基于彩色格雷编码的物体三维轮廓重构
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摘要
作为图像处理的一个分支,三维轮廓重构是对物体表面形貌进行恢复的技术,它是获取被测物体表面空间三维坐标的主要手段之一。不同于传统的二维视图,三维重构结果蕴含高度信息,因此能够更加真实、完整的反映客观物体。正是基于三维轮廓重构技术的实际意义,它在逆向工程、医疗诊断、工业生产、文化古迹的重建等领域都有着广泛的实际应用和很大的商业价值。在众多的三维轮廓重构方法中,光学方法由于具有非接触性、高精度、测量速度快等优势日益成为研究热点。除常用的相位测量法、干涉测量法、傅里叶变换法等光学方法外,利用投影光的色彩信息获取物体表面形貌的结构光方法是目前广泛使用的方法,同时也是该领域的重点研究方向。
本文研究了一种利用彩色格雷编码的方法对被测物体进行三维轮廓重构,论文工作主要包含以下几个方面:
首先,本文介绍了多种三维轮廓重构方法,并详细阐述该领域目前的研究现状和发展趋势。以结构光方法为重点,讲解了结构光方法的基本原理及应用范围,对其中多种方法进行分析比较,并根据编码结构光方法的基本原理,建立了数学分析模型。
其次,本文阐述了彩色RGB图像的组成原理,在考虑系统抗干扰能力的基础上,设计了一种彩色格雷编码方案,其中详细介绍了条纹编码、解码、码字修正以及为增加物体表面细节的纹理映射技术,同时对系统标定方法进行论述。
再次,以原理分析为依据,利用MATLAB软件平台进行模拟重构。在验证设计方案理论可行性的基础上,详细考虑外界环境因素的影响,在暗室环境中搭建实验平台,对实际物体进行重构实验,并给出实验结果及误差分析。
实验证明,本文提出的彩色格雷编码方案能够有效重构表面含有颜色信息的物体,因此该方法具有可行性。论文所做的工作为今后研究基于编码结构光方法的三维轮廓重构技术提供了参考和帮助。
As one branch of image processing, 3D reconstruction technology which is a key mean of obtaining 3D space coordinates is used for recovering object's surface. Compared with traditional two dimensional view, 3D reconstruction result contains height information, so it is able to reflect object more really and completely. Based on practical significance of 3D reconstruction, the technology has wide application and extremely high commercial value in the fields of reverse engineering、medical diagnosis、industrial production and reconstruction of culture historic site. Among many 3D reconstruction methods, optical method is more and more becoming research focus due to its non-contact character、high precision、high measurement speed. Besides phase method、interferometry method、fourier transform method etc, structured light method projecting light which is connected with color information on the surface of an object is used extensively and considered as a major research direction.
In the paper, a color gray code reconstruction method is carried out. The main research topics are as follows:
Firstly, many 3D reconstruction methods are introduced, meanwhile, current status and development trend in the area are described in detail. Emphasized on structured light method, not only its basis principle and application range are explained, but also various methods are analyzed and compared. Then mathematical model is established according to the principle of coding structured light method.
Secondly, the theory of constitution of image combined by RGB is elaborated, as considering system's anti-interfering ability, a color gray code proposal is designed. Afterwards, pattern encoding、pattern decoding、codeword correction、texture mapping which is used to increase details of object's surface are introduced. Then, the calibration method of the whole system is precisely deduced.
Finally, on the basis of principle analysis, the MATLAB software platform is used to make analog reconstruction. After the efficiency of the theory being checked out, considering carefully the effect of environment factors, an experimental platform is made to reconstruct real object, also experimental result and error analysis are provided.
The experiment result proves that the color gray code method proposed in the paper is effective to reconstruct object which has color information on its surface. The research work in the paper provides reference and help for 3D reconstruction technology based on coding structured light in future.
