DE102009040981A1 - Method for three-dimensional reconstruction of objects for projecting pattern sequences on reconstructing object, involves detecting pattern sequences in form of pattern views, which are compared with each other in different image views - Google Patents
Method for three-dimensional reconstruction of objects for projecting pattern sequences on reconstructing object, involves detecting pattern sequences in form of pattern views, which are compared with each other in different image views Download PDFInfo
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- DE102009040981A1 DE102009040981A1 DE102009040981A DE102009040981A DE102009040981A1 DE 102009040981 A1 DE102009040981 A1 DE 102009040981A1 DE 102009040981 A DE102009040981 A DE 102009040981A DE 102009040981 A DE102009040981 A DE 102009040981A DE 102009040981 A1 DE102009040981 A1 DE 102009040981A1
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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
- G01B11/2513—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 with several lines being projected in more than one direction, e.g. grids, patterns
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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
- G01B11/2545—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 with one projection direction and several detection directions, e.g. stereo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
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- 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
- G06T2207/10016—Video; Image sequence
- G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
Abstract
Description
Die Erfindung betrifft ein Verfahren zur dreidimensionalen Rekonstruktion von Objekten, bei dem Mustersequenzen auf das Objekt projiziert werden, die in standortunterschiedlichen Bildansichten als korrespondierende Bildmuster des Objekts detektiert werden. Aus dem Vergleich dieser unterschiedlichen Bildmuster werden Rauminformationen für die dreidimensionale Rekonstruktion des Objektes gewonnen.The invention relates to a method for the three-dimensional reconstruction of objects, in which pattern sequences are projected onto the object, which are detected in location-different image views as corresponding image patterns of the object. From the comparison of these different image patterns, spatial information for the three-dimensional reconstruction of the object is obtained.
Es sind zahlreiche Verfahren zur strukturierten Beleuchtung bekannt (z. B.
Bekannt ist auch ein Verfahren nach Michaelis aus dem Jahr 1996 (
Bei allen Verfahren der strukturierten Beleuchtung kommt es zu Fehlzuordnungen von Punktkorrespondenzen, welche in der Regel nach der 3D-Rekonstruktion des Objektes aus der Messpunktwolke entfernt werden. Eine der Punktzuordnung nachgelagerte Ausreißerunterdrückung ist aufwendig, da die dreidimensionalen Lagen der Punkte zueinander analysiert werden müssen, woraus ein hoher Verfahrensaufwand resultiert.In all methods of structured illumination, there are misallocations of point correspondences, which are usually removed from the measuring point cloud after the 3D reconstruction of the object. Outlier suppression downstream of the point assignment is complicated because the three-dimensional positions of the points must be analyzed with respect to each other, resulting in a high process outlay.
Der Erfindung liegt die Aufgabe zu Grunde, die dreidimensionale Rekonstruktion von Objekten zu verbessern und den Verfahrensaufwand zu reduzieren.The invention is based on the object to improve the three-dimensional reconstruction of objects and to reduce the complexity of the procedure.
Erfindungsgemäß werden jeweils ein oder mehrere aus dem Vergleich der unterschiedlichen Musteransichten anhand der Ähnlichkeit der Bildinformationen der Abfolge dieser Musteransichten gefundene korrespondierende Bildpunkte oder Bildpixel dem ausgewählten Bildpunkt oder Bildpixel lediglich als mögliche Korrespondenzpartner zugeordnet, ohne diese Zuordnung bereits als Ergebnis der Ähnlichkeitssuche zu entscheiden.According to the invention, one or more corresponding pixels or image pixels found from the comparison of the different pattern views based on the similarity of the image information of the sequence of these pattern views are respectively assigned to the selected pixel or image pixel merely as possible correspondence partners without already deciding this assignment as a result of the similarity search.
Von dem ausgewählten Bildpunkt oder Bildpixel der ersten Bildansicht sowie von den ein oder mehreren als mögliche Korrespondenzpartner zugeordneten Bildpunkten oder Bildpixeln der zumindest einen anderen Bildansicht wird daraufhin jeweils ein zugeordneter und den Bildpunkt oder Bildpixel jeweils einschließender Flächenbereich der Bildansichten festgelegt.From the selected pixel or image pixel of the first image view as well as the one or more pixels or image pixels of the at least one other image view assigned as possible correspondence partners, an assigned surface area of the image views is then respectively defined and the pixel or image pixel respectively enclosing.
