the present invention to propose, and the some array projection is in conjunction with the 3-dimensional digital picture of object among Fig. 4 of fringe projection acquisition.
Embodiment
According to the method described above, realize the device of composite coding multiresolution three-dimensional digital imaging, mainly comprise digital projection illumination transmitter, image sensing receiver and image processor.Said digital projection illumination transmitter can be digital lcd projection arrangement (a LCD projector), digital micro-mirror projection arrangement (DMD projector) or silicon chip liquid crystal projection apparatus (LCOS projector), the available computers image processing system generates two-dimensional lattice and striated pattern easily and writes digital projection device; Said image sensing receiver comprises that optical imaging lens and photodetector constitute, and optical imaging lens can be imaging len or the lens combination that focuses distance or varifocal, binary optical imaging system, diffraction element imaging system, micro imaging system; Said photoelectric detector can be a charge-coupled image sensor, liquid crystal device, spatial light modulation device, cmos device or digital camera.Said image processor is the combination of digital signal processor and programmable asic, also can be that general image transaction card and computer combined constitute.It is characterized in that, digital projection illumination transmitter throws two-dimensional space dot matrix and striated pattern respectively, the image sensing receiver receives dot matrix and the striped code pattern through the modulation of testee depth information, does corresponding decoding through image processor again and obtains object and differentiate the three dimensional depth picture more.
Below in conjunction with accompanying drawing embodiment is further described.
Fig. 3 is a composite coding 3-D imaging system structural representation.As shown in the figure, the emergent pupil P of the projection lens 102 of digital projection illumination transmitter 101, the entrance pupil I of the imaging len 104 of image sensing receiver 103 and the center o of illuminated field are positioned at same plane, and constitute a triangle, have formed triangulation system.The two-dimensional lattice that is produced by the computing machine of image processor 105 or digital signal processor is incident upon the surperficial S of reference planes 106 and object 107 respectively, angle between the Io of projection optical axis Po and imaging optical axis is α, with the line between the PI is baseline, it has constituted some triangles with the center that is incident upon all dot matrix of object, and each all can form a triangulation system.The distortion dot matrix of the depth information of regular dot matrix on the reference planes and any Free Surface object appearance of sign, receive by image sensing receiver 103 respectively, and be sent to image processor 105, the dot matrix that forms on the image sensing receiver respectively by dot matrix on reference planes relatively and the testee surface calculates the depth value of testee as the position difference of corresponding dot matrix.Then, digital projection illumination transmitter 101 continues single-frequency striped that projection produces by image processor 105 to testee surface 107, again by image sensing receiver 103 reception carrier bar graphs and deliver to image processor 105, three dimensional depth value in conjunction with the testee low resolution that obtains by the dot matrix projecting method, carrier fringe figure is carried out phase unwrapping, therefore the phase ambiguity that exists in the phase unwrapping is carried out on the surface of topological complex objects such as surface discontinuities object surfaces or the big surface of gradient and because the error propagation problem that cause information blind areas such as shade, can overcome effectively, thereby obtain the 3-dimensional digital picture of complete object.The mode of another composite coding is that dot matrix adds sequential frequency conversion striped sequence, after the method for utilizing the some array projection obtains the object depth value, digital projection illumination transmitter 101 also can throw sequential frequency conversion striped sequence to testee surface 107, depth value by known object, the coupling system structural parameters can calculate total phase differential of the visual field width of phase hit correspondence for the first time takes place, also just obtained corresponding visual field intra-striate periodicity, thereby determined the boundary condition of sequential frequency conversion striped sequence phase deployment algorithm, reduce iterations, improved the actual effect of algorithm.
Fig. 4 is a step-like object that calculates simulation.The height of step equal to utilize among Fig. 6 the fringe projection method obtain the object degree of depth as the time 1.1 times of the corresponding effective wavelength of striped that throws.
Fig. 5 is the 3-dimensional digital picture that utilizes object among Fig. 4 that the dot matrix projecting method obtains.Dot matrix number in the dot pattern is 64 * 64, for the very big zone of body surface graded, because projection dot matrix sampling rate deficiency, can't obtain this part regional accurate result, as shown in the figure, can only obtain graded result comparatively slowly, reason is exactly the information of having lost high frequency, makes very big regional smoothed of graded.
Fig. 6 utilizes the fringe projection method to obtain the 3-dimensional digital picture of object.Wherein Fig. 6 (a) carries out the expansion phase diagram that obtains behind the phase unwrapping to carrier fringe figure, because the height of step-like object is greater than the effective wavelength of projected fringe correspondence among Fig. 4, the phase ambiguity that has 2 π, therefore can not get correct depth image, be depicted as the depth image that calculates by Fig. 6 (a) as Fig. 6 (b), the existence of phase ambiguity makes the object depth map that is calculated by the expansion phase diagram deviation occur, and the height and the true altitude of step are not inconsistent in the depth image shown in Fig. 6 (b).
