基于投影条纹的物体三维形貌精密测量方法的研究
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摘要
三维形貌测量技术已广泛应用于机器视觉、智能机器人控制、工业检测、生物医学等方面。人们对莫尔轮廓术,位相测量轮廓术,傅里叶变换轮廓术等三维形貌测量技术进行了大量的研究;由于具有很高的精度,位相测量轮廓术是其中一种重要的方法。在该方法中主要的研究热点和难点是寻找可靠的相位解包裹方法、提高相位测量精度及高精度的系统标定的方法,本文就这几个问题进行讨论,取得的研究成果如下:
1.推导了一种利用双频投影条纹莫尔特性的相位解包裹方法,能够简便地把主值相位场恢复为真实的相位场。
2.提出以双频投影条纹的条纹级数为坐标轴建立级数坐标系的分析方法,使得条纹级数及其误差的描述变得非常的直观。在条纹级数坐标系内,利用贝叶斯估计的方法对相移法求解的相位(条纹级数)进行修正,得到很好的效果。
3.提出一种对参考面(或标定面)相位进行修正的方法。拟合参考面(或标定面)上点的位置—相位关系,利用该关系对参考面(或标定面)相位进行修正,能够很好地去除相位误差。
4.提出一种新的系统标定的算法。通常的标定方法是标定出系统的真实物理量,本方法根据实际需要标定出系统参数的组合,使得标定方法简便且标定精度高。
5.提出并实现了一种通用投影系统仿真图制作方法,并根据该方法制作仿真图对本文提出的方法进行验证。
Optical 3-D profilometry has been widely used for machine vision, intelligent robots control, industry monitoring, biomedicine, etc. Several methods of those, such as moire technique, Phase Measuring Profilometry (PMP), Fourier Transformation Profilometry (FTP) have been exhaustively studied these years. Beacause of its higher accuracy, Phase Measuring Profilometry is one of the most important methods. There are several hot issues in the PMP research: unwrapping the phase reliably and calibrating the system accurately. My dissertation focuses on these two issues, and the major work done can be summarized as follows:1. A method that use double spacial frequency fringes to unwrap the phase full automaticlly has been deduced. This method, by using the moire characters of the two fringes, can easily acquire the actual phase from the main-value phase which is obtained by phase-shifting method.2. A method that employs the orders of projected fringes as axises to establish fringe-order-coordinate is presented. It makes the description of the fringe orders very direct and simple. In the fringe-order-coordinate, Bayes estimation method is used to amend the phase(or fringe orders), and a good result is obtained.3. A method that is used to amend the phase of reference plane (or calibration plane) has been put forward. With the phase worked out by phase-shifting method and unwrapping method, it is very easy to get the relationship between the position and phase of a point, which can be used to amend the phase of reference plane (or calibration plane). After the amending, the phase error can be largely reduced.4. A new calibration method has been used to get higher accuracy. This method is different from general calibration methods which always get the actual physical parameters of system. Howener, the combination of these parameters is calibrated in our method, which is convenient and has better accuracy.5. A method that is used to creat simulational images has been developed. In this method, a good many of factors which may influence the image, such as reflectivity and projection angle, have been discussed.
