WO2021168971A1 - Procédé et appareil de déroulement de phase de projection à double frange sur la base d'une segmentation de couleur - Google Patents

Procédé et appareil de déroulement de phase de projection à double frange sur la base d'une segmentation de couleur Download PDF

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Publication number
WO2021168971A1
WO2021168971A1 PCT/CN2020/081649 CN2020081649W WO2021168971A1 WO 2021168971 A1 WO2021168971 A1 WO 2021168971A1 CN 2020081649 W CN2020081649 W CN 2020081649W WO 2021168971 A1 WO2021168971 A1 WO 2021168971A1
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Prior art keywords
color
fringe
deformed
phase
fringe pattern
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PCT/CN2020/081649
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English (en)
Chinese (zh)
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龙佳乐
张建民
陈富健
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五邑大学
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Publication of WO2021168971A1 publication Critical patent/WO2021168971A1/fr

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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

Definitions

  • the invention relates to the technical field of three-dimensional shape measurement, in particular to a double fringe projection phase expansion method and device based on color segmentation.
  • Non-contact type has become a research hotspot due to its simplicity, simplicity, and high accuracy.
  • the three-dimensional measurement method based on fringe projection is widely used in various fields.
  • the three-dimensional measurement method based on fringe projection uses a projector to project one or several sets of fringe patterns onto the object to be measured, and then photograph the object to be measured with a camera The deformed fringe pattern on the above is analyzed through a series of algorithms, and the three-dimensional three-dimensional of the object to be measured is finally restored.
  • the existing fringe projection phase unwrapping method is mainly based on the principle of multi-frequency heterodyne, and its phase unwrapping process mainly relies on the main phase values of grating images at different frequencies.
  • the selected fringe needs to be a combination of low-frequency and high-frequency fringes, and the expansion of low-frequency fringes must have only one fringe period in the entire image, low-frequency fringes are greatly affected by noise.
  • the multi-fringe projection algorithm based on frequency selection improves the method based on the external frequency heterodyne principle.
  • This method establishes the special relationship between the wrap phase and the fringe order through analysis and can also correctly restore the absolute phase, and the fringe selection limits It is greatly reduced, but it cannot satisfy that the total pixels of the projected picture must be an integer multiple of the number of pixels contained in each stripe.
  • the multi-fringe projection algorithm based on wavelength selection is improved, and the multi-fringe projection algorithm based on frequency selection is improved, so that the fringe designed can make full use of all pixels of the projected image.
  • the double fringe projection phase expansion method based on wavelength selection requires that the parameters of wavelength selection must satisfy the resolution of the projector in a specific range, that is, the resolution of the projector must be less than the product of the selected wavelength, R ⁇ 1 ⁇ 2 . If it exceeds the limited resolution range, errors will occur during phase unwrapping, so the resolution of the projector is not fully utilized.
  • the purpose of the present invention is to solve at least one of the technical problems existing in the prior art, provide a double fringe projection phase unwrapping method and device based on color segmentation, and improve the measurement range and accuracy of the fringe projection phase unwrapping algorithm.
  • the present invention provides a double fringe projection phase unwrapping method based on color segmentation, including:
  • the projection fringe pattern which is composed of the color fringe pattern corresponding to the projector resolution and the projection fringe pattern design, and the color fringe pattern is composed of at least two color bars with different colors arranged alternately;
  • the three-dimensional shape of the object to be measured is recovered from the absolute phase of all the segmented fringe patterns.
  • the color fringe pattern corresponding to the resolution of the projector and the projection fringe pattern design the color fringe pattern consisting of at least two color bars with different colors arranged alternately includes:
  • the size of the color fringe pattern is the same as that of the projected fringe pattern
  • the color stripe diagram is designed by the design formula, the design formula is as follows:
  • r 1 R-(n-1)r 2 ,
  • the number of color bars is n
  • R is the resolution of the projector
  • the color area of the color bar at the bottom is r 1
  • the color area of the remaining color bars is r 2
  • Indicates rounding up ⁇ 1 and ⁇ 2 are the wavelengths of the projected fringes.
  • the step of dividing the deformed color image by color area at least twice to obtain the corresponding deformed monochrome area, and dividing the deformed fringe image into at least two segmented fringe images according to the position of the deformed monochrome area includes:
  • the number of divisions of the color area is the same as the number of color bars
  • the number of deformed monochrome areas is the same as the number of divisions of color areas
  • the number of divided fringe patterns is the same as the number of deformed monochrome areas.
  • the performing color area division on the deformed color image at least twice to obtain the corresponding deformed monochrome area includes:
  • calculating the color approximate value D(z, a) of each point z and point a of the deformed color map includes:
  • R, G, and B represent the RGB components of point z and point a, respectively.
  • the performing denoising processing on the unprocessed divided area includes:
  • recovering the absolute phase of the segmentation fringe image from the wrapped phase image and the look-up table includes:
  • the header of the established lookup table includes: m 1 , m 2 , m 2 ⁇ 2 -m 1 ⁇ 1 , where m 1 , m 2 are required to restore the three absolute phases.
  • ⁇ 1 , ⁇ 2 are the fringe wavelengths, m 1 , m 2 are the order of the fringes, Is the wrapped phase map, and R is the resolution of the projector;
  • ⁇ 1 and ⁇ 2 are the absolute phases to be restored.
