三维数字化系统的标定技术研究
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摘要
随着社会的进步与科学的发展，特别是计算机技术和数字化技术的飞速发展，人们越来越多的关注三维物体的数字化技术。三维数字化技术可以广泛应用于机械制造与设计，人体工学测量、服装设计，医学，文物保护等领域。对于三维数字化系统来说，现实世界三维信息到计算机虚拟世界的信息转换的映射关系，是通过标定工作实现的，标定技术是三维数字化技术中最为关键的技术。针对不同的数字化系统，围绕各种标定方法的研究是目前的一个热点，而且，为实现物体的真彩色模型可视化，彩色信息与空间三维信息匹配也是标定技术的研究内容。
本文围绕这些问题，利用BP神经网络算法完成了三维彩色数字化系统的标定，初步实现了空间信息和彩色信息的匹配，主要工作及创新性如下：
研究了激光三维传感器和激光彩色传感器的数学模型和标定理论，提出了利用细丝靶标的BP神经网络标定方法。
设计并建立了三维数字化实验系统，根据提出的标定方法采用四层BP神经网络进行了标定实验研究，得到了BP神经网络的结构参数，完成了传感器的标定。
对实际彩色物体进行扫描实验，对标定理论和具体方法进行了验证，再现得到了三维彩色点云图，初步实现了空间信息和彩色信息的匹配。
Along with the society advancement and science development, especially the rapid development in computer technique and digitization technique, technique related to the digitization of 3D object catches more and more attention. 3D digitization technique can be widely applied in the fields of mechanism manufacture and design, body measurement and dress design, medicine, cultural relic protection and so on. In 3D digitization system, the mapping relationship between real world 3D information and computer virtual world information is derived by calibration. Calibration technique is the most important technique of 3D digitization technique. Different calibration methods towards different digitization systems are highlights at present. Furthermore, in order to realize the visualization of 3D color object, the matching of color information and space 3D information is also the study content of calibration technique.
Concentrating on these problems, the calibration of 3D color digitization system is done by BP neural network arithmetic, and the basic matching between space information and color information is realized. The main study and innovation are as follows:
The mathematics model and calibration theory of laser 3D sensor and laser color sensor has been studied. Calibration technique based on BP neural network was presented, which use a filament target as calibration target.
3D digitization experimental system was designed and built. Calibration study was carried out by using a four-layers BP neural network and structure parameters was got from the calibration.
Real color object was scanned to verify the calibration theory and methods. 3D color point cloud was obtained, and the basic matching of space information and color information is realized.
本文围绕这些问题，利用BP神经网络算法完成了三维彩色数字化系统的标定，初步实现了空间信息和彩色信息的匹配，主要工作及创新性如下：
研究了激光三维传感器和激光彩色传感器的数学模型和标定理论，提出了利用细丝靶标的BP神经网络标定方法。
设计并建立了三维数字化实验系统，根据提出的标定方法采用四层BP神经网络进行了标定实验研究，得到了BP神经网络的结构参数，完成了传感器的标定。
对实际彩色物体进行扫描实验，对标定理论和具体方法进行了验证，再现得到了三维彩色点云图，初步实现了空间信息和彩色信息的匹配。
Along with the society advancement and science development, especially the rapid development in computer technique and digitization technique, technique related to the digitization of 3D object catches more and more attention. 3D digitization technique can be widely applied in the fields of mechanism manufacture and design, body measurement and dress design, medicine, cultural relic protection and so on. In 3D digitization system, the mapping relationship between real world 3D information and computer virtual world information is derived by calibration. Calibration technique is the most important technique of 3D digitization technique. Different calibration methods towards different digitization systems are highlights at present. Furthermore, in order to realize the visualization of 3D color object, the matching of color information and space 3D information is also the study content of calibration technique.
Concentrating on these problems, the calibration of 3D color digitization system is done by BP neural network arithmetic, and the basic matching between space information and color information is realized. The main study and innovation are as follows:
The mathematics model and calibration theory of laser 3D sensor and laser color sensor has been studied. Calibration technique based on BP neural network was presented, which use a filament target as calibration target.
3D digitization experimental system was designed and built. Calibration study was carried out by using a four-layers BP neural network and structure parameters was got from the calibration.
Real color object was scanned to verify the calibration theory and methods. 3D color point cloud was obtained, and the basic matching of space information and color information is realized.