本文研究了一种利用彩色格雷编码的方法对被测物体进行三维轮廓重构,论文工作主要包含以下几个方面:
首先,本文介绍了多种三维轮廓重构方法,并详细阐述该领域目前的研究现状和发展趋势。以结构光方法为重点,讲解了结构光方法的基本原理及应用范围,对其中多种方法进行分析比较,并根据编码结构光方法的基本原理,建立了数学分析模型。
其次,本文阐述了彩色RGB图像的组成原理,在考虑系统抗干扰能力的基础上,设计了一种彩色格雷编码方案,其中详细介绍了条纹编码、解码、码字修正以及为增加物体表面细节的纹理映射技术,同时对系统标定方法进行论述。
再次,以原理分析为依据,利用MATLAB软件平台进行模拟重构。在验证设计方案理论可行性的基础上,详细考虑外界环境因素的影响,在暗室环境中搭建实验平台,对实际物体进行重构实验,并给出实验结果及误差分析。
实验证明,本文提出的彩色格雷编码方案能够有效重构表面含有颜色信息的物体,因此该方法具有可行性。论文所做的工作为今后研究基于编码结构光方法的三维轮廓重构技术提供了参考和帮助。
As one branch of image processing, 3D reconstruction technology which is a key mean of obtaining 3D space coordinates is used for recovering object's surface. Compared with traditional two dimensional view, 3D reconstruction result contains height information, so it is able to reflect object more really and completely. Based on practical significance of 3D reconstruction, the technology has wide application and extremely high commercial value in the fields of reverse engineering、medical diagnosis、industrial production and reconstruction of culture historic site. Among many 3D reconstruction methods, optical method is more and more becoming research focus due to its non-contact character、high precision、high measurement speed. Besides phase method、interferometry method、fourier transform method etc, structured light method projecting light which is connected with color information on the surface of an object is used extensively and considered as a major research direction.
In the paper, a color gray code reconstruction method is carried out. The main research topics are as follows:
Firstly, many 3D reconstruction methods are introduced, meanwhile, current status and development trend in the area are described in detail. Emphasized on structured light method, not only its basis principle and application range are explained, but also various methods are analyzed and compared. Then mathematical model is established according to the principle of coding structured light method.
Secondly, the theory of constitution of image combined by RGB is elaborated, as considering system's anti-interfering ability, a color gray code proposal is designed. Afterwards, pattern encoding、pattern decoding、codeword correction、texture mapping which is used to increase details of object's surface are introduced. Then, the calibration method of the whole system is precisely deduced.
Finally, on the basis of principle analysis, the MATLAB software platform is used to make analog reconstruction. After the efficiency of the theory being checked out, considering carefully the effect of environment factors, an experimental platform is made to reconstruct real object, also experimental result and error analysis are provided.
The experiment result proves that the color gray code method proposed in the paper is effective to reconstruct object which has color information on its surface. The research work in the paper provides reference and help for 3D reconstruction technology based on coding structured light in future.
引文
[1]唐泽圣.三维数据场可视化[M].北京:清华大学出版社,1999.
[2]苏显渝,李继陶.信息光学[M].北京:科学出版社,1999.
[3]邵双运.光学三维测量技术与应用[J].现代仪器,2008(3):10-13.
[4]Bengt Nilsson,Torgny E.Carlsson.Direct three-dimensional shape measurement by digital light-in-flight holography[J].Applied Optics,1998,37(34):7954-7959.
[5]乐开端,王创社,赵宏等.大动态范围形变测量[J].光子学报,1998,27(6):558-562.
[6]Giovanna Sansoni,Luca Biancardi,Umberto Minoni et al.A Novel,Adaptive System for 3-D Optical Profilometry Usinga Liquid Crystal Light Projector[J].IEEE Trans.Instrumentation and Measurement,1994,43(4):555-566.
[7]Leonard H.Bieman,Kevin G.Harding.3D imaging using a Unique Refractive Optic Design to Combine Moire and Stereo[J].Proc.SPIE,1997,3204(2):2-10.
[8]Y.Y.Hung,L.Lin,H.M.Shang et al.Practical three-dimensional computer vision techniques for full-field surface measurement[J].opt.Eng,2000,39(1):143-149.
[9]Mitsuo Takeda,Kazuhiro Mutoh.Fourier transform profilometry for the automatic measurement of 3-D object shapes[J].Applied Optics,1983,22(24):3977-3982.
