基于匹配滤波的光条中心提取方法研究
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摘要
在基于线激光的结构光三维检测系统中,实时、精确、鲁棒性好的光条中心提取算法是保证系统能实时、稳定工作的关键,它将直接影响检测精度。在对提取光条信号建模的基础上,提出一种基于匹配滤波的实时结构光条纹中心提取方法。通过光条插值结合匹配滤波的方法,实现亚像素级别的光条中心提取精度,并对断线条纹具有很强的修补能力。同时,提出了一种改进匹配滤波器算法,该算法能有效克服背景强干扰对于光条中心提取结果的影响,可有效提升光条中心算法的稳定性。通过搭建三维测试平台,研究该算法在工程测试中的应用特性。实验表明,本文提出的算法能够实现亚像素级别的提取精度。并设计外场实验,对文中方法进行验证,实验结果表明,改进的匹配滤波算法在复杂背景干扰下仍具有良好的光条中心提取能力,该方法能满足工程测试需要。
In the structured laser three-dimensional measurement system based on line laser, the laser stripe center extraction algorithm with real-time,accurate and good robustness, is the key to ensure the system can work in real time and stably. It will directly affect the final detection accuracy. Based on the extraction and the modelling of laser stripe signal, this paper proposes a real-time structured laser stripe center extraction method based on matched filter. The method both achieves the sub-pixel level extraction accuracy of the center of the laser stripe by means of laser stripe interpolation combined with matched filtering, and has a strong repairing ability to broken lines. At the same time, an improved matched filter algorithm is proposed, which can effectively overcome the influence of strong background noise on the extraction of the laser stripe center and improve the stability of the laser stripe center algorithm. This paper builds a three-dimensional test platform to study the application characteristics of the algorithm in engineering testing. Experiments show that the proposed algorithm can achieve sub-pixel level extraction accuracy. An external field experiment was designed to verify the proposed method. Experimental results show that the improved matched filter algorithm still has good laser stripe center extraction ability under complex background interference, which can meet the needs of engineering testing.
In the structured laser three-dimensional measurement system based on line laser, the laser stripe center extraction algorithm with real-time,accurate and good robustness, is the key to ensure the system can work in real time and stably. It will directly affect the final detection accuracy. Based on the extraction and the modelling of laser stripe signal, this paper proposes a real-time structured laser stripe center extraction method based on matched filter. The method both achieves the sub-pixel level extraction accuracy of the center of the laser stripe by means of laser stripe interpolation combined with matched filtering, and has a strong repairing ability to broken lines. At the same time, an improved matched filter algorithm is proposed, which can effectively overcome the influence of strong background noise on the extraction of the laser stripe center and improve the stability of the laser stripe center algorithm. This paper builds a three-dimensional test platform to study the application characteristics of the algorithm in engineering testing. Experiments show that the proposed algorithm can achieve sub-pixel level extraction accuracy. An external field experiment was designed to verify the proposed method. Experimental results show that the improved matched filter algorithm still has good laser stripe center extraction ability under complex background interference, which can meet the needs of engineering testing.
引文
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[15] 刘振,李声,冯常.基于互相关算法的激光条纹中心提取[J].中国激光,2013,40(5):202-207.
[2] HE B, ZHOU X. Research of sensor planning method in line laser three-dimensional measurement system[J]. Chinese Journal of Lasers, 2010, 37(6):1618-1625.
[3] 梅天灿,仲思东,何对燕.可变环境光照条件下的结构光条纹检测[J].仪器仪表学报,2011,32(12):2794-2801.
[4] 杨建华,杨雪荣,成思源,等.线结构光三维视觉测量中光条纹中心提取综述[J].广东工业大学学报,2014,31(1):74-78.
[5] 高世一,杨凯珍.变边限高斯拟合提取激光条纹中心线方法的研究[J].仪器仪表学报,2011,32(5):1132-1137.
[6] 吴家勇,王平江,陈吉红,等.基于梯度重心法的线结构光中心亚像素提取方法[J].中国图象图形学报,2009,14(7):1354-1360.
[7] 刘涛,王宗义,于秀辉,等.基于自适应窗曲线拟合的结构光条纹中心提取[J].半导体光电,2010,31(1):151-154.
[8] 魏振忠,张广军.结构光直光条中心线的鲁棒性自动提取方法[J].仪器仪表学报,2004(2):244-247.
[9] 王利,陈念年,巫玲,等.高噪声背景下激光条纹亚像素中心的提取[J].应用光学,2016,37(2):321-326.
[10] LI Y, ZHOU J, HUANG F, et al. Sub-pixel extraction of laser stripe center using an improved gray-gravity method[J]. Sensors, 2017, 17(4).
[11] 胡斌,李德华,金刚,等.基于方向模板的结构光条纹中心检测方法[J].计算机工程与应用,2002(11):59-60,109.
[12] 王泽浩,张中炜.自适应方向模板线结构光条纹中心提取方法[J].激光杂志,2017,38(1):60-64.
[13] STEGER C. An unbiased detector of curvilinear structures[J]. IEEE Transactions on Pattern Analysis & Machine Intelligence, 2002, 20(2):113-125.
[14] 南方,李大华,高强,等.改进Steger算法的自适应光条纹中心提取[J].激光杂志,2018,39(1):85-88.
[15] 刘振,李声,冯常.基于互相关算法的激光条纹中心提取[J].中国激光,2013,40(5):202-207.