多灰度级格雷码结合梯形相移的三维测量方法
|
摘要
为提高结构光三维测量的测量精度并进一步减少投影图案的数量来提高测量速度,提出四灰度级格雷码与灰度梯形相移相结合的编码方法。通过投射3幅四灰度级格雷码图案,将测量空间划分为64个区域;投射3幅梯形相移图案,将区域进一步细化;结合解码得到整个测量空间的绝对强度比,根据射影几何模型获得物体的三维坐标。为验证该方法的可行性,分别采用二灰度级格雷码法和提出方法对深度范围为350mm-500mm的平面进行仿真测量,对石膏头像和人手进行实际测量,其结果表明,该方法具有投射图案少、抗干扰能力强、运算效率高的优点。
To improve the measurement accuracy of structured light 3 Dmeasurement and to further reduce the number of projection patterns to improve the measurement speed,a coding method combining four grayscales Gray code with gray trapezoidal phase-shift was proposed.The measurement space was divided into 64 regions by projecting three four grayscales Gray code patterns,and three trapezoidal phase-shift patterns were projected to further refine the area.Combined with the decoding,the absolute intensity ratio of the entire measurement space was got.According to the projective geometry matrix model,the 3 Dcoordinates of the object were obtained.To verify the feasibility of the method,the planes with the depth of 350 mm-500 mm were simulated by the two grayscales Gray code method and the proposed method respectively,and the actual measurement of the gypsum head and the human hand was carried out.The results show that the proposed coding method has the advantages of low projection pattern,strong anti-interference ability and high operation efficiency.
To improve the measurement accuracy of structured light 3 Dmeasurement and to further reduce the number of projection patterns to improve the measurement speed,a coding method combining four grayscales Gray code with gray trapezoidal phase-shift was proposed.The measurement space was divided into 64 regions by projecting three four grayscales Gray code patterns,and three trapezoidal phase-shift patterns were projected to further refine the area.Combined with the decoding,the absolute intensity ratio of the entire measurement space was got.According to the projective geometry matrix model,the 3 Dcoordinates of the object were obtained.To verify the feasibility of the method,the planes with the depth of 350 mm-500 mm were simulated by the two grayscales Gray code method and the proposed method respectively,and the actual measurement of the gypsum head and the human hand was carried out.The results show that the proposed coding method has the advantages of low projection pattern,strong anti-interference ability and high operation efficiency.
引文
[1]Tortschanoff A,Fritz A,Leitner R.Compact low-cost scanner for 3d-reconstruction of body parts with structured light illumination[J].International Journal of Bio-Science and BioTechnology,2014,6(5):13-22.
[2]Lilienblum E,Al-Hamadi A.A structured light approach for3-D surface reconstruction with a stereo line-scan system[J].IEEE Transactions on Instrumentation and Measurement,2015,64(5):1258-1266.
[3]DING Shaowen,ZHANG Xiaohu,YU Qifeng,et al.Overview of non-contact 3D reconstruction measurement methods[J].Laser&Optoelectronics Progress,2017,54(7):27-41(in Chinese).[丁少闻,张小虎,于起峰,等.非接触式三维重建测量方法综述[J].激光与光电子学进展,2017,54(7):27-41.]
[4]Fu Yanjun,Li Biao,Zhang Jiancheng,et al.Phase encodingbased colorful structured light rapid three-dimensional measurement method[P].CN:104390607A,2015.
[5]HAO Xueli,SUN Chaoyun,LI Wei,et al.3Droad reconstruction research based on structured light[J].Computer Engineering and Design,2015,36(8):2303-2307(in Chinese).[郝雪丽,孙朝云,李伟,等.基于结构光的路面三维重构技术[J].计算机工程与设计,2015,36(8):2303-2307.]
[6]WANG Changbo,XIE Minghong.Binocular threedimention reconstruction combined with gray coding and phase-shift[J].Computer Engineering,2013,39(5):178-182(in Chinese).[王长波,谢明红.格雷编码与相移结合的双目三维重构[J].计算机工程,2013,39(5):178-182.]
[7]Zhang Yujia,Yilmaz A.Structured light based 3dscanning for specular surface by the combination of gray code and phase shifting[J].ISPRS-International Archives of the Photogrammetry,Remote Sensing and Spatial Information Sciences,2016,XLI-B3:137-142.
[8]LIU Lixu,DAI Xinzhi,HOU Zhenyu,et al.3D scanning technique based on grating projection method[J].Electronics Optics&Control,2017,24(6):101-105(in Chinese).[刘李旭,戴鑫志,侯振宇,等.基于光栅投影法的3D扫描技术研究[J].电光与控制,2017,24(6):101-105.]
[9]SONG Qian,CHEN Yue,ZHU Ronggang,et al.Research of3Dmeasurement technology based on gray code projection[J].Laser&Optoelectronics Progress,2014,51(3):115-118(in Chinese).[宋倩,陈悦,朱荣刚,等.基于格雷编码投影的三维测量技术研究[J].激光与光电子学进展,2014,51(3):115-118.]
[10]Xue Junpeng,Su Xianyu,Zhang Qican.High-speed 3-D face measurement based on color speckle projection[C]//International Conference on Experimental Mechanics,2015.
[11]Fan Jianying,Liu Linchao,Gao Yang,et al.Research on color gray code encoding and color components correction in 3D measurement for color object[J].International Journal of Signal Processing Image Processing&Pattern Recognition,2013,6(5):217-226.