Die detektierten Musteransichten der in den Bildansichten festgelegten Flächenbereiche werden nun in einem zweiten Vergleichsprozess in ihrer Abfolge auf Ähnlichkeit der zugehörigen Bildinformationen dieser Flächenbereiche untersucht, wobei aus der jeweiligen Bildinformations-Ähnlichkeit dieser Flächenbereiche für die verglichenen detektierten Musteransichten der zum ausgewählten Bildpunkt oder Bildpixel der ersten Bildansicht nunmehr tatsächlich korrespondierende Bildpunkt oder Bildpixel der zumindest einen anderen Bildansicht ermittelt und als Vergleichsergebnis definiert wird.The detected pattern views of the areas defined in the image views are now examined in a second comparison process in their sequence on similarity of the associated image information of these areas, from the respective image information similarity of these areas for the compared detected pattern views of the selected pixel or image pixel of the first image view now actually corresponding pixel or image pixel of at least one other image view is determined and defined as a comparison result.
Somit wird der zur ersten Bildansicht besagte tatsächlich korrespondierende Bildpunkt oder Bildpixel der zumindest einen anderen Bildansicht im Gegensatz zum eingangs genannten Stand der Technik nicht unmittelbar anhand des Ähnlichkeitsvergleichs der bildpunkt- oder bildpixelrelevanten Bildinformationen der Abfolge dieser Musteransichten definiert, sondern erst nach dem anschließenden Vergleichsprozess der Abfolge der Bildinformationen hinsichtlich der Ähnlichkeit der zu den ausgewählten Bildpunkten oder Bildpixeln festgelegten Flächenbereiche bestimmt.Thus, in contrast to the aforementioned prior art, the actually corresponding pixel or image pixel of the at least one other image view referred to the first image view is not defined directly on the basis of the similarity comparison of the image pixel or image pixel-relevant image information of the sequence of these pattern views, but determined only after the subsequent comparison process of the sequence of image information with respect to the similarity of the specified to the selected pixels or image pixels surface areas.
Wenngleich für die vorgeschlagene Methode zwei Vergleichsprozesse initiiert werden (der erste Vergleich zur Ermittlung einer Menge aus einem oder mehreren möglichen Korrespondenzpartnern und der zweite Vergleich zur Entscheidung des tatsächlichen Korrespondenzpartners aus der besagten Menge des oder der im ersten Vergleich gefundenen möglichen Korrespondenzpartner), ist der Verfahrensaufwand zur Bestimmung des tatsächlichen korrespondierenden Bildpunktes oder Bildpixels wesentlich verringert, da durch das zweite Vergleichskriterium Fehlzuordnungen vermieden werden und damit die notwendige Mustersequenzlänge deutlich verkleinert wird, welche nötig ist, um eine störungsfreie Rekonstruktion des Objektes durchzuführen. Auch ist der Rechenaufwand aufgrund der kleineren Mustersequenzlänge trotz des zweiten Vergleichsschrittes geringer als bei dem eingangs beschriebenen Verfahren nach Michaelis.Although two comparison processes are initiated for the proposed method (the first comparison for determining a set of one or more possible correspondent partners and the second comparison for the decision of the actual correspondent from the said set of possible match partners or those found in the first comparison) is the process overhead is significantly reduced for the determination of the actual corresponding pixel or image pixel, as the second comparison criterion avoids misallocations and thus significantly reduces the necessary pattern sequence length which is necessary to perform a trouble-free reconstruction of the object. Also, the computational effort due to the smaller pattern sequence length despite the second comparison step is lower than in the method described in Michaelis described above.
Die Anzahl der notwendigen Multiplikationen wird von A·A·N auf A·A·N/2 + A·N reduziert (A = Auflösung des Detektors, N = bisherige Mustersequenzlänge, N = 20). Da A sehr groß (A > 300000) ist, halbiert sich der Rechenaufwand also näherungsweise.The number of multiplications required is reduced from A · A · N to A · A · N / 2 + A · N (A = resolution of the detector, N = previous pattern sequence length, N = 20). Since A is very large (A> 300000), the computational effort is approximately halved.
