WO2006000123A1 - Systeme et procede pour la reconstruction 3d de surface de corps lamellaire et flexible - Google Patents

Systeme et procede pour la reconstruction 3d de surface de corps lamellaire et flexible Download PDF

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Publication number
WO2006000123A1
WO2006000123A1 PCT/CN2004/000681 CN2004000681W WO2006000123A1 WO 2006000123 A1 WO2006000123 A1 WO 2006000123A1 CN 2004000681 W CN2004000681 W CN 2004000681W WO 2006000123 A1 WO2006000123 A1 WO 2006000123A1
Authority
WO
WIPO (PCT)
Prior art keywords
sample
image
flexible body
sheet
body surface
Prior art date
Application number
PCT/CN2004/000681
Other languages
English (en)
Chinese (zh)
Inventor
Jinlian Hu
Binjie Xin
Original Assignee
The Hong Kong Polytechnic University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Hong Kong Polytechnic University filed Critical The Hong Kong Polytechnic University
Priority to PCT/CN2004/000681 priority Critical patent/WO2006000123A1/fr
Publication of WO2006000123A1 publication Critical patent/WO2006000123A1/fr

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Classifications

    • 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
    • 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
    • G06T7/564—Depth or shape recovery from multiple images from contours
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles

Definitions

  • the invention relates to a system and a method for three-dimensional reconstruction of an object surface, which can be widely applied to appearance detection, feature analysis and quality control of an object surface, and is particularly suitable for three-dimensional reconstruction of a sheet-type flexible body surface.
  • Three-dimensional reconstruction technology is widely used in various fields such as industrial production, industrial inspection, space exploration, and scientific research.
  • the required measurement system can be divided into two categories: mechanical contact measurement and photoelectric non-contact measurement.
  • Photoelectric non-contact measurement can be further divided into: binocular or multi-eye stereo measurement, structural grating, laser triangulation, laser flying spot measurement, Moir interferometry and other methods.
  • Each type of 3D reconstruction technology has its own advantages and disadvantages.
  • Binocular or multi-view stereo measurement in photoelectric non-contact measurement is based on binocular stereo matching algorithm and camera calibration technology. For surface surfaces without many texture details or dark colors, the measurement accuracy is poor and unstable.
  • Structural grating measurement is based on the principle of coded grating and triangulation. For the surface of a mottled or multi-patterned object, the reconstruction algorithm will fail due to the destruction of the coding pattern of the grating.
  • Laser triangulation and laser flying spot measurement are a point-by-point measurement method with low scanning efficiency and high cost.
  • Mohr interferometry The amount is also not suitable for measuring the surface of mottled, multi-pattern or dark black objects, and the automation of Moiré analysis technology for complex surfaces is also a technical difficulty.
  • the surface analysis of a sheet-type flexible body material is mainly based on a two-dimensional surface image obtained by light reflection or projection, and the two-dimensional surface image cannot express three-dimensional information and features of the surface of the material.
  • appropriate 3D reconstruction techniques are needed to extract 3D information and features from the surface of the material. Due to the complexity of the surface of the material, variegated, multi-patterned, dark or black, lack of texture details, etc. often occur. In the face of such complex sample testing types, the selection of several reconstruction techniques described above can only be applied to specific Sample type, cannot cover most sample types. There is therefore an urgent need to provide a three-dimensional reconstruction technique for a versatile flexible material surface that can be applied to various types of flexible material surfaces. Summary of the invention
  • an object of the present invention is to provide a technique for three-dimensional reconstruction which is not affected by factors such as color, texture and gloss of the surface of the sample, and which can quickly and accurately obtain three-dimensional information of the surface of the flexible material.
  • the present invention provides a system for three-dimensional reconstruction of a sheet-type flexible body surface, comprising: a background light source for emitting uniform diffuse reflected light having a certain brightness; and a sample holding device Holding a sample to be three-dimensionally reconstructed thereon, the sample holding device has a vertex, the sample is bent at the vertex, and the diffuse light emitted from the background light source is projected to the test
  • An image collecting device for collecting an image of the sample to obtain a side projection image of the sample at the vertex; a sample driving device driven to be clamped in the test
  • the sample on the gripping device passes uniformly through the apex, so that the image is taken
  • the collecting device can sequentially obtain the side projection images at different positions on the surface of the sample; a computer controlling the movement of the sample driving device and receiving the sequence of the side projection image of the sample collected by the image collecting device, The image sequence is processed and analyzed, and the side projection height information of each frame image is extracted, and a three-dimensional ster
  • a method for three-dimensional reconstruction of a sheet-type flexible body surface comprising the steps of:
  • Sampling collecting a side projection image at each position of a sample to form a side projection image sequence
  • Contour extraction processing each of the side projection images to extract side projection height information of each frame image
  • the obtained side projection height information is spliced according to the acquisition order, thereby obtaining a three-dimensional stereoscopic image of the surface of the sample.
