人体足部激光三维扫描系统研制
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摘要
本文采用基于激光三角法原理的结构光照明方式设计了一套针对人体足部的激光三维扫描系统,对系统的关键技术进行了研究,成功研制出人体足部激光扫描系统样机。主要工作如下:
1、在查阅国内外相关文献的基础上,分析了基于激光三角法的足部激光三维扫描系统原理,推导了基于摄像机模型的足部表面轮廓点与对应光带像素点的映射关系。
2、设计了扫描系统的总体结构,包括图像采集系统、同步运动系统和机械结构,并编写了调试控制程序,实现了图像采集系统与运动系统的同步运行。
3、对足部激光扫描系统进行了标定,包括摄像机标定和系统全局标定。采用黑白棋盘格标定靶和张正友算法标定了摄像机内部参数;设计了精密的细丝标定靶,在摄像机标定的基础上,采用直接线性变换方法,得到世界坐标与像素坐标之间的变换矩阵,从而完成了足部激光扫描系统的全局标定。
4、对扫描系统安装调试后,进行了人脚模型扫描实验和标准金属块扫描实验。分析点云截面,得到长度方向、高度方向、宽度方向的相对测量误差小于0.6%。系统技术指标达到:扫描范围:360mm×120mm×160mm(长度×高度×宽度),典型分辨率:1mm×0.2mm×0.3mm(长度×高度×深度)。
Basing on laser triangulation principle and structured illumination, this dissertation designed a set of laser 3-D scanning system for foot, studied the key technology of this system, and successfully developed the prototype of foot laser scanning system.
The main work includes:
1. After consulting relative references domestic and abroad, the principle of the scanning system based on laser triangulation principle is analyzed. Basing on the camera model, the mapping relationship between the surface profile points of foot and the corresponding pixel points of light band is deduced.
2. The general structure is designed which includes image capture system, synchronous motion system and mechanical structure. The debug and control program is completed which realized the synchronous running of the image capture system and motion system.
3. The calibration of foot laser scanning system is implemented, including the camera calibration and global calibration. A black-white chessboard calibration target and Zhang Zhengyou’s algorithm are adopted to calculate the intrinsic parameters of cameras. Basing on these, an accurate filament calibration target is designed to calculate the transformation matrix between world coordinates and pixel coordinates by DLT method so as to complete the global calibration of the foot laser scanning system.
4. After the installation and adjustment of scanning system, the scanning tests on the foot model and standard metal block were completed. Analysis on the section of point cloud shows that the relative measurement error in the length direction, height direction and depth direction is less than 0.6%. The technical indexes reach that: scanning range of 360mm×120mm×160mm(length×height×width), typical resolution of 1mm×0.2 mm×0.3mm(length×height×depth).
1、在查阅国内外相关文献的基础上,分析了基于激光三角法的足部激光三维扫描系统原理,推导了基于摄像机模型的足部表面轮廓点与对应光带像素点的映射关系。
2、设计了扫描系统的总体结构,包括图像采集系统、同步运动系统和机械结构,并编写了调试控制程序,实现了图像采集系统与运动系统的同步运行。
3、对足部激光扫描系统进行了标定,包括摄像机标定和系统全局标定。采用黑白棋盘格标定靶和张正友算法标定了摄像机内部参数;设计了精密的细丝标定靶,在摄像机标定的基础上,采用直接线性变换方法,得到世界坐标与像素坐标之间的变换矩阵,从而完成了足部激光扫描系统的全局标定。
4、对扫描系统安装调试后,进行了人脚模型扫描实验和标准金属块扫描实验。分析点云截面,得到长度方向、高度方向、宽度方向的相对测量误差小于0.6%。系统技术指标达到:扫描范围:360mm×120mm×160mm(长度×高度×宽度),典型分辨率:1mm×0.2mm×0.3mm(长度×高度×深度)。
Basing on laser triangulation principle and structured illumination, this dissertation designed a set of laser 3-D scanning system for foot, studied the key technology of this system, and successfully developed the prototype of foot laser scanning system.
The main work includes:
1. After consulting relative references domestic and abroad, the principle of the scanning system based on laser triangulation principle is analyzed. Basing on the camera model, the mapping relationship between the surface profile points of foot and the corresponding pixel points of light band is deduced.