1.推导了一种利用双频投影条纹莫尔特性的相位解包裹方法,能够简便地把主值相位场恢复为真实的相位场。
2.提出以双频投影条纹的条纹级数为坐标轴建立级数坐标系的分析方法,使得条纹级数及其误差的描述变得非常的直观。在条纹级数坐标系内,利用贝叶斯估计的方法对相移法求解的相位(条纹级数)进行修正,得到很好的效果。
3.提出一种对参考面(或标定面)相位进行修正的方法。拟合参考面(或标定面)上点的位置—相位关系,利用该关系对参考面(或标定面)相位进行修正,能够很好地去除相位误差。
4.提出一种新的系统标定的算法。通常的标定方法是标定出系统的真实物理量,本方法根据实际需要标定出系统参数的组合,使得标定方法简便且标定精度高。
5.提出并实现了一种通用投影系统仿真图制作方法,并根据该方法制作仿真图对本文提出的方法进行验证。
Optical 3-D profilometry has been widely used for machine vision, intelligent robots control, industry monitoring, biomedicine, etc. Several methods of those, such as moire technique, Phase Measuring Profilometry (PMP), Fourier Transformation Profilometry (FTP) have been exhaustively studied these years. Beacause of its higher accuracy, Phase Measuring Profilometry is one of the most important methods. There are several hot issues in the PMP research: unwrapping the phase reliably and calibrating the system accurately. My dissertation focuses on these two issues, and the major work done can be summarized as follows:1. A method that use double spacial frequency fringes to unwrap the phase full automaticlly has been deduced. This method, by using the moire characters of the two fringes, can easily acquire the actual phase from the main-value phase which is obtained by phase-shifting method.2. A method that employs the orders of projected fringes as axises to establish fringe-order-coordinate is presented. It makes the description of the fringe orders very direct and simple. In the fringe-order-coordinate, Bayes estimation method is used to amend the phase(or fringe orders), and a good result is obtained.3. A method that is used to amend the phase of reference plane (or calibration plane) has been put forward. With the phase worked out by phase-shifting method and unwrapping method, it is very easy to get the relationship between the position and phase of a point, which can be used to amend the phase of reference plane (or calibration plane). After the amending, the phase error can be largely reduced.4. A new calibration method has been used to get higher accuracy. This method is different from general calibration methods which always get the actual physical parameters of system. Howener, the combination of these parameters is calibrated in our method, which is convenient and has better accuracy.5. A method that is used to creat simulational images has been developed. In this method, a good many of factors which may influence the image, such as reflectivity and projection angle, have been discussed.
引文
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[2] 惠梅,表面微观形貌测量中的相移算法与技术研究,清华大学,2001.
[3] 曹益平,基于数字微镜的位相测量轮廓术,四川大学,成都,2003.
[4] 薛莲,基于条纹频率分析的位相展丌新算法,四川大学,成都,2001.
[5] 王立元,位相测量轮廓术中相移误差的校正算法,四川大学,成都,2003.
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[2] 惠梅,表面微观形貌测量中的相移算法与技术研究,清华大学,2001.
[3] 曹益平,基于数字微镜的位相测量轮廓术,四川大学,成都,2003.
[4] 薛莲,基于条纹频率分析的位相展丌新算法,四川大学,成都,2001.
[5] 王立元,位相测量轮廓术中相移误差的校正算法,四川大学,成都,2003.
[6] Giovanna Sansoni,StefanoCorini,SaraLazzari,Rodella R,Docchil F. 3-D imagingof surfaces for industrial applications:integration of structured light projection,gray code projection and profectior-camera calibration for improved performance. SPIE, 1996(2661): 88～96
[7] Jordi Pages,Joaquim Salvi,Carles Matabosch. IMPLEMENTATION OF A ROBUST CODED STRUCTURED LIGHT TECHNIQUE FOR IMPLEMENTATION OF A ROBUST CODED STRUCTURED LIGHT TECHNIQUE FOR DYNAMIC 3D MEASUREMENTS.
[8] Nelson L. Chang. Interactive 3-D Media with Structured Light Scanning.2003
[9] Hans-Gerd Maas. Robust Automatic Surface Reconstruction with Structured Light.international Archives of Photogrammetry and Remote Sensing, 1992,ⅹⅹⅸ: 709～713
[10] Oleksandr A.Skydan,Michael j.Lalor, David R.Burton. Technique for phase measurement and surface reconstruction by use of colored structured light.Appl. Opt,2002,41 (29):6104～6117
[11] 王岩,郝颖明.基于结构光的三维测量及重建技术.现代计算机,1999
[12] 龙玺,钟约先,李仁举,由志福.结构光三维扫描测量的三维拼接技术.清华大学学报(自然科学版),2002,42(4):477～480
[13] 于起峰,基于图像的精密测量技术,科学出版社,北京,2002.
