便携式相位光栅轮廓全貌测量技术研究
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摘要
随着现代工业的发展以及人民生活水平的不断提高,传统的测量方式和测量信息已经不能满足实际的需求,因此针对复杂自由曲面的快速、高精度、多信息的全貌测量技术己成为一个重要的研究方向。特别是基于相位光栅的视觉测量技术因为其非接触、速度快、精度高、全视角等优点得到了更广泛地应用。
本文对相位光栅测量技术进行了深入地分析,并自主设计和研发了一套便携式相位光栅轮廓全貌测量系统,并以该测量系统为实验平台,对涉及的关键技术进行了深入的研究。本文主要的研究内容和贡献如下：
1.针对图像的特征识别、边缘提取和中心定位等关键技术进行了深入的研究,并提出了相应的解决方案。主要提出了一种利用多项式拟合的亚像素边缘精确定位算法；基于几何特性实现了圆形特征对象的稳健识别；根据调和共轭和配极对应等原理,又提出了一种新的高精度圆心定位算法；最后将本文算法和张正友的标定方法相结合实现全自动、高精度地摄像机标定,并通过实验验证了各算法的有效性和精度。
2.立体匹配是三维重构的重要条件,本文提出了一种针对相位光栅的亚像素定位算法,实现高精度的立体匹配；在保证测量精度的前提下,尽可能地减少投射光栅的数目具有一定的意义,本文对影响相位计算精度的因素进行了分析,提出了将三步相移法和四步相移法结合的解决方案,充分地发挥了两者各自的优点。
3.详细分析现有多视拼接技术的优缺点,最终选择适合本文测量系统的基于粘性标记点的拼接方法。针对标记点的匹配问题,本文基于三维重构深度差,提出了一种适应性更强的立体匹配算法。在此基础上,又根据距离不变性实现多视同名标记点的搜索,最终实现数据的初始拼接。通过实验发现仅利用粘性标记点的拼接精度不能满足高精度测量系统的要求,因此本文在初始拼接结果的基础上提出了一种多层次ICP精确配准算法,该方法利用初始拼接误差动态调整距离阈值,从而不断减小受非对应点的影响,最终完成优化拼接。实验结果表明,经优化处理后数据拼接精度约提高3倍。
4.针对相位光栅测量数据的特点,本文实现了一种简单实用的点云法矢估算方法,通过实验证明了算法的正确性,且具有较高的执行效率,为用户的可视操作和后续算法的运算提供了可靠的辅助信息。
5.数据融合是测量系统中必不可少的一个关键技术,考虑数据噪声和配准误差的影响,本文在已有算法的基础上提出了一种自适应邻域均值聚类融合算法,该算法主要包括检测重叠区域、计算初始中心点和聚类迭代等三个步骤。通过实验验证了算法的有效性和精度,实验结果表明该算法不仅能够从多视冗余数据中正确地获取单一型面数据,而且融合结果在细节保留方面更加突出。
6.在相关理论和关键算法研究的基础上,本文搭建了相位光栅轮廓全貌测量系统的原型机,并给出了软件系统的整体架构方案。通过多组实验给出了原型系统在测量精度和测量速度等方面的性能指标,实验结论良好。
With the development of modern industry and the improvement of people's living standards, the traditional methods and information are unable to meet people's requirements anymore; therefore, high-precision and multi-information measurement technologies for complex freeform object have become hot issues. Among the existing3D measurement techniques, the visual measurement integrated with phase shifting profilometry has been widely applied, thanks to its characteristics of non-contact, high-speed, high-precision and wide-viewing.