  • the invention has the beneficial effects that, because the invention is based on the characteristic that the sheet-type flexible body is easy to bend, the sheet-shaped material is fixed and bent by a curved type sample holding device to obtain a strip-shaped convex surface with a certain curvature; Under the illumination of a backward diffuse reflection light source with a certain brightness, an image acquisition device is used to acquire an image to obtain a side projection image of a strip-shaped convex surface; in addition, the sample surface is continuously rotated by a computer-controlled sample driving device to obtain a sample surface.
  • the present invention is a contactless photoelectric measuring method specifically adapted for three-dimensional reconstruction of a sheet-type flexible body surface, which is not subject to the color of the surface of the sample.
  • the three-dimensional information of the surface of the flexible material can be obtained quickly and accurately by the influence of color, texture and gloss. It is suitable for offline detection and online inspection. It can be widely used in textile, printing, packaging and other industries.
  • FIG. 1 is a schematic structural view of a three-dimensional reconstruction system for a sheet-type flexible body surface of the present invention
  • FIGS. 2A and 2B show two embodiments of a curved-type sample holding device of the present invention
  • FIGS. 3A and 3B The manner of the backward illumination in the present invention is respectively shown;
  • Figure 4 is a side projection image of the sample after bending
  • Figure 5 is a side projection height curve of the surface of the sample
  • Fig. 6 is a view showing the configuration of a computer in the present invention.
  • the surface three-dimensional reconstruction system of the present invention is mainly applicable to a sheet-type flexible body material.
  • a flexible body material is defined as: A non-rigid solid material that bends with a certain curvature under a small external force.
  • the sheet-type material is defined as: a continuum having a certain thickness and area size, a large area size which is many times larger than the thickness (usually 20 times or more), and a small difference in thickness.
  • a system for three-dimensional reconstruction of a sheet-type flexible body surface of the present invention comprises: a background light source 2, a sample holding device 3, a sample driving device 5, an image pickup device 7, and a computer 10.
  • the background light source 2 is an array of point sources or point sources that emit divergent beams for emitting a uniform diffusely reflected light having a uniform brightness.
  • the background light source 2 can also be equipped with light A system (not shown) that causes the divergent beam to emit a parallel beam or a concentrated beam after passing through the optical system.
  • the background light source may be a visible light source, or may be an infrared light source or an ultraviolet light source.
  • the sample holding device 3 is curved, and a sample 4 to be three-dimensionally reconstructed is fixed on the sample holding device 3.
  • the sample holding device has a vertex 33 at which the sample 4 is bent.
  • the diffused light emitted from the background light source 2 is projected onto the sample 4.
  • the image capture device 7 is disposed on one side of the sample 4, which may be a CCD camera, a CMOS camera, a digital camera or a digital video camera, which is connected to the computer 10, so that the computer 10 can collect the image in real time through the image capture device 7.
  • the image of the sample 4 gives a sequence of side projection images of the sample 4 at the apex 33.
  • the sample driving device is a motor 5, which is preferably a stepping motor, which is connected to the computer 10, and is driven and controlled by the computer 10.
  • the motor 5 drives the sample 4 clamped on the sample holding device 3 to uniformly pass through the apex 33.
  • the sample 4 is bent at a vertex 33 at a certain position in the longitudinal direction.
  • each position of the longitudinal direction of the sample 4 can be bent at the apex 33, so that the image acquisition device 7 can sequentially obtain different surface of the sample.
  • a side projection image at the location the motor 5 can directly drive the sample holding device 3, and the sample holding device can also be driven by an intermediate transmission mechanism (not shown), which is generally a reduction gear set, so that The sample is moved at an appropriate speed.
  • the computer 10 of the system is a control center of the entire system and a processing center of the image, as shown in FIG. 6, which includes an image capture card 101, a motor driver 102, and a conventional central processing unit CPU and memory.
  • the image capture card and The image acquisition device 7 is connected for digitizing the acquired image and storing it in a memory.
  • the motor driver is coupled to the motor 5 for controlling the motor 5 to operate at a predetermined speed or step.
  • the image processing module 104 further includes a contour extraction module 1041 and a splicing module 1042, the contour extraction module 1041 is configured to extract side projection height information of each frame image, and the splicing module 1042 is configured to project the side projection The height information is spliced in the sampling order to obtain a three-dimensional image of the surface of the sample.
  • the contour extraction module and the splicing module described above may be implemented by an electronic circuit or a software program running in the computer 10.
  • the sample holding device has a curved shape for the flexible material of the present invention. It may be a spike-shaped "A" type as shown in Fig. 2A or a circular-arc "0" type as shown in Fig. 2B, and may include any form formed by planar bending. A common feature of this curved form is that it has a vertex 33 so that each portion of the sample 4 can project a contour onto the image capture device 7 as it passes through the apex 33, completing the data sampling. As shown in Fig.
  • the holder 31 includes three rollers 311 arranged in an "A" shape and a conveyor belt surrounding the roller. 312.
  • the three rollers 311 are rotated by the motor 5 so that the belt 312 is rotated around the rollers, so that the sample 4 fixed to the belt 312 by the chuck 32 also moves with the belt.