[10]张可.基于双目立体视觉原理的自由曲面三维重构[D].武汉:华中科技大学机械学院,2005.
[11]李永怀,冯其波.光学三维轮廓测量技术进展[J].激光与红外,2005,35(3):143-147.
[12]Giovanna Sansoni,Stefano Corini,Sara Lazzari et al.3-D Imaging of surfaces for industrial applications:integration of structured light projection,Gray code projection and projector-camera calibration for improved performance[J].Proc.SPIE,1996,2661:88-96.
[13]J.Tajima,M.Iwakawa.3-D data acquisition by rainbow range finder[C].10th International Conference on Pattern Recognition.Atlantic,USA,1990:309-313.
[14]Frank Chen,Gordon M.Brown,Mumin Song.Overview of three-dimensional shape measurement using optical methods[J].Opt.Eng,2000,39(1):10-22.
[15]巩绪庆,达飞鹏,郑君立.光栅投影三维测量在逆向工程中的应用[J].测控技术,2003,22(7):51-53.
[16]谭夏梅,梁利东.基于地层轮廓的三维重构的设计和实现[J].计算机应用与软件,2009,26(3):205-207.
[17]胡家升,凌伟,黄廉卿等.遥感中的立体成像技术[J].光学学报,1997,17(2):222-226.
[18]J.L.Posdamer,M.D.Altschuler.Surface measurement by space-encoded projected beam systems[J].Computer Graphics and Image Processing.1982,18(1):1-17.
[19]R.J.Valkenburg,M.Iwakawa.Accurate 3d measurement using a structured light system [J].Image and Vision Computing,1995,16(2):99-110.
[20]Giovanna Sansoni,Sara Lazzari,Matteo Carcocci et al.Development and characterization of a 3D measuring system based on integration of gray code and shift light projection[J].Proc.SPIE,1997,3203:2-10.
[21]Peisen S.Huang,Qingying Hu,Fu-Pen Chiang.Color-encoded digital fringe projection technique for high-speed three-dimensional surface contouring[J].Opt.Eng,1999,38(6):1065-1071.
[22]Ayumi Iso,Toshiyuki Tanaka.3D Reconstruction of Facial Shape using Color Stripe Projection[C].SICE Annual Conference.Japan,2008:3092-3095.
[23]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[J].光学学报,2001,21(6):687-690.
[24]刘维一,于德月.用彩色二维编码测量动态物体三维轮廓的方法[J].光电子·激光,2002,13(2):169-172.
[25]Su Xianyu,Zhang Qican,Xiang Liqun.Optical 3D shape measurement for dynamic process [J].Optoelectronics Lettrs,2008,4(1):55-58.
[26]李勇,苏显渝.可获取彩色纹理的PMP三维测量系统[J].浙江师范大学学报,2006,29(1):37-41.
[27]朱清溢,苏显渝,肖焱山等.基于最大色差彩色组合编码的三维面形测量方法[J].激光技术,2006,30(4):340-343.
[28]吕艳娜.基于计算机编码彩色结构光三维测量技术研究[D].武汉:华中科技大学,2006.
[29]Li Zhang,Brian Curless,Steven M.Seitz.Rapid Shape Acquisition Using Color Structured Light and Multi-pass Dynamic Programming[C].First International Symposium on 3D Data Processing Visualization and Transmission.Padova,Italy,2002:1-13.
[30]Wei-Hung Su.Color-encoded fringe projection for 3D shape measurements[J].OPTICS EXPRESS,2007,15(20):13167-13181.
[31]J.Salvi,J.Batlle,E.Mouaddib.A robust-coded pattern projection for dynamic 3D scene measurement[J].Pattern Recognition Letters,1998,19:1055-1065.
[32]Rafael C.Gonzalez,Richard E.Woods,Steven L.Eddins.数字图像处理(MATLAB版)[M].北京:电子工业出版社,2005.
[33]胡家升.光学工程导论(第二版)[M].大连:大连理工大学出版社,2005.
[34]Jiahui Pan,Peisen S.Huang,Fu-Pen Chiang.Color-coded binary fringe projection technique for 3-D shape measurement[J].Optical Engineering,2005,44(2):0236061-0236069.