2. The general structure is designed which includes image capture system, synchronous motion system and mechanical structure. The debug and control program is completed which realized the synchronous running of the image capture system and motion system.
3. The calibration of foot laser scanning system is implemented, including the camera calibration and global calibration. A black-white chessboard calibration target and Zhang Zhengyou’s algorithm are adopted to calculate the intrinsic parameters of cameras. Basing on these, an accurate filament calibration target is designed to calculate the transformation matrix between world coordinates and pixel coordinates by DLT method so as to complete the global calibration of the foot laser scanning system.
4. After the installation and adjustment of scanning system, the scanning tests on the foot model and standard metal block were completed. Analysis on the section of point cloud shows that the relative measurement error in the length direction, height direction and depth direction is less than 0.6%. The technical indexes reach that: scanning range of 360mm×120mm×160mm(length×height×width), typical resolution of 1mm×0.2 mm×0.3mm(length×height×depth).
引文
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[26]吴春福,基于特征线的鞋样曲面参数化技术研究与实现:[硕士学位论文],杭州:浙江大学,2004
[27]http://www.nectardesign.com/industrial-products/
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[34]吴庆阳,线结构光三维传感中关键技术研究:[博士学位论文],成都;四川大学,2006
[35]吴昊,牙结构模型三维成像:[硕士学位论文],南京;东南大学,2005
[36]丘理,中国人群脚型规律的研究(之一)——中国成人脚型基本规律,中国皮革,2005:135~139
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[41]OK系列图像采集卡编程手册,2007
[42]李晓洁,激光三维人体扫描同步控制与图像采集系统的研制:[硕士学位论文],天津;天津大学,2007
[43]MPC07SP操作手册,2006
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[45]M.A.G. Izquierdo, M.T. Sanchez, A. Ibanez, Sub-pixel measurement of 3D surfaces by laser scanning, Sensor and actuator, A: Physical. 1999,76(1-3):1~8
[46]Y.I. Adbel-Aziz and H.M. Karara, Direct linear transformation from comparator coordinates into object space coordinates, ASP Symposium on Close-Range Photometric, 1971:1~18
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[48]R.Y Tsai. An efficient and accurate camera calibration technique for 3D machine vision. Proceedings of IEEE Conf. on computer Vision and Pattern Recognition. Miami Beach, FL. 1986:364~374
[49] R.Y Tsai. A versatile camera calibration technique for high accuracy 3D machine vision metrology using off-the-shelf TV camera and lenses, IEEE Journal of Robotics and Automation, 3(4)1987:323~344
[50]Weng J Y, Cohen P, Hemiou M, Camera calibration with distortion model and accuracy evaluation, IEEE-PAMI, 1982:965~980
[51]LW. Faig. Calibration of the close range photometric system: Mathematical formulation photometric Eng. Remote Sensing. 1975, 41:1479~1486
[52]Ma S D, A self-calibration technique for active vision system, IEEE Transaction on Robotics and Automation, 1996, 12(1):114~120