In this background, a portable fringe projection3D measuring system is independ-ently designed and established based on the in-depth study of phase shifting profilome-try. In this dissertation, the measuring system is used as an experimental platform, then, related key techniques are fully studied. The main works and contributions are summ-arizeed as follows:
1. Aiming at camera calibration, some in-depth researches in feature recognition, edge detection and center location are carried out, such as, a new subpixel edge extraction method based on polynomial fitting is proposed; A robust curcular object recognition method is implemented besed on their geometric characteristics; A new method based on concentric circle pattern is proposed to locate the projection of center precisely using the principles of harmonic conjugate and pole-polar. Then, the camera could be calibarated automatically and precisely by the combination of our algorithms with Zhang's method. The correctness and accuracy of these algorithms are demonstrat-ed by some experiments.
2. A new subpixel positioning method of the absolute phase value is presented in this dissertation for accurate stereo matching. In addition, the factors that influencing the phase value are analyzed carefully, further, a method combining3-step and4-step phase shifting techniques is given to reduce the number of the projection grating, while maintaining the measurement accuracy.
3. After the advantages and disadvantages of the existing registration algorithms are analyzed detailed, the method based on circular targets is adopted in our system to transform the points from different views into global coordinate system. Firstly, a more robust stereo matching algorithm for feature object is presented; then,3D registration for two views is performed based on distance invariance under rigid transformation. It is found that the accuracy obtainded only using circular targets can not meet the requirements of our measuring system, so a multi-level enhanced ICP algorithm is proposed to improve the registration accuracy by taking the result of circular targets as initializtion. Experimental result shows that the accuracy is improved by almost three times.
4. A simple and efficient method for the estimation of point normals is introduced by considering the characteristics of the data points acquired by our system. The correctness and efficiency of the algorithm is demonstrated by experiments, it gives a favor to user's visualization and subsequent algorithms run.
5. Data fusion is one of the essential key technologies for a measurement system. Taking the noise data and registration errors into account, an adaptive neighborhood clustering fusion method based on the existing algorithm is given. The experimental results show the validity and efficienty of the algorithm. It is concluded that the algorithm can not only obtain the surface data from multi-view redundant points, but also performs fairly well in detail preservation for the sake of iterative optimization.
6. A prototype phase shifting surface measuring system is established based on the related theories and key techniques. The overall architecture of the system software is also figured to list the function modules. The accuracy, efficiency and other performance indicators of the prototype system are also given by several experiments which illustrate that the prototype system runs pretty well overall.
本文对相位光栅测量技术进行了深入地分析,并自主设计和研发了一套便携式相位光栅轮廓全貌测量系统,并以该测量系统为实验平台,对涉及的关键技术进行了深入的研究。本文主要的研究内容和贡献如下：
1.针对图像的特征识别、边缘提取和中心定位等关键技术进行了深入的研究,并提出了相应的解决方案。主要提出了一种利用多项式拟合的亚像素边缘精确定位算法；基于几何特性实现了圆形特征对象的稳健识别；根据调和共轭和配极对应等原理,又提出了一种新的高精度圆心定位算法；最后将本文算法和张正友的标定方法相结合实现全自动、高精度地摄像机标定,并通过实验验证了各算法的有效性和精度。
2.立体匹配是三维重构的重要条件,本文提出了一种针对相位光栅的亚像素定位算法,实现高精度的立体匹配；在保证测量精度的前提下,尽可能地减少投射光栅的数目具有一定的意义,本文对影响相位计算精度的因素进行了分析,提出了将三步相移法和四步相移法结合的解决方案,充分地发挥了两者各自的优点。
3.详细分析现有多视拼接技术的优缺点,最终选择适合本文测量系统的基于粘性标记点的拼接方法。针对标记点的匹配问题,本文基于三维重构深度差,提出了一种适应性更强的立体匹配算法。在此基础上,又根据距离不变性实现多视同名标记点的搜索,最终实现数据的初始拼接。通过实验发现仅利用粘性标记点的拼接精度不能满足高精度测量系统的要求,因此本文在初始拼接结果的基础上提出了一种多层次ICP精确配准算法,该方法利用初始拼接误差动态调整距离阈值,从而不断减小受非对应点的影响,最终完成优化拼接。实验结果表明,经优化处理后数据拼接精度约提高3倍。
4.针对相位光栅测量数据的特点,本文实现了一种简单实用的点云法矢估算方法,通过实验证明了算法的正确性,且具有较高的执行效率,为用户的可视操作和后续算法的运算提供了可靠的辅助信息。