[35]Jiahui Pan,Peisen S.Huang,Fu-Pen Chiang.Color phase-shifting technique for three-dimensional shape measurement[J].Optical Engineering,2006,45(1):0136021-0136029.
[36]Yuan-Hao Yeh,I-Cheng Chang et al.A new fast and high-resolution 3D imaging system with color structured light[J].Proc.SPIE,2002,4925:645-654.
[37]唐泽圣,周嘉玉,李新友.计算机图形学基础[M].北京:清华大学出版社,1999.
[38]Ganapathy S.Decomposition of transformation matrics for robot vision[C].IEEE International Conference on Robotics and Automation.Holmdel,New Jersey,1984,1:130-139.
[39]邱茂林,马颂德,李毅.计算机视觉中摄像定标综述[J].自动化学报,2000,17(01):5-8.
[40]Tsai.R.Y.A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the Shelf TV Cameras and Lenses[J].IEEE Journal of Robotics and Automation,1987,17(7):173-180.
[41]Weng J.Y,Cohen P,Herniou M.Camera Calibration with Distortion Models and Accuracy Evaluation[J].IEEE Trans.PAMI,1992,14(10):965-980.
[42]于起峰,陆宏伟,刘肖琳.基于图像的精密测量与运动测量[M].北京:科学出版社,2002.
[2]苏显渝,李继陶.信息光学[M].北京:科学出版社,1999.
[3]邵双运.光学三维测量技术与应用[J].现代仪器,2008(3):10-13.
[4]Bengt Nilsson,Torgny E.Carlsson.Direct three-dimensional shape measurement by digital light-in-flight holography[J].Applied Optics,1998,37(34):7954-7959.
[5]乐开端,王创社,赵宏等.大动态范围形变测量[J].光子学报,1998,27(6):558-562.
[6]Giovanna Sansoni,Luca Biancardi,Umberto Minoni et al.A Novel,Adaptive System for 3-D Optical Profilometry Usinga Liquid Crystal Light Projector[J].IEEE Trans.Instrumentation and Measurement,1994,43(4):555-566.
[7]Leonard H.Bieman,Kevin G.Harding.3D imaging using a Unique Refractive Optic Design to Combine Moire and Stereo[J].Proc.SPIE,1997,3204(2):2-10.
[8]Y.Y.Hung,L.Lin,H.M.Shang et al.Practical three-dimensional computer vision techniques for full-field surface measurement[J].opt.Eng,2000,39(1):143-149.
[9]Mitsuo Takeda,Kazuhiro Mutoh.Fourier transform profilometry for the automatic measurement of 3-D object shapes[J].Applied Optics,1983,22(24):3977-3982.
[10]张可.基于双目立体视觉原理的自由曲面三维重构[D].武汉:华中科技大学机械学院,2005.
[11]李永怀,冯其波.光学三维轮廓测量技术进展[J].激光与红外,2005,35(3):143-147.
[12]Giovanna Sansoni,Stefano Corini,Sara Lazzari et al.3-D Imaging of surfaces for industrial applications:integration of structured light projection,Gray code projection and projector-camera calibration for improved performance[J].Proc.SPIE,1996,2661:88-96.
[13]J.Tajima,M.Iwakawa.3-D data acquisition by rainbow range finder[C].10th International Conference on Pattern Recognition.Atlantic,USA,1990:309-313.
[14]Frank Chen,Gordon M.Brown,Mumin Song.Overview of three-dimensional shape measurement using optical methods[J].Opt.Eng,2000,39(1):10-22.
[15]巩绪庆,达飞鹏,郑君立.光栅投影三维测量在逆向工程中的应用[J].测控技术,2003,22(7):51-53.
[16]谭夏梅,梁利东.基于地层轮廓的三维重构的设计和实现[J].计算机应用与软件,2009,26(3):205-207.
[17]胡家升,凌伟,黄廉卿等.遥感中的立体成像技术[J].光学学报,1997,17(2):222-226.
