线结构光三维自动扫描系统关键技术的研究
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摘要
线结构光扫描是一种基于激光三角法的三维测量技术,是获取被测物体表面空间三维坐标的主要手段之一。本文建立了一套双摄像机的四轴线结构光自动扫描系统,能够完整准确地获取被测物体表面的三维轮廓信息。本文主要研究内容和创新成果有:
1.分析了国内外现有三维测量技术的测量原理及三维测量设备。总结概括了线结构光三维测量技术中测量模型、参数标定、图像处理、视角自动确定等技术的研究重点。
2.采用平移扫描和旋转扫描两种基本的扫描方式组建了四轴线结构光扫描系统,通过对线结构光传感器测量原理和四轴位移系统位置控制的分析,建立了相应的数学测量模型。
3.设计了方向性棋盘靶标,基于Zhang摄像机标定方法和基于视角不确定性的光平面标定方法,实现了摄像机标定和光平面一致性标定,得到了线结构光传感器测量模型参数。提出了一种基于双目视觉的转轴标定方法,利用球心空间直线交汇原理和转轴标定模型,完成了对转台旋转轴线的标定。
4.根据本系统线结构光条图像的特征,通过对现有光条图像中光条中心提取方法的分析,提出了一种灰度梯度跳变、光条特征筛选和灰度平方加权重心法相结合的光条中心提取方法,保证了提取结果的稳定性和准确性。
5.在研制的四轴线结构光扫描系统平台上,提出了一种三步扫描数据补偿路径自动规划方法。在被测物体表面轮廓形貌特征未知的情况下,使用最佳视角规划方法,经过第一次粗略扫描、第二次精确扫描和第三次补偿扫描,确定了最佳扫描路径,并有效获取了被测物体表面完整准确的三维轮廓数据。
Structured light scanning method, which based on laser tribulation measurement model, in order to obtain 3D coordinate of the point on the measured object surface, is a promising technique which has been widely used. In this dissertation, a structured light vision system including two cameras and a four axes motion control equipment is proposed to reconstruct the measured object surface integrally and accurately. The major contribution and innovations of this dissertation are as follows:
1. Several 3D measurement techniques as well as the instrument at home and abroad are analyzed. Major problems in structured light measurement technique including measurement model, calibration method, image processing and viewpoint automatic selection method are reviewed as well.
2. Measurement system combined with a four axes control system and a structured light sensor is built, with two scanning modes translation scanning and rotation scanning according. Measurement model and calculation method are studied as well based on the measurement principle of structured light sensor and position control model of the four axes scanning system.
3. Using a chessboard pattern, parameters of both cameras are calibrated out by Zhang calibration method. The light plane parameters are calibrated by using viewpoint uncertainty method to ensure both cameras in a unified world coordinate system. Based on binocular vision principle, the exterior orientation of the turntable’s axis is calculated out with a standard ball, employed with axis calibration model and the method of space intersection of two straight lines.
4. According to the characteristic of the stripe image, centric line of straight structured light stripe is extracted based on gray level gradient, points filter and improved barycenter method. The sub-pixel center of light stripe is found with high precision and high robust.
5. With the four axis motion system, a three-step scanning method is used to determine the scanning path automatically. By putting an unknown object in the measurement volume, the surface data as well as the scanning path is obtained integrally and accurately using the next best view algorithm with the first approximate scanning, the second precise scanning and the third compensate scanning separately.
1.分析了国内外现有三维测量技术的测量原理及三维测量设备。总结概括了线结构光三维测量技术中测量模型、参数标定、图像处理、视角自动确定等技术的研究重点。
2.采用平移扫描和旋转扫描两种基本的扫描方式组建了四轴线结构光扫描系统,通过对线结构光传感器测量原理和四轴位移系统位置控制的分析,建立了相应的数学测量模型。
3.设计了方向性棋盘靶标,基于Zhang摄像机标定方法和基于视角不确定性的光平面标定方法,实现了摄像机标定和光平面一致性标定,得到了线结构光传感器测量模型参数。提出了一种基于双目视觉的转轴标定方法,利用球心空间直线交汇原理和转轴标定模型,完成了对转台旋转轴线的标定。
4.根据本系统线结构光条图像的特征,通过对现有光条图像中光条中心提取方法的分析,提出了一种灰度梯度跳变、光条特征筛选和灰度平方加权重心法相结合的光条中心提取方法,保证了提取结果的稳定性和准确性。
5.在研制的四轴线结构光扫描系统平台上,提出了一种三步扫描数据补偿路径自动规划方法。在被测物体表面轮廓形貌特征未知的情况下,使用最佳视角规划方法,经过第一次粗略扫描、第二次精确扫描和第三次补偿扫描,确定了最佳扫描路径,并有效获取了被测物体表面完整准确的三维轮廓数据。
Structured light scanning method, which based on laser tribulation measurement model, in order to obtain 3D coordinate of the point on the measured object surface, is a promising technique which has been widely used. In this dissertation, a structured light vision system including two cameras and a four axes motion control equipment is proposed to reconstruct the measured object surface integrally and accurately. The major contribution and innovations of this dissertation are as follows:
1. Several 3D measurement techniques as well as the instrument at home and abroad are analyzed. Major problems in structured light measurement technique including measurement model, calibration method, image processing and viewpoint automatic selection method are reviewed as well.
2. Measurement system combined with a four axes control system and a structured light sensor is built, with two scanning modes translation scanning and rotation scanning according. Measurement model and calculation method are studied as well based on the measurement principle of structured light sensor and position control model of the four axes scanning system.
3. Using a chessboard pattern, parameters of both cameras are calibrated out by Zhang calibration method. The light plane parameters are calibrated by using viewpoint uncertainty method to ensure both cameras in a unified world coordinate system. Based on binocular vision principle, the exterior orientation of the turntable’s axis is calculated out with a standard ball, employed with axis calibration model and the method of space intersection of two straight lines.
4. According to the characteristic of the stripe image, centric line of straight structured light stripe is extracted based on gray level gradient, points filter and improved barycenter method. The sub-pixel center of light stripe is found with high precision and high robust.
5. With the four axis motion system, a three-step scanning method is used to determine the scanning path automatically. By putting an unknown object in the measurement volume, the surface data as well as the scanning path is obtained integrally and accurately using the next best view algorithm with the first approximate scanning, the second precise scanning and the third compensate scanning separately.
引文
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