  • the present invention provides a dual fringe projection phase unwrapping device based on color segmentation, including:
  • the initialization module is used to select two fringe wavelengths to design the projection fringe pattern, which is composed of the color fringe pattern corresponding to the projector resolution and the projection fringe pattern design, and the color fringe pattern is composed of at least two color bars with different colors alternately arranged;
  • the projection module is used to project the color fringe pattern onto the object to be measured to obtain a deformed color image, and project the projected fringe pattern onto the object to be measured to obtain the deformed fringe pattern;
  • the segmentation module is used to divide the deformed color image into at least two color areas and obtain the corresponding deformed monochrome area, and divide the deformed fringe image into at least two segmented fringe images according to the position of the deformed monochrome area;
  • the table building operation module is used to obtain the wrapped phase image for each segmentation fringe image and establish a lookup table for the corresponding area. According to the absolute phase calculation formula, the absolute phase of the segmentation fringe image is restored from the wrapped phase image and the lookup table;
  • the shape restoration module is used to restore the three-dimensional shape of the object to be measured from the absolute phase of all the segmented fringe patterns.
  • the present invention provides a dual fringe projection phase unwrapping device based on color segmentation
  • It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor.
  • the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to make the computer execute the above-mentioned color segmentation-based double fringe projection phase unwrapping .
  • the present invention also provides a computer program product, the computer program product includes a computer program stored on a computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer , Let the computer perform the phase expansion of the double fringe projection based on color segmentation as described above.
  • the present invention provides a double fringe projection phase unwrapping method and device based on color segmentation, and the purpose is to improve the measurement range of the fringe projection phase unwrapping algorithm. And accuracy, so that it can project fringe patterns of any wavelength under any given projector resolution to accurately perform phase expansion, make full use of the projector's resolution, and improve the measurement of the fringe projection phase expansion algorithm. Range and accuracy.
  • FIG. 1 is a flowchart of a double fringe projection phase unwrapping method based on color segmentation according to a first embodiment of the present invention
  • step S100 in the double fringe projection phase unwrapping method based on color segmentation according to the first embodiment of the present invention
  • step S300 is a specific method flowchart of step S300 in the double fringe projection phase unwrapping method based on color segmentation according to the first embodiment of the present invention
  • step S330 is a specific method flowchart of step S330 in the double fringe projection phase expansion method based on color segmentation according to the first embodiment of the present invention
  • step S400 in the double fringe projection phase expansion method based on color segmentation according to the first embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a dual fringe projection phase unwrapping device based on color segmentation according to a second embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a double fringe projection phase unwrapping device based on color segmentation according to a third embodiment of the present invention.
  • 100-Double fringe projection phase unwrapping device based on color segmentation 110-initialization module, 120-projection module, 130-segmentation module, 140-table building operation module, 150-restoration module, 200-double fringe based on color segmentation Projection phase unwrapping equipment, 210-control processor, 220-memory.
  • the double fringe projection phase expansion method based on color segmentation includes:
  • S500 Restore the three-dimensional shape of the object to be measured from the absolute phases of all the segmented fringe patterns.
  • the invention improves the measurement range and accuracy based on the fringe projection phase unwrapping algorithm, so that it can project fringe patterns of any wavelength under any given projector resolution and can perform phase unwrapping accurately and without error, and make full use of the projector's Resolution improves the measurement range and accuracy of the fringe projection phase unwrapping algorithm.
  • step S100 includes:
  • the size of the color fringe pattern is the same as that of the projected fringe pattern
  • r 1 R-(n-1)r 2 ,
  • the number of color bars is n
  • R is the resolution of the projector
  • the color area of the color bar at the bottom is r 1
  • the color area of the remaining color bars is r 2
  • Indicates rounding up ⁇ 1 and ⁇ 2 are the wavelengths of the projected fringes.
  • the size of the color fringe pattern is the same as the projected fringe pattern; the color fringe pattern is designed by the projector resolution and the projection fringe pattern.
  • Step S300 includes:
  • the number of divisions of the color area is the same as the number of color bars
  • the number of deformed monochrome areas is the same as the number of divisions of color areas
  • the number of divided fringe patterns is the same as the number of deformed monochrome areas.
  • the number of color bars determines the number of divisions of the color area. Each time the color area is divided, a deformed monochrome area is obtained, and the number of divided fringe patterns is the same as the number of deformed monochrome areas.
  • performing at least two color area divisions on the deformed color image and obtaining the corresponding deformed monochrome area in step S300 includes:
  • a deformed monochrome area is obtained from the deformed color map; then the deformed monochrome area in the deformed color map is deleted to become a new deformed color map .
  • calculating the approximate color value D(z,a) of each point z and point a of the deformed color image in step S310 includes:
  • R, G, and B represent the RGB components of point z and point a, respectively.
  • performing denoising processing on the unprocessed divided area in step S330 includes:
  • S332 Filter out areas with smaller connected domains in the unprocessed divided areas.