Außerdem ist aufgrund der kleineren Mustersequenzlänge die Datenmenge verringert, die von den Detektoren zur Auswerteeinheit übertragen werden muss. Damit sinkt die Übertragungszeit der Daten und die Messfrequenz erhöht sich (Anzahl 3D-Rekonstruktionen pro Sekunde). Weiterhin wird zur Archivierung der Messdaten vorteilhafter Weise weniger Speicherplatz benötigt.In addition, due to the smaller pattern sequence length, the amount of data that has to be transmitted from the detectors to the evaluation unit is reduced. This reduces the transmission time of the data and the measuring frequency increases (number of 3D reconstructions per second). Furthermore, less storage space is advantageously required for archiving the measured data.
Durch die kleinere Mustersequenzlänge wird die Messzeit deutlich gesenkt, wodurch sich die Messfrequenz erhöht.Due to the smaller pattern sequence length, the measurement time is significantly reduced, which increases the measurement frequency.
Darüber hinaus werden sogenannte Ausreißer bereits während der Punktzuordnung unterdrückt, und es wird daher keine nachgelagerte aufwendige Ausreißerentfernung erforderlich.In addition, so-called outliers are already suppressed during the point assignment, and therefore no downstream costly outlier removal is required.
Die vorgeschlagene Methode ermöglicht weiterhin eine Objektrekonstruktion für bewegte Objekte, da, wie vorgenannt, die Messzeit deutlich gesenkt wird und im Gegensatz zur Streifenprojektion keine festen Sequenzlängen zur Rekonstruktion notwendig sind, weshalb aus einer kontinuierlichen Bildsequenz aus jeder Untersequenz eine 3D-Rekonstruktion durchgeführt werden kann.The proposed method further enables object reconstruction for moving objects, since, as mentioned above, the measurement time is significantly reduced and unlike strip projection no fixed sequence lengths are necessary for reconstruction, which is why a 3D reconstruction can be performed from a continuous image sequence from each subsequence.
Aufgrund der beliebigen Natur der Muster können auch unkonventionelle Verfahren zur Lichtstrukturerzeugung verwendet werden, welche die Limitierungen gewöhnlicher Projektionstechnik (60 Hz) umgehen. In Kombination mit der verkürzten notwendigen Mustersequenzlänge können sehr kurze Messzeiten erreicht werden, in denen selbst bewegte Objekte quasi „still stehen”.Due to the random nature of the patterns, it is also possible to use unconventional methods of light structure generation that circumvent the limitations of conventional projection technology (60 Hz). In combination with the shortened sample sequence length, very short measurement times can be achieved, in which even moving objects virtually "stand still".
Die Erfindung soll nachstehend anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert werden.The invention will be explained in more detail below with reference to an embodiment shown in the drawing.
Es zeigen:Show it:
Im Rechner
Für einen zweiten rechentechnischen Vergleichsprozess werden zu den Bildpunkten
Wird im vorbeschriebenen ersten Vergleichsprozess nicht nur der besagte Bildpunkt
Über die bekannten Kalibrierparameter kann in an sich bekannter Weise die 3D-Koordinate zu jedem tatsächlichen Korrespondenz-Bildpunktpaar ermittelt werden.About the known calibration parameters, the 3D coordinate to each actual correspondence pixel pair can be determined in a conventional manner.