[14] 牛小兵,林玉池,赵美蓉,洪昕,程冬梅.光栅投影三维测量的原理及关键技术分析.仪器仪表学报,2001,22(4):203～205
[15] 尚小燕,权贵秦,田爱玲.光栅投影系统设计.西安科技学院学报,2002,22(3):364～366
[16] 黄文宇,龚建伟.基于傅里叶变换移相测量的相位测量轮廓术.北京理工大学学报,2000,20(6)
[17] 惠梅,王东生,邓年茂,李庆祥,徐毓娴.对移相误差不敏感的四帧相位算法.清华大学学报(自然科学版),2003,43(8):1017～1019
[18] 李万松,苏礼坤 and 苏显渝,位相测量轮廓术中的实时相位校正算法,In:第八届全国光电技术与系统学术会议,1999.
[19] 梁晓萍.位相测量轮廓术中相移误差和最佳相移次数的研究.光电工 程,1999,26(2):68～72
[20] 郭红卫,陈明仪.相移器平移误差与倾斜误差不敏感相移新算法.光学精密工程,2000,8(2)
[21] 詹总谦,钱俊,舒宁.基于区域分割和编码的相位解缠方法.武汉大学学报(信息科学版),2002,27(3)
[22] 刘晓军,章明,高咏生,李柱.基于图像分析技术的实用相位恢复去包裹技术.光学技术,2000,26(4)
[23] 江桂荣.双频相位测量轮廓术及其误差分析.应用光学,2003,24(6):38～40.
[24] 陈罡,赵毅.一种应用于反向工程的结构光相位求解技术.Die and Mould Technology,2004,44(3)
[25] Judge T.R,Bryanston -Cross P.J. Areview of phase unwrapping techniques in fringe analysis.Opt.Las Eng, 1994,21 (4): 199～209
[26] Wansong Li, Xianyu Su. Phase unwrapping algorithm based on phase fitting reliability in structured light projection.Opt.Eng,2002,41(6):1365～1372
[27] Catherine E. Towers, David P. Towers,Julian D.C. Jones. Time efficient Chinese remainder theorem algorithm for full-field fringe phase analysis in multi-wavelength interferometry. Optics Express, 2004, 12(6): 1136～1143
[28] 陆晓朋,何南忠,王能超.Gray码的逆反形式.云南大学学报(自然科学版),1997:297～299
[29] Erik Agrell, Johan Lassing, Erik G. Strim, and Tony Ottosson. On the optimality of the binary rected Gray code.2003
[30] Ghansler.D.Ritler. Paralled three-dimensional sensing by coler-coded triangulation. Appl. Opt, 1993, 32(35):7164～7168
[31] 邹建成,李国富,齐东旭.广义Gray码及其在数字图像置乱中的应用.高校应用数学学报,2002,17(3):363～370
[32] 张吴明,钟约先,由志福,李仁举,龙玺.基于结构光编码的相展开方法.光学技术,2002,28(5)
[33] 刘维一,王肇圻,母国光,方志良.两位二进制彩色编码光栅三维轮廓术.光电子.激光,2000,11(2)
[34] 胡长华,秦玉文.数字彩色编码方法研究.实验力学,1997,12(1)
[35] Jielin Li, Laurence G. Hassebrook, Chun Guan. Optimized two-frequency phase-measuring-profilometry light sensor temporal-noise sensitivity.Optical Society of America, 2003,20(1): 106～115
[36] Pramod K. Rastogi, Daniele Inaudi. Trends in Optical Nondestructive Testing and Inspection. 2000, 45～69
[37] 钟丽云,杨齐民,李川,杨丽波.投影条纹相位测量的一种新的计算方法.激光杂志,1999,20(4):31～37
[38] 杨福俊,云大真,于万明.投影栅相位法三维形貌自动检测应用中的问题.光电子.激 光,2000,11(5):525～528
[39] Qifeng Yu,Xiaohua Ding,Hongjun Oyang. A Calibration Method of Structured Light System With a planar Object.SPIE,2003,5144:420～430
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