基于格雷码和多步相移法的双目立体视觉三维测量技术研究
|
摘要
传统的被动式双目立体视觉三维测量技术,具有操作简单,使用灵活方便,相机标定技术成熟的优点,但是对于特征点稀疏图像,寻找匹配点困难,匹配精度低;编码结构光测量方式通过向待测物体投射特定的编码图案,获取编码图像进行解码求解物体的三维信息,具有着测量精度高,速度快的优点,但是存在着投影仪标定精度低,实现难度大的缺点;提出了将双目立体视觉和编码结构光相结合的三维测量方法,在完成双目校正的基础上,向待测物体投射格雷码图案和多步相移图案,给予被测物体容易识别和可控制的特征信息,最后求取物体的三维信息;而且通过实验论证了投射多步相移图案比起4步相移图案,测量精度更高,能够更好的体现物体细节。
The traditional passive binocular stereo vision three-dimensional measurement technology has the advantages of simple operation,flexible and convenient use,and mature camera calibration technology,but it is difficult to find matching points,and the matching accuracy is low for images with sparse feature points.The encoded structured light measurement method acquires the encoded image by decoding a specific coding pattern to the object to be measured,and decodes the three-dimensional information of the object.It has the advantages of high measurement accuracy and high speed,but it has the disadvantages of low calibration accuracy and difficult to realize.The 3 D measurement method combining binocular stereo vision with coded structured Ligh,based on completing the binocular correction to the object projection,gray code patterns and multi-step phase-shift pattern to the measured object can be easily identified and controlled feature information,finally obtain three-dimensional information of objects.Moreover,it is proved by experiment that projective multi-step phaseshifting pattern is more accurate than 4 step phase shifting pattern,and can reflect object details better.
The traditional passive binocular stereo vision three-dimensional measurement technology has the advantages of simple operation,flexible and convenient use,and mature camera calibration technology,but it is difficult to find matching points,and the matching accuracy is low for images with sparse feature points.The encoded structured light measurement method acquires the encoded image by decoding a specific coding pattern to the object to be measured,and decodes the three-dimensional information of the object.It has the advantages of high measurement accuracy and high speed,but it has the disadvantages of low calibration accuracy and difficult to realize.The 3 D measurement method combining binocular stereo vision with coded structured Ligh,based on completing the binocular correction to the object projection,gray code patterns and multi-step phase-shift pattern to the measured object can be easily identified and controlled feature information,finally obtain three-dimensional information of objects.Moreover,it is proved by experiment that projective multi-step phaseshifting pattern is more accurate than 4 step phase shifting pattern,and can reflect object details better.
引文
[1]陆乐.平面设计中的视觉流程概述[J].科技创新导报,2008(33):67-67.
[2]戴磊.基于视觉反馈的移动机器人控制[D].上海:上海交通大学,2011.
[3]苑惠娟,于佳,尚爱军.基于颜色编码的大型物体表面三维测量[J].红外与激光工程,2008(s1):166-169.
[4]喻士领.基于光栅条纹投影的三维测量系统标定方法的研究[D].南京:南京理工大学,2015.
[5]许志梁.基于结构光和立体匹配的稠密深度获取技术研究[D].上海:上海交通大学,2009.
[6]许志梁.基于结构光和立体匹配的稠密深度获取技术研究[D].上海:上海交通大学,2009.
[7]沈国峰.基于双目立体视觉的牙颌模型测量技术研究[D].南京:南京航空航天大学,2013.
[8]方勇.颜色编码三维测量的图像处理方法研究[D].哈尔滨:哈尔滨理工大学,2009.
[9]刘伟.基于多视点的三维重建技术研究[D].太原:太原科技大学,2009.
[10]张颖江,潘尧,吴聪.基于车载系统双目CCD相机测距[J].信息安全与技术,2016,7(1):57-62.
[11]钱真,彭秀艳,贾书丽,等.动平台下双目视觉定位标定算法研究[J].计算机仿真,2012,29(10):293-297.
[12]雷震.单相机单投影仪的编码结构光三维测量方法研究[D].武汉:华中科技大学,2015.
[13]刘欢.实时彩色三维建模技术研究[D].成都:电子科技大学,2015.
[14]刘永久.基于结构光投影的运动物体高速实时三维测量方法研究[D].合肥:中国科学技术大学,2014.
[15]宋昌江.基于双目视觉的三维物体表面测量系统设计与实现[D].哈尔滨:哈尔滨工业大学,2012.
[16]Scharstein D,Szeliski R.High-accuracy stereo depth maps using structured light[A].Computer Vision and Pattern Recognition,2003.Proceedings[C].2003IEEE Computer Society Conference on.IEEE,2003:I-195-I-202vol.1.
[17]于晓洋,单鹂娜,曹沈楠,等.结构光时间编码技术进展[J].哈尔滨理工大学学报,2010,15(1):98-102.
[18]宋昌江.基于双目视觉的三维物体表面测量系统设计与实现[D].哈尔滨:哈尔滨工业大学,2012.
[2]戴磊.基于视觉反馈的移动机器人控制[D].上海:上海交通大学,2011.
[3]苑惠娟,于佳,尚爱军.基于颜色编码的大型物体表面三维测量[J].红外与激光工程,2008(s1):166-169.
[4]喻士领.基于光栅条纹投影的三维测量系统标定方法的研究[D].南京:南京理工大学,2015.
[5]许志梁.基于结构光和立体匹配的稠密深度获取技术研究[D].上海:上海交通大学,2009.
[6]许志梁.基于结构光和立体匹配的稠密深度获取技术研究[D].上海:上海交通大学,2009.
[7]沈国峰.基于双目立体视觉的牙颌模型测量技术研究[D].南京:南京航空航天大学,2013.
[8]方勇.颜色编码三维测量的图像处理方法研究[D].哈尔滨:哈尔滨理工大学,2009.
[9]刘伟.基于多视点的三维重建技术研究[D].太原:太原科技大学,2009.
[10]张颖江,潘尧,吴聪.基于车载系统双目CCD相机测距[J].信息安全与技术,2016,7(1):57-62.
[11]钱真,彭秀艳,贾书丽,等.动平台下双目视觉定位标定算法研究[J].计算机仿真,2012,29(10):293-297.
[12]雷震.单相机单投影仪的编码结构光三维测量方法研究[D].武汉:华中科技大学,2015.
[13]刘欢.实时彩色三维建模技术研究[D].成都:电子科技大学,2015.
[14]刘永久.基于结构光投影的运动物体高速实时三维测量方法研究[D].合肥:中国科学技术大学,2014.
[15]宋昌江.基于双目视觉的三维物体表面测量系统设计与实现[D].哈尔滨:哈尔滨工业大学,2012.
[16]Scharstein D,Szeliski R.High-accuracy stereo depth maps using structured light[A].Computer Vision and Pattern Recognition,2003.Proceedings[C].2003IEEE Computer Society Conference on.IEEE,2003:I-195-I-202vol.1.
[17]于晓洋,单鹂娜,曹沈楠,等.结构光时间编码技术进展[J].哈尔滨理工大学学报,2010,15(1):98-102.
[18]宋昌江.基于双目视觉的三维物体表面测量系统设计与实现[D].哈尔滨:哈尔滨工业大学,2012.