  • Fig. 2B shows another embodiment of the sample holding device, which is also composed of a holder 31' and a collet 32.
  • the holder 31' is a roller having a larger diameter
  • the motor 5 drives the roller to rotate
  • the sample 4 fixed to the roller by the chuck 32 rotates with the roller.
  • the collet 32 is also available in a variety of embodiments, either as a collet chuck or as a magnetic collet.
  • the device has a detailed description in the utility model patent application filed by the inventor of the present application (application number: 03207803. x, invention name: magnetic cloth sample clamping device for digital fabric appearance/surface test assessor), No longer.
  • the background light source 2, the sample holding device 3 and the image pickup device 7 are configured in a manner of rearward illumination to obtain a projected image of the highest contrast.
  • the rear illumination mode is realized by arranging the sample 4 between the background light source 2 and the image pickup device 7.
  • the background light source 2 is illuminated from the rear of the sample 4, and a sharp outline of the sample is projected at the image capture device 7.
  • the backward illumination mode can also be implemented in another manner.
  • the background light source 2 and the image acquisition device 7 are located on the same side of the sample 4, and a back reflection is disposed behind the sample 4.
  • the mirror 80 is provided with a beam splitter 81 between the background light source 2 and the image acquisition device 7, and the back illumination is realized by back reflection.
  • a sealed space 1 capable of isolating natural light, and at least the sample 4, the background light source 2, and the image capturing device 7 are disposed in the sealed space 1, so that a clearer projection can be obtained.
  • the confined space 1 can be implemented as a ruled geometry or as an irregular geometry.
  • Fig. 4 shows a side projection image of a sample at a position of the apex 33, which clearly reflects its outline.
  • the image processing module of the present system extracts the side projection height information of the sample surface of each frame image in the image sequence as shown in FIG.
  • the present invention also provides a method for three-dimensional reconstruction of a sheet-type flexible body surface, comprising the following steps: Image sampling: collecting a side projection image at each position of a sample to form a side projection image sequence; contour extraction: processing the side projection images to extract side projection height information of each frame image; stitching: according to the collection The obtained side projection height information is sequentially spliced to obtain a three-dimensional stereoscopic image of the surface of the sample.
  • System startup The computer, motor, light source, and photoelectric camera system are in working state
  • System commissioning calibration Check whether all parts of the system are working properly.
  • the sampling step further includes the step of: clamping the sample 4 on the sample holding device 3 such that the sample 4 is bent at a vertex 33 of the sample holding device 3;
  • a background light source 2 is disposed on one side of the sample 4; the sample is driven to be continuously bent through the apex 33 of the sample holding device 3; and the side projection of the sample 4 at the vertex position is collected by the image acquisition device 7.
  • An image; the side projection image is projected by the background light source 2.
  • the algorithm in the three-dimensional reconstruction method and system for the sheet-type flexible body surface mainly focuses on how to separate the side projection height information from the side projection image, wherein the algorithms applicable to the step include:
  • the histogram is defined as the grayscale distribution of the image.
  • the grayscale image of the side projection of the curved convex surface of the specimen is f (x, y), where ( ⁇ , y) is the image coordinate, and f (x, y) is the gray of the pixel at ( ⁇ , y) Degree, f (x, y) G [0, 255] o where a gray value of 0 indicates that the pixel is white, and a gray value of 255 indicates that the pixel is black.
  • Its histogram is h ( i ), ie [0, 255].
  • Image segmentation Set the threshold t u u, +u 2 + ⁇ ⁇ ⁇ 2 according to the gray scale distribution of the background and the sample
  • Edge detection is performed by edge detection algorithm. Common edge detection algorithms include Marr edge detection method, Sobel operator, Robert operator, Laplacian operator and so on.
  • the Robert operator is an operator that uses local difference operators to find edges. It is given by: Where / is an input image with integer pixel coordinates.
  • the algorithm for edge detection described above is discussed in detail in the reference “Digital Image Processing, Prentice Hall, 1998" and will not be repeated here.
  • Method 3 Radon Transform: The gray value is summed according to the vertical projection of the image (that is, the Norton transform in the vertical direction), and the gray scale distribution of the image in the vertical direction is obtained. Since the accumulation of gradation is linear with the thickness of the sample, the surface profile height of the sample can be obtained by dividing by a certain proportional coefficient.
  • the gray value of the projected image at the (x, y) point is /( ⁇ , where xe [l, M] is the image abscissa, and ye [l, N] is the image ordinate, then the frame
  • the method for three-dimensional reconstruction of a sheet-type flexible body surface of the present invention can be used for both off-line detection and on-line detection.
  • the flexible body is easy to bend, and the thin-type sample holding device is used to fix and bend the sheet-shaped material to obtain a strip-shaped convex surface with a certain curvature; the sample is contained in a sealed space capable of isolating natural light, and has uniform brightness.
  • the image is acquired by the photoelectric imaging system to obtain a side projection image of the strip-shaped convex surface; the sample is driven continuously by the computer-driven sample driving device, and the surface of the sample is obtained at different positions.