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Objektobject
- 22
- DLP-ProjektorDLP projector
- 33
- Rechnercomputer
- 4, 64, 6
- CCD-KameraCCD camera
- 66
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ausgewählter Bildpunkt (in der Bildansicht der CCD-Kamera
4 )selected pixel (in the image view of the CCD camera4 ) - 7, 87, 8
- Bildrasterraster image
- 99
-
gefundener Bildpunkt (in der Bildansicht der CCD-Kamera
5 )found pixel (in the image view of the CCD camera5 ) - 10, 1110, 11
-
Flächenbereich (mit dem jeweiligen Bildpunkt
6 bzw.9 )Surface area (with therespective pixel 6 respectively.9 )
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 19623172 C1 [0003] DE 19623172 C1 [0003]
Zitierte Nicht-PatentliteraturCited non-patent literature
- J. Salvi, J. Pagès, J. Batlle: Pattern codification strategies in structured light systems, Pattern Recognition, 2004, 37(4), 827–849 [0002] J. Salvi, J. Pages, J. Batlle: Pattern Codification Strategies in Structured Light Systems, Pattern Recognition, 2004, 37 (4), 827-849 [0002]
Claims (16)
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DE102009040981A DE102009040981A1 (en) | 2009-09-10 | 2009-09-10 | Method for three-dimensional reconstruction of objects for projecting pattern sequences on reconstructing object, involves detecting pattern sequences in form of pattern views, which are compared with each other in different image views |
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DE102009040981A DE102009040981A1 (en) | 2009-09-10 | 2009-09-10 | Method for three-dimensional reconstruction of objects for projecting pattern sequences on reconstructing object, involves detecting pattern sequences in form of pattern views, which are compared with each other in different image views |
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DE102009040981A Withdrawn DE102009040981A1 (en) | 2009-09-10 | 2009-09-10 | Method for three-dimensional reconstruction of objects for projecting pattern sequences on reconstructing object, involves detecting pattern sequences in form of pattern views, which are compared with each other in different image views |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011101476A1 (en) * | 2011-05-11 | 2012-11-15 | Friedrich-Schiller-Universität Jena | Method for 3D measurement of objects |
Citations (6)
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US5655033A (en) * | 1993-06-21 | 1997-08-05 | Canon Kabushiki Kaisha | Method for extracting corresponding point in plural images |
DE19623172C1 (en) | 1996-06-10 | 1997-10-23 | Univ Magdeburg Tech | Three-dimensional optical measuring method for object surface |
DE19928341A1 (en) * | 1999-06-21 | 2001-01-18 | Univ Magdeburg Tech | Method for three-dimensional optical measurement of object surfaces |
DE102004004528A1 (en) * | 2003-01-31 | 2004-08-19 | Seiko Epson Corp. | Stereo image processing method for measuring parallax between stereo images to determine 3D position coordinates of image objects, wherein both parallax and a parallax reliability factor are determined |
US7103212B2 (en) * | 2002-11-22 | 2006-09-05 | Strider Labs, Inc. | Acquisition of three-dimensional images by an active stereo technique using locally unique patterns |
DE102006001634B3 (en) * | 2006-01-11 | 2007-03-01 | Tropf, Hermann | Creation of distance-image from correspondence between pixels from two cameras, by illuminating with random grid, and comparing brightness ratios of pixels |
-
2009
- 2009-09-10 DE DE102009040981A patent/DE102009040981A1/en not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5655033A (en) * | 1993-06-21 | 1997-08-05 | Canon Kabushiki Kaisha | Method for extracting corresponding point in plural images |
DE19623172C1 (en) | 1996-06-10 | 1997-10-23 | Univ Magdeburg Tech | Three-dimensional optical measuring method for object surface |
DE19928341A1 (en) * | 1999-06-21 | 2001-01-18 | Univ Magdeburg Tech | Method for three-dimensional optical measurement of object surfaces |
US7103212B2 (en) * | 2002-11-22 | 2006-09-05 | Strider Labs, Inc. | Acquisition of three-dimensional images by an active stereo technique using locally unique patterns |
DE102004004528A1 (en) * | 2003-01-31 | 2004-08-19 | Seiko Epson Corp. | Stereo image processing method for measuring parallax between stereo images to determine 3D position coordinates of image objects, wherein both parallax and a parallax reliability factor are determined |
DE102006001634B3 (en) * | 2006-01-11 | 2007-03-01 | Tropf, Hermann | Creation of distance-image from correspondence between pixels from two cameras, by illuminating with random grid, and comparing brightness ratios of pixels |
Non-Patent Citations (3)
Title |
---|
J. Salvi, J. Pagès, J. Batlle: Pattern codification strategies in structured light systems, Pattern Recognition, 2004, 37(4), 827-849 |
SALVI,J.,et.al.:Pattern codification strategies in structured light systems.Pattern Recognition,Vol 37,No.4,Elsevier,2004,S.827-849 $vgl. Abschn. 3,4$ * |
SALVI,J.,et.al.:Pattern codification strategies in structured light systems.Pattern Recognition,Vol 37,No.4,Elsevier,2004,S.827-849 vgl. Abschn. 3,4 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011101476A1 (en) * | 2011-05-11 | 2012-11-15 | Friedrich-Schiller-Universität Jena | Method for 3D measurement of objects |
DE102011101476B4 (en) | 2011-05-11 | 2023-05-25 | Cognex Ireland Ltd. | Process for 3D measurement of objects |
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