[18]J.L.Posdamer,M.D.Altschuler.Surface measurement by space-encoded projected beam systems[J].Computer Graphics and Image Processing.1982,18(1):1-17.
[19]R.J.Valkenburg,M.Iwakawa.Accurate 3d measurement using a structured light system [J].Image and Vision Computing,1995,16(2):99-110.
[20]Giovanna Sansoni,Sara Lazzari,Matteo Carcocci et al.Development and characterization of a 3D measuring system based on integration of gray code and shift light projection[J].Proc.SPIE,1997,3203:2-10.
[21]Peisen S.Huang,Qingying Hu,Fu-Pen Chiang.Color-encoded digital fringe projection technique for high-speed three-dimensional surface contouring[J].Opt.Eng,1999,38(6):1065-1071.
[22]Ayumi Iso,Toshiyuki Tanaka.3D Reconstruction of Facial Shape using Color Stripe Projection[C].SICE Annual Conference.Japan,2008:3092-3095.
[23]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[J].光学学报,2001,21(6):687-690.
[24]刘维一,于德月.用彩色二维编码测量动态物体三维轮廓的方法[J].光电子·激光,2002,13(2):169-172.
[25]Su Xianyu,Zhang Qican,Xiang Liqun.Optical 3D shape measurement for dynamic process [J].Optoelectronics Lettrs,2008,4(1):55-58.
[26]李勇,苏显渝.可获取彩色纹理的PMP三维测量系统[J].浙江师范大学学报,2006,29(1):37-41.
[27]朱清溢,苏显渝,肖焱山等.基于最大色差彩色组合编码的三维面形测量方法[J].激光技术,2006,30(4):340-343.
[28]吕艳娜.基于计算机编码彩色结构光三维测量技术研究[D].武汉:华中科技大学,2006.
[29]Li Zhang,Brian Curless,Steven M.Seitz.Rapid Shape Acquisition Using Color Structured Light and Multi-pass Dynamic Programming[C].First International Symposium on 3D Data Processing Visualization and Transmission.Padova,Italy,2002:1-13.
[30]Wei-Hung Su.Color-encoded fringe projection for 3D shape measurements[J].OPTICS EXPRESS,2007,15(20):13167-13181.
[31]J.Salvi,J.Batlle,E.Mouaddib.A robust-coded pattern projection for dynamic 3D scene measurement[J].Pattern Recognition Letters,1998,19:1055-1065.
[32]Rafael C.Gonzalez,Richard E.Woods,Steven L.Eddins.数字图像处理(MATLAB版)[M].北京:电子工业出版社,2005.
[33]胡家升.光学工程导论(第二版)[M].大连:大连理工大学出版社,2005.
[34]Jiahui Pan,Peisen S.Huang,Fu-Pen Chiang.Color-coded binary fringe projection technique for 3-D shape measurement[J].Optical Engineering,2005,44(2):0236061-0236069.
[35]Jiahui Pan,Peisen S.Huang,Fu-Pen Chiang.Color phase-shifting technique for three-dimensional shape measurement[J].Optical Engineering,2006,45(1):0136021-0136029.
[36]Yuan-Hao Yeh,I-Cheng Chang et al.A new fast and high-resolution 3D imaging system with color structured light[J].Proc.SPIE,2002,4925:645-654.
[37]唐泽圣,周嘉玉,李新友.计算机图形学基础[M].北京:清华大学出版社,1999.
[38]Ganapathy S.Decomposition of transformation matrics for robot vision[C].IEEE International Conference on Robotics and Automation.Holmdel,New Jersey,1984,1:130-139.
[39]邱茂林,马颂德,李毅.计算机视觉中摄像定标综述[J].自动化学报,2000,17(01):5-8.
[40]Tsai.R.Y.A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the Shelf TV Cameras and Lenses[J].IEEE Journal of Robotics and Automation,1987,17(7):173-180.
[41]Weng J.Y,Cohen P,Herniou M.Camera Calibration with Distortion Models and Accuracy Evaluation[J].IEEE Trans.PAMI,1992,14(10):965-980.
[42]于起峰,陆宏伟,刘肖琳.基于图像的精密测量与运动测量[M].北京:科学出版社,2002.