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système et un procédé pour la reconstruction 3D de surface de corps lamellaire et flexible. Le système comprend : source de lumière de fond émettant une lumière réfléchie en rétrodiffusion uniforme selon une luminosité spécifique ; système de fixation d'échantillon à reconstruire en 3D avec une crête sur laquelle l'échantillon est courbé ; système d'acquisition d'image pour l'acquisition de l'image de projection latérale de l'échantillon sur la crête ; système d'entraînement d'échantillon sur le système de fixation pour permettre à l'échantillon de franchir de façon lisse la crête considérée ; et ordinateur qui contrôle le mouvement du système d'entraînement, reçoit une séquence de l'image de projection latérale acquise, traite et analyse la séquence d'image, extrait l'information relative aux hauteurs de projection latérale de chaque trame d'image et comprime ladite image selon la commande d'acquisition pour donner une image stéréo 3D.
PCT/CN2004/000681 2004-06-23 2004-06-23 Systeme et procede pour la reconstruction 3d de surface de corps lamellaire et flexible WO2006000123A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2004/000681 WO2006000123A1 (fr) 2004-06-23 2004-06-23 Systeme et procede pour la reconstruction 3d de surface de corps lamellaire et flexible

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2004/000681 WO2006000123A1 (fr) 2004-06-23 2004-06-23 Systeme et procede pour la reconstruction 3d de surface de corps lamellaire et flexible

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8929587B2 (en) 2006-05-31 2015-01-06 Thomson Licensing Multi-tracking of video objects
CN109341527A (zh) * 2018-10-22 2019-02-15 广东工业大学 一种自动阴影补偿的结构光投影三维测量系统及方法
CN109993696A (zh) * 2019-03-15 2019-07-09 广州愿托科技有限公司 基于多视点图像的结构物表观全景图矫正拼接方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19722607A1 (de) * 1997-05-30 1998-12-03 Michael F Braun Selbsttätiges Verfahren sowie Einrichtung zum Bestimmen der Eigenschaften einer Probe
CN1211319A (zh) * 1996-10-15 1999-03-17 Cis图像处理有限责任公司 纱线和织物模拟系统
US6542249B1 (en) * 1999-07-20 2003-04-01 The University Of Western Ontario Three-dimensional measurement method and apparatus
CN1534294A (zh) * 2002-06-06 2004-10-06 香港理工大学 织物表面分析方法及其系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1211319A (zh) * 1996-10-15 1999-03-17 Cis图像处理有限责任公司 纱线和织物模拟系统
DE19722607A1 (de) * 1997-05-30 1998-12-03 Michael F Braun Selbsttätiges Verfahren sowie Einrichtung zum Bestimmen der Eigenschaften einer Probe
US6542249B1 (en) * 1999-07-20 2003-04-01 The University Of Western Ontario Three-dimensional measurement method and apparatus
CN1534294A (zh) * 2002-06-06 2004-10-06 香港理工大学 织物表面分析方法及其系统

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8929587B2 (en) 2006-05-31 2015-01-06 Thomson Licensing Multi-tracking of video objects
CN109341527A (zh) * 2018-10-22 2019-02-15 广东工业大学 一种自动阴影补偿的结构光投影三维测量系统及方法
CN109993696A (zh) * 2019-03-15 2019-07-09 广州愿托科技有限公司 基于多视点图像的结构物表观全景图矫正拼接方法

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