引文
许智钦, 便携式彩色三维激光扫描系统的研究, 天津大学博士论文，2002
http://www.cyberware.com
http://www.tecmath.com
Janne Haverinen,Juha Rōning, A 3－D scanner capturing range and color, Scandinavian symposium on robotics, 1999，Oct 14-15
B.Xu,Y.huang et.al.,Body scanning and modeling for custom fit garments, Journal of textile and apparel technology and management，Spring 2002， 2(2)
Andrew Certain, Wemer Stuetzle, Automatic body measurement for mass customization of garments, Proceedings of the second international conference on 3-D digital image and modeling, 1999, 405-412
W.-S.Lee, N.Magnenat-Thalmann Fast head modeling for animation Image and vision computing，18(2000)355-364 Elsevier science
Sebastian Weik, A passive full body scanner using shape from silhouettes, International conference on pattern recognition Vol.1 September 03-08,2000 IEEE
Chi-Yuan Yu, Yu-Hung Lo, Wen-Ko Chiou, The 3D scanner for measuring body surface area: a simplified calculation in the Chinese adult, Applied Ergonomics 34(2003)273-278 Elsevier science
Yasemin Kuzu, Volker Rodehorst, Volumetric modeling using shape from silhouette, http://www.fpk.tu-berlin.de/~vr/papers/abstracts/TGJGD01a.phtml
Wolfgang Neim, Error analysis for silhouette-based 3D shape estimation from multiple views, Proc. of Intl. Workshop on Synthetic-Natural Hybrid Coding and 3D Imaging, 1997，143－146
Richard Szeliski, Rapid Octree construction from image sequences, Graphical models and image processing: image understanding, 1993，58(1): 23-32
Andrew Certain, Wemer Stuetzle, Automatic body measurement for mass customization of garments, Proceedings of the second international conference on 3-D digital image and modeling，1999，405-412
彭翔，张宗华，朱绍明等，基于白光数字莫尔条纹的三维数字成像系统，光
学学报，1999，19(10)：1401-1405
D.R.Burton，A.J.Goodall，J.T.Atkinson，M.J.Lalor， The use of carrier frequency shifting for the elimination of phase discontinuities in fourier transform profilometry，1995，Opt.Lasers Eng.23，245-257
刘维一，王肇圻，母国光等，彩色数字编码投影光栅三维轮廓术的研究，光学学报，2001，21(6)：687-690
M.Chang，K.H.Lin，Non-contact scanning measurement utilizing a space mapping method，1999，Opt.lasers Eng.30，503-512
G.Sansoni，S.Corini，S.Lazzari，R.Rodella，F.Docchio，Three-dimensional imaging based on gray-code light projection: characterization of the measuring algorithm and development of a measuring system for industrial applications，Applied Optics，1997，36(19)
Michael Petrov, Andrey Talapov,et.al. Optical 3D digitizers: bringing life to the virtual world. IEEE Comput. Graph. Appl., 1998,18(3):28-37
孙长库，叶声华，激光测量技术，天津大学出版社
许智钦 孙长库，3D 逆向工程技术，中国计量出版社
F.Weinhuas, V.devarajan, Texture mapping 3-D model of real-world scenes, ACM Comput.Surv., 1997, 29(4)：325-365
W. Faig. Calibration of close-range Photogrammetry systems: Mathematical formulation. Photogrammetric Eng. Remote Sensing, 1975, 41:1479-1486
W.Niem，H.Broszio，Mapping texture from multiple camera views onto 3D-object models for computer animation，in proceedings of the international workshop on stereoscopic and three dimensional imaging，Santorini，Greece，1995
张艳珍. 微机视觉系统相关理论及技术研究. 大连理工大学博士论文, 2001
袁野. 摄像机标定方法及边缘检测和轮廓跟踪算法研究. 大连理工大学博士论文, 2002
W. Faig. Calibration of close-range Photogrammetry systems: Mathematical formulation. Photogrammetric Eng. Remote Sensing, 1975, 41:1479-1485
R.Y.Tsai,”An efficient and accurate camera calibration technique for 3D machine vision”,In Proc.IEEE Conf.On Computer Vision and Patern Recognition,Miami Beach,FL, 1986，364-374
Junghee Jun, Choongwon Kim, Robust camera calibration using neural network, TENCON 99. Proceedings of the IEEE Region 10 Conference , 1999，1:15-17
Moumen T.Ahmed, ElSayed E.Hemayed, Aly A. Farag, Neurocalibration: a neural network that can tell camera calibration parameters, Computer Vision, 1999. The Proceedings of the Seventh IEEE International Conference on,?1999， 1：20-27
段发阶，计算机视觉检测基础理论及应用技术研究，天津大学博士论文，1994
Guangjun Zhang, A novel calibration approach to structured light 3D vision inspection, Optics & laser technology，2002，34(5)
Alan M. McIvor, Calibrationof a laser stripe profiler, http://www.is.irl.cri.nz/pubdoc/1999/3dim99-amm.pdf
胡守仁，余少波，戴葵，神经网络导论，国防科技大学出版社，1992
张军英，许进，二进前向人工神经网络――理论与应用， 西安电子科技大学出版社，2001
焦李成 神经网络系统理论 西安电子科技大学出版社 1990
王旭，王宏，王文辉，人工神经元网络原理与应用，东北大学出版社，2000
沈世镒，神经网络系统理论及其应用，科学出版社，1998