[12]MENG Fanchen,CHEN Deyun,WANG Lili,et al.Multiple grayscales gray code three dimensional measurement method[J].Journal of Harbin University of Science and Technology,2015,20(5):97-102(in Chinese).[孟凡辰,陈德运,王莉莉,等.多灰度级格雷码三维测量方法[J].哈尔滨理工大学学报,2015,20(5):97-102.]
[13]FAN Jianying,FU Yao, WANG Yang,et al.Dual threestep triangular phase-shifting coding structured light three-dimensional measurement technology[J].Journal of Natural Science of Heilongjiang University,2016,33(2):251-255(in Chinese).[范剑英,付瑶,王洋,等.双三步三角形相移编码结构光三维测量技术[J].黑龙江大学自然科学学报,2016,33(2):251-255.]
[14]Yu Xiaoyang,Yu Shuang,Wang Yang,et a1.3D measurement method and simulation based on combined temporal encoding structured light[C]//International Forum on Strategic Technology.IEEE,2013.
[15]WANG Yang.Research on 3Dmeasurement method of analog coding structured light based on Chinese remainder theorem[D].Harbin:Harbin University of Science and Technology,2014(in Chinese).[王洋.基于中国剩余定理的模拟编码结构光三维测量方法研究[D].哈尔滨:哈尔滨理工大学,2014.]
[2]Lilienblum E,Al-Hamadi A.A structured light approach for3-D surface reconstruction with a stereo line-scan system[J].IEEE Transactions on Instrumentation and Measurement,2015,64(5):1258-1266.
[3]DING Shaowen,ZHANG Xiaohu,YU Qifeng,et al.Overview of non-contact 3D reconstruction measurement methods[J].Laser&Optoelectronics Progress,2017,54(7):27-41(in Chinese).[丁少闻,张小虎,于起峰,等.非接触式三维重建测量方法综述[J].激光与光电子学进展,2017,54(7):27-41.]
[4]Fu Yanjun,Li Biao,Zhang Jiancheng,et al.Phase encodingbased colorful structured light rapid three-dimensional measurement method[P].CN:104390607A,2015.
[5]HAO Xueli,SUN Chaoyun,LI Wei,et al.3Droad reconstruction research based on structured light[J].Computer Engineering and Design,2015,36(8):2303-2307(in Chinese).[郝雪丽,孙朝云,李伟,等.基于结构光的路面三维重构技术[J].计算机工程与设计,2015,36(8):2303-2307.]
[6]WANG Changbo,XIE Minghong.Binocular threedimention reconstruction combined with gray coding and phase-shift[J].Computer Engineering,2013,39(5):178-182(in Chinese).[王长波,谢明红.格雷编码与相移结合的双目三维重构[J].计算机工程,2013,39(5):178-182.]
[7]Zhang Yujia,Yilmaz A.Structured light based 3dscanning for specular surface by the combination of gray code and phase shifting[J].ISPRS-International Archives of the Photogrammetry,Remote Sensing and Spatial Information Sciences,2016,XLI-B3:137-142.
[8]LIU Lixu,DAI Xinzhi,HOU Zhenyu,et al.3D scanning technique based on grating projection method[J].Electronics Optics&Control,2017,24(6):101-105(in Chinese).[刘李旭,戴鑫志,侯振宇,等.基于光栅投影法的3D扫描技术研究[J].电光与控制,2017,24(6):101-105.]
[9]SONG Qian,CHEN Yue,ZHU Ronggang,et al.Research of3Dmeasurement technology based on gray code projection[J].Laser&Optoelectronics Progress,2014,51(3):115-118(in Chinese).[宋倩,陈悦,朱荣刚,等.基于格雷编码投影的三维测量技术研究[J].激光与光电子学进展,2014,51(3):115-118.]
[10]Xue Junpeng,Su Xianyu,Zhang Qican.High-speed 3-D face measurement based on color speckle projection[C]//International Conference on Experimental Mechanics,2015.
[11]Fan Jianying,Liu Linchao,Gao Yang,et al.Research on color gray code encoding and color components correction in 3D measurement for color object[J].International Journal of Signal Processing Image Processing&Pattern Recognition,2013,6(5):217-226.
[12]MENG Fanchen,CHEN Deyun,WANG Lili,et al.Multiple grayscales gray code three dimensional measurement method[J].Journal of Harbin University of Science and Technology,2015,20(5):97-102(in Chinese).[孟凡辰,陈德运,王莉莉,等.多灰度级格雷码三维测量方法[J].哈尔滨理工大学学报,2015,20(5):97-102.]
[13]FAN Jianying,FU Yao, WANG Yang,et al.Dual threestep triangular phase-shifting coding structured light three-dimensional measurement technology[J].Journal of Natural Science of Heilongjiang University,2016,33(2):251-255(in Chinese).[范剑英,付瑶,王洋,等.双三步三角形相移编码结构光三维测量技术[J].黑龙江大学自然科学学报,2016,33(2):251-255.]
[14]Yu Xiaoyang,Yu Shuang,Wang Yang,et a1.3D measurement method and simulation based on combined temporal encoding structured light[C]//International Forum on Strategic Technology.IEEE,2013.
[15]WANG Yang.Research on 3Dmeasurement method of analog coding structured light based on Chinese remainder theorem[D].Harbin:Harbin University of Science and Technology,2014(in Chinese).[王洋.基于中国剩余定理的模拟编码结构光三维测量方法研究[D].哈尔滨:哈尔滨理工大学,2014.]