  • the holes existing in the unprocessed divided areas are filled, and then the areas with smaller connected domains in the unprocessed divided areas are filtered out, and the areas with smaller connected domains are uniformly divided into the same deformed monochrome area.
  • step S400 includes:
  • the header of the established lookup table includes: m 1 , m 2 , m 2 ⁇ 2 -m 1 ⁇ 1 , where m 1 , m 2 are required to restore the three absolute phases.
  • Required fringe order
  • ⁇ 1 , ⁇ 2 are the fringe wavelengths, m 1 , m 2 are the order of the fringes, Is the wrapped phase map, and R is the resolution of the projector;
  • ⁇ 1 and ⁇ 2 are the absolute phases to be restored.
  • the specific steps are as follows:
  • the design consists of three color bars of red, green, and blue alternately arranged
  • the color fringe pattern is composed of: the color fringe pattern is projected into a deformed color map, and the projected fringe pattern is projected to obtain a deformed fringe map; the deformed color map is divided into three color areas to obtain three deformed monochrome areas, and then according to the deformed monochrome area The position of the deformed fringe image is divided into three corresponding segmentation fringe images;
  • the dual fringe projection phase expansion device 100 based on color segmentation includes but is not limited to: an initialization module 110, a projection module 120, a segmentation module 130, and a table building operation module 140 and restore topography module 150.
  • the initialization module 110 is used to design a projection fringe pattern by selecting a suitable fringe wavelength according to the resolution of the projector.
  • the corresponding color fringe pattern is designed from the projector resolution and the projection fringe pattern.
  • the color fringe pattern consists of at least two different colors. The color bars are arranged alternately;
  • the projection module 120 is used to project the color fringe pattern onto the object to be measured to obtain a deformed color image, and project the projected fringe pattern onto the object to be measured to obtain the deformed fringe pattern;
  • the segmentation module 130 is configured to perform at least two color area divisions on the deformed color image to obtain the corresponding deformed monochrome area, and divide the deformed fringe image into at least two segmented fringe images according to the position of the deformed monochrome area;
  • the table building operation module 140 is configured to obtain the wrapped phase image for each segmented fringe pattern and establish a lookup table for the corresponding region, and restore the absolute phase of the segmented fringe pattern from the wrapped phase image and the lookup table according to the absolute phase calculation formula;
  • the shape restoration module 150 is used to restore the three-dimensional shape of the object to be measured from the absolute phases of all the segmented fringe patterns.
  • the double fringe projection phase unwrapping device 200 based on color segmentation can be any type of smart terminal, such as a mobile phone. , Tablet computers, personal computers, etc.
  • the double fringe projection phase unwrapping device 200 based on color segmentation includes: one or more control processors 210 and a memory 220.
  • one control processor 210 is taken as an example.
  • control processor 210 and the memory 220 may be connected through a bus or in other ways. In FIG. 7, the connection through a bus is taken as an example.
  • the memory 220 can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as the double fringe projection phase expansion based on color segmentation in the embodiment of the present invention
  • the program instructions/modules corresponding to the method for example, the initialization module 110, the projection module 120, the segmentation module 130, the table creation calculation module 140, and the shape restoration module 150 shown in FIG. 6.
  • the control processor 210 executes various functional applications and data processing of the double fringe projection phase unwrapping device 100 based on color segmentation by running the non-transitory software programs, instructions, and modules stored in the memory 220, thereby realizing the foregoing method embodiments Phase unwrapping method of double fringe projection based on color segmentation.
  • the memory 220 may include a storage program area and a storage data area.
  • the storage program area can store an operating system and an application program required by at least one function; The created data, etc.
  • the memory 220 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 220 may optionally include memories remotely provided with respect to the control processor 210, and these remote memories may be connected to the color segmentation-based double fringe projection phase unwrapping device 200 via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 220, and when executed by the one or more control processors 210, the double fringe projection phase expansion method based on color segmentation in the foregoing method embodiment is executed, for example, Perform the above-described method steps S100 to S500 in FIG. 1, method steps S110 to S120 in FIG. 2, method steps S310 to S340 in FIG. 3, method steps S331 to S332 in FIG. 4, and method steps in FIG. 5 S410 to S430 realize the functions of the modules 110-150 in FIG. 6.
  • An embodiment of the present invention also provides a computer-readable storage medium that stores computer-executable instructions, and the computer-executable instructions are executed by one or more control processors 210, for example, as shown in FIG. 7
  • One of the control processors 210 is executed to enable the one or more control processors 210 to execute the double fringe projection phase unwrapping method based on color segmentation in the foregoing method embodiment, for example, to execute the method steps in FIG. 1 described above S100 to S500, method steps S110 to S120 in FIG. 2, method steps S310 to S340 in FIG. 3, method steps S331 to S332 in FIG. 4, method steps S410 to S430 in FIG. 5, implements module 110 in FIG. 6 -150 features.
  • the device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform.
  • All or part of the processes in the methods of the foregoing embodiments can be implemented by computer programs instructing relevant hardware.
  • the programs can be stored in a computer readable storage medium. At this time, it may include the flow of the embodiment of the above-mentioned method.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read Only Memory, ROM), or a random storage memory (Random AccesSS Memory, RAM), etc.