Fig. 7 is the multiple coding method that utilizes the present invention to propose, and two kinds of coding methods of binding site array projection and fringe projection utilize the 3-dimensional digital picture of object among Fig. 4 that phase-unwrapping algorithm obtains.Carry out the imaging of dot matrix coding earlier, obtain the degree of depth picture of object low resolution, carry out the striped coded imaging again, the object depth value that has obtained according to the dot matrix projecting method carries out phase unwrapping, the expansion phase diagram of object has marked the precise region that out of phase distributes shown in Fig. 6 (a), and this part more shallow zone reality of color is the zone that has phase hit among the figure.And obtained the depth value of object this moment by the method for an array projection, though resolution is lower, but it is the true distribution that has still reflected the object degree of depth from thicker profile, the depth value that utilizes the some array projection to obtain, the structural parameters of coupling system are scaled phase value, the process that the phase value that utilizes the some array projection to obtain when carrier fringe figure is carried out phase unwrapping comes control phase to launch as " reference mark ".Step is as follows: when phase unwrapping proceeds to these " reference mark " positions, the phase value that this moment, phase value obtained with the some array projection relatively, if the two error in allowed band, phase unwrapping is proceeded; Otherwise think to have phase ambiguity, calculate the phase differential of the two, and revise the phase value of current point, and the phase value of being had a few that turns back to " hop region " edge along former phase unwrapping path, phase fuzzy problem solved; Continue the phase unwrapping process, each reference mark handled according to mentioned above principle, up to the image of finishing dealing with need carry out in the zone of phase unwrapping have a few.The result as shown in Figure 7, the phase fuzzy problem that exists among Fig. 6 solves, step-like object graded larger part becomes steeper, its degree of depth picture conforms to more with actual result.
Claims (1)
1, a kind of composite coding multiresolution three-dimensional digital imaging method, employing comprises the imaging device of digital projection illumination transmitter, image sensing receiver and image processor, utilize dot matrix coding and striped coding to realize the 3 D digital imagings of differentiating more, it is characterized in that comprising following process:
1) the two-dimensional lattice figure illuminated objects of digital projection illumination transmitter projection different density degree, deflection image sensing receiver makes the same straight line that is centered close to of its optical axis and projection dot matrix illuminated field, the emergent pupil of digital projection illumination transmitter, the entrance pupil of image sensing receiver and the center of illuminated field constitute a triangle, with the line between the entrance pupil of the emergent pupil of digital projection illumination transmitter and image sensing receiver is baseline, it has constituted some triangles with the center that is incident upon all dot matrix of object, has formed triangulation system; Principle according to affined transformation, be projected in the coding dot matrix on reference planes and testee surface respectively, through rotation of coordinate, translation and perspective projection transformation, obtain the analytic expression of the volume coordinate of the lip-deep coding dot matrix of reference planes and testee on image receiving sensor plane respectively, and further obtain between the corresponding point of reference planes and testee last two dot matrix in surface the relation between respective point place depth value in alternate position spike on the imaging plane x direction and testee; Thereby digital projection illumination transmitter projection two-dimensional space lattice structure optical illumination, obtain the dot matrix image of reference planes and be incident upon the lip-deep dot matrix image of testee at the image receiving sensor, according to known system light path geometric parameter, image processor calculates the alternate position spike on the x direction between the dot matrix image respective point, and the relation between respective point place depth value calculates the depth image of object according to alternate position spike and testee again;
2) digital projection illumination transmitter throws striated structure rayed testee surface again, and the striated structure that is throwed is the single-frequency striped only, or sequential frequency conversion striped sequence; For single-frequency striated structure light, with the method for phase mapping, the degree of depth of the object low resolution that the binding site array projection has obtained looks like to carry out phase unwrapping, further obtains meticulousr many resolutions 3-dimensional digital picture; For sequential frequency conversion striped sequential structure optical projection, obtain the fringe intensity distribution plan sequence of encoding respectively, utilize " phase shift algorithm " to calculate the phase diagram of each frequency striped intensity distribution, in each phase diagram, eliminate 2 π uncertainties, thereby scenery is obtained the degree of depth picture that resolution is gone forward one by one successively; The effect of putting array projection this moment is to utilize the object depth value of its acquisition to determine the boundary condition of frequency conversion striped sequence, saves two-dimensional encoded bar graph required in the phase unwrapping process effectively, has increased the real-time of phase-unwrapping algorithm; Further obtain higher, the meticulousr object of precision and differentiate the 3-dimensional digital picture more.
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| CN101788274A (en) * | 2010-03-15 | 2010-07-28 | 电子科技大学 | Method for 3D shape measurement of colourful composite grating |
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