5.数据融合是测量系统中必不可少的一个关键技术,考虑数据噪声和配准误差的影响,本文在已有算法的基础上提出了一种自适应邻域均值聚类融合算法,该算法主要包括检测重叠区域、计算初始中心点和聚类迭代等三个步骤。通过实验验证了算法的有效性和精度,实验结果表明该算法不仅能够从多视冗余数据中正确地获取单一型面数据,而且融合结果在细节保留方面更加突出。
6.在相关理论和关键算法研究的基础上,本文搭建了相位光栅轮廓全貌测量系统的原型机,并给出了软件系统的整体架构方案。通过多组实验给出了原型系统在测量精度和测量速度等方面的性能指标,实验结论良好。
With the development of modern industry and the improvement of people's living standards, the traditional methods and information are unable to meet people's requirements anymore; therefore, high-precision and multi-information measurement technologies for complex freeform object have become hot issues. Among the existing3D measurement techniques, the visual measurement integrated with phase shifting profilometry has been widely applied, thanks to its characteristics of non-contact, high-speed, high-precision and wide-viewing.
In this background, a portable fringe projection3D measuring system is independ-ently designed and established based on the in-depth study of phase shifting profilome-try. In this dissertation, the measuring system is used as an experimental platform, then, related key techniques are fully studied. The main works and contributions are summ-arizeed as follows:
1. Aiming at camera calibration, some in-depth researches in feature recognition, edge detection and center location are carried out, such as, a new subpixel edge extraction method based on polynomial fitting is proposed; A robust curcular object recognition method is implemented besed on their geometric characteristics; A new method based on concentric circle pattern is proposed to locate the projection of center precisely using the principles of harmonic conjugate and pole-polar. Then, the camera could be calibarated automatically and precisely by the combination of our algorithms with Zhang's method. The correctness and accuracy of these algorithms are demonstrat-ed by some experiments.
2. A new subpixel positioning method of the absolute phase value is presented in this dissertation for accurate stereo matching. In addition, the factors that influencing the phase value are analyzed carefully, further, a method combining3-step and4-step phase shifting techniques is given to reduce the number of the projection grating, while maintaining the measurement accuracy.
3. After the advantages and disadvantages of the existing registration algorithms are analyzed detailed, the method based on circular targets is adopted in our system to transform the points from different views into global coordinate system. Firstly, a more robust stereo matching algorithm for feature object is presented; then,3D registration for two views is performed based on distance invariance under rigid transformation. It is found that the accuracy obtainded only using circular targets can not meet the requirements of our measuring system, so a multi-level enhanced ICP algorithm is proposed to improve the registration accuracy by taking the result of circular targets as initializtion. Experimental result shows that the accuracy is improved by almost three times.
4. A simple and efficient method for the estimation of point normals is introduced by considering the characteristics of the data points acquired by our system. The correctness and efficiency of the algorithm is demonstrated by experiments, it gives a favor to user's visualization and subsequent algorithms run.
5. Data fusion is one of the essential key technologies for a measurement system. Taking the noise data and registration errors into account, an adaptive neighborhood clustering fusion method based on the existing algorithm is given. The experimental results show the validity and efficienty of the algorithm. It is concluded that the algorithm can not only obtain the surface data from multi-view redundant points, but also performs fairly well in detail preservation for the sake of iterative optimization.
6. A prototype phase shifting surface measuring system is established based on the related theories and key techniques. The overall architecture of the system software is also figured to list the function modules. The accuracy, efficiency and other performance indicators of the prototype system are also given by several experiments which illustrate that the prototype system runs pretty well overall.
引文
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