赵林明，胡浩云，魏德华，王树谦，多层前向人工神经网络，黄河水利出版社，1999
http://www.cyberware.com
http://www.tecmath.com
Janne Haverinen,Juha Rōning, A 3－D scanner capturing range and color, Scandinavian symposium on robotics, 1999，Oct 14-15
B.Xu,Y.huang et.al.,Body scanning and modeling for custom fit garments, Journal of textile and apparel technology and management，Spring 2002， 2(2)
Andrew Certain, Wemer Stuetzle, Automatic body measurement for mass customization of garments, Proceedings of the second international conference on 3-D digital image and modeling, 1999, 405-412
W.-S.Lee, N.Magnenat-Thalmann Fast head modeling for animation Image and vision computing，18(2000)355-364 Elsevier science
Sebastian Weik, A passive full body scanner using shape from silhouettes, International conference on pattern recognition Vol.1 September 03-08,2000 IEEE
Chi-Yuan Yu, Yu-Hung Lo, Wen-Ko Chiou, The 3D scanner for measuring body surface area: a simplified calculation in the Chinese adult, Applied Ergonomics 34(2003)273-278 Elsevier science
Yasemin Kuzu, Volker Rodehorst, Volumetric modeling using shape from silhouette, http://www.fpk.tu-berlin.de/~vr/papers/abstracts/TGJGD01a.phtml
Wolfgang Neim, Error analysis for silhouette-based 3D shape estimation from multiple views, Proc. of Intl. Workshop on Synthetic-Natural Hybrid Coding and 3D Imaging, 1997，143－146
Richard Szeliski, Rapid Octree construction from image sequences, Graphical models and image processing: image understanding, 1993，58(1): 23-32
Andrew Certain, Wemer Stuetzle, Automatic body measurement for mass customization of garments, Proceedings of the second international conference on 3-D digital image and modeling，1999，405-412
彭翔，张宗华，朱绍明等，基于白光数字莫尔条纹的三维数字成像系统，光
学学报，1999，19(10)：1401-1405
D.R.Burton，A.J.Goodall，J.T.Atkinson，M.J.Lalor， The use of carrier frequency shifting for the elimination of phase discontinuities in fourier transform profilometry，1995，Opt.Lasers Eng.23，245-257
刘维一，王肇圻，母国光等，彩色数字编码投影光栅三维轮廓术的研究，光学学报，2001，21(6)：687-690
M.Chang，K.H.Lin，Non-contact scanning measurement utilizing a space mapping method，1999，Opt.lasers Eng.30，503-512
G.Sansoni，S.Corini，S.Lazzari，R.Rodella，F.Docchio，Three-dimensional imaging based on gray-code light projection: characterization of the measuring algorithm and development of a measuring system for industrial applications，Applied Optics，1997，36(19)
Michael Petrov, Andrey Talapov,et.al. Optical 3D digitizers: bringing life to the virtual world. IEEE Comput. Graph. Appl., 1998,18(3):28-37
孙长库，叶声华，激光测量技术，天津大学出版社
许智钦 孙长库，3D 逆向工程技术，中国计量出版社
F.Weinhuas, V.devarajan, Texture mapping 3-D model of real-world scenes, ACM Comput.Surv., 1997, 29(4)：325-365
W. Faig. Calibration of close-range Photogrammetry systems: Mathematical formulation. Photogrammetric Eng. Remote Sensing, 1975, 41:1479-1486
W.Niem，H.Broszio，Mapping texture from multiple camera views onto 3D-object models for computer animation，in proceedings of the international workshop on stereoscopic and three dimensional imaging，Santorini，Greece，1995
张艳珍. 微机视觉系统相关理论及技术研究. 大连理工大学博士论文, 2001
袁野. 摄像机标定方法及边缘检测和轮廓跟踪算法研究. 大连理工大学博士论文, 2002
W. Faig. Calibration of close-range Photogrammetry systems: Mathematical formulation. Photogrammetric Eng. Remote Sensing, 1975, 41:1479-1485
R.Y.Tsai,”An efficient and accurate camera calibration technique for 3D machine vision”,In Proc.IEEE Conf.On Computer Vision and Patern Recognition,Miami Beach,FL, 1986，364-374
Junghee Jun, Choongwon Kim, Robust camera calibration using neural network, TENCON 99. Proceedings of the IEEE Region 10 Conference , 1999，1:15-17
Moumen T.Ahmed, ElSayed E.Hemayed, Aly A. Farag, Neurocalibration: a neural network that can tell camera calibration parameters, Computer Vision, 1999. The Proceedings of the Seventh IEEE International Conference on,?1999， 1：20-27
段发阶，计算机视觉检测基础理论及应用技术研究，天津大学博士论文，1994
Guangjun Zhang, A novel calibration approach to structured light 3D vision inspection, Optics & laser technology，2002，34(5)
Alan M. McIvor, Calibrationof a laser stripe profiler, http://www.is.irl.cri.nz/pubdoc/1999/3dim99-amm.pdf
胡守仁，余少波，戴葵，神经网络导论，国防科技大学出版社，1992
张军英，许进，二进前向人工神经网络――理论与应用， 西安电子科技大学出版社，2001
焦李成 神经网络系统理论 西安电子科技大学出版社 1990
王旭，王宏，王文辉，人工神经元网络原理与应用，东北大学出版社，2000
沈世镒，神经网络系统理论及其应用，科学出版社，1998
赵林明，胡浩云，魏德华，王树谦，多层前向人工神经网络，黄河水利出版社，1999