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

Abstract

La présente invention concerne un procédé et un appareil de déroulement de phase de projection à double frange sur la base d'une segmentation de couleur. Le procédé comprend les étapes consistant à : concevoir un motif de frange de projection et un motif de frange de couleur ; projeter le motif de frange de couleur pour obtenir un motif de couleur déformé, et projeter le motif de frange de projection pour obtenir un motif de frange déformé ; mettre ne œuvre une division en régions de couleur sur le motif de couleur déformé pour obtenir des régions monochromatiques déformées correspondantes, et segmenter le motif de frange déformé en motifs de frange segmentés en fonction des positions des régions monochromatiques déformées ; et pour chaque motif de frange segmenté, obtenir séparément une carte de phase enroulée et établir une table de consultation d'une région correspondante, et sur la base d'une formule de calcul d'une phase absolue, récupérer la phase absolue du motif de frange segmenté au moyen de la carte de phase enroulée et de la table de consultation, pour ainsi récupérer une topographie tridimensionnelle d'un objet à mesurer. Grâce à la présente invention, la plage de mesure et la précision basées sur un algorithme de déroulement de phase de projection de frange sont élargies et améliorées et, par conséquent, un déroulement de phase peut être effectué avec précision sur un motif de frange de projection de n'importe quelle longueur d'onde à n'importe quelle résolution donnée de projecteur, et la résolution de projecteur est complètement utilisée.
PCT/CN2020/081649 2020-02-24 2020-03-27 Procédé et appareil de déroulement de phase de projection à double frange sur la base d'une segmentation de couleur WO2021168971A1 (fr)

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