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[54]Du F, Brady M, Self-calibration of the Intrinsic Parameters of Camera for Active Vision System, In Proc IEEE Conf on Computer Vision and Pattern Recognition, 1993:477~482
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[2]顾铭秋,基于特征信息的三维鞋楦处理中的若干技术及其应用:[硕士学位论文],杭州;浙江大学,2005
[3]罗仕鉴,朱上上,孙守迁,人体测量技术的现状与发展趋势,人类工效学,2002,8(2):31~34
[4]郑嫦娥,鞋楦数字化测量及数据处理技术的研究:[硕士学位论文],北京;北京林业大学,2003
[5] Hancock J, Langer D, et al. Active laser radar for high-performance measurements. IEEE International Conference on Robotics and Automation, 1998, 2:1465~1470
[6]陈湛旭,唐志列,万巍,基于声透镜成像系统的光声层析成像,物理学报,2006,55(8):4365~4370
[7]王瑞永,马绪臣,张万林,健康成年人颞下颌关节间隙锥形束计算机体层摄影术测量分析,北京大学学报(医学版),2007,39(5):503~506
[8]李成贵,李行善,强锡富,三维表面微观形貌的测量方法,宇航计测技术,2000,20(4):2~10
[9]苏显渝,李继陶,三维面形测量技术的新进展,物理,1996,25(10):614~620
[10]闫贺庆,尚鹏,于力牛,用层切法反求牙冠面,上海交通大学学报,2003,37(1):37~43
[11]吕且妮,数字全息技术及其在粒子场中的应用研究:[博士学位论文],天津;天津大学,2003
[12]Frankchen, Wang Shizhen, Review for the measuring of 3D object by optical method, Cloud Light Technology, 2002, 34(2): 36~47
[13]Marella de Angelis, ect. Analysis of moiréfrings for measuring the focal length of lenses, Optics and Laser in Engineering, 1998(30):279~286
[14]Guan-Chang Jin, Nai-Keng Bao, Surface detection and 3D profilometry for microstructure using optical metrology, Optics and Lasers in Engineering, 2001(36):1~9
[15]Jarvis R A, A perspection in range finding techniques for computer vision, IEEE Trans. Pattern Anal. Mach Intell, 1983, 5(2)
[16]罗涧辉,三维物体检测与重构中图像处理的应用和研究:[硕士学位论文],南京;东南大学,2006
[17]周德芳,基于面结构光投影法的三维物体形状检测与重构系统:[硕士学位论文],南京;东南大学,2004
[18]陈东岚,基于面结构光投影法的三维物体形状检测技术的研究:[硕士学位论文],南京;东南大学,2003
[19]www.vitronic.com
[20]www.corpus-e.com
[21]www.vorum.com
[22]http://www.dh.aist.go.jp/
[23]荣国栋,孟祥旭,Inspeck 3D-DF三维扫描仪在数字博物馆中的应用,计算机工程与应用,2002,16:237~253
[24]冯秋峰,任秋实,李万荣,Inspeck成像扫描仪三维成像技术,激光与光电子学进展,2006,43(4):40~43
[25]Blais,F.(Natl Research Council Canada/IIT); Bisson,J.A.; Williams, S. Shape Grabber FootScanner: A low cost high accuracy 3-D system for the acquisition of human feet, Proceedings of SPIE - The International Society for Optical Engineering, v 3958, 2000:178~186
[26]吴春福,基于特征线的鞋样曲面参数化技术研究与实现:[硕士学位论文],杭州:浙江大学,2004
[27]http://www.nectardesign.com/industrial-products/
[28]黄炎,基于立体视觉的脚型测量系统中的关键技术研究:[硕士学位论文],杭州:浙江大学,2006
[29]苏显渝,张冠申,陈泽先,鞋楦三维面形光电自动测量系统,光学工程,1989,12(6):1~5
[30]王玉秀,李晓久,人体足部非接触测量系统的研究,天津工业大学学报,2004,23(5):91~97
[31]孙长库,叶声华,激光测量技术,天津:天津大学出版社,2001,99~101
[32]曾爱华,结构光组合式三维面形测量系统研究:[硕士学位论文],上海;上海大学,2005
[33]陶立,彩色三维激光扫描测量系统关键技术的研究:[博士学位论文],天津;天津大学,2005
[34]吴庆阳,线结构光三维传感中关键技术研究:[博士学位论文],成都;四川大学,2006
[35]吴昊,牙结构模型三维成像:[硕士学位论文],南京;东南大学,2005
[36]丘理,中国人群脚型规律的研究(之一)——中国成人脚型基本规律,中国皮革,2005:135~139
[37]徐军,陶开山,人体工程学概论,北京:中国纺织工业出版社,2002
[38]辛华泉,人类工程设计,武汉:湖北美术出版社,2006
[39]徐磊青,人体工程学与环境行为学,北京:中国建筑工业出版社,2006
[40](美)阿尔文·R·蒂利,亨利·德赖弗斯事务所,人体工程学图解设计中的人体因素(朱涛译),北京:中国建筑工业出版社,1998
[41]OK系列图像采集卡编程手册,2007
[42]李晓洁,激光三维人体扫描同步控制与图像采集系统的研制:[硕士学位论文],天津;天津大学,2007
[43]MPC07SP操作手册,2006
[44]田丰,赵宏,陈文艺,利用空间坐标变换的三维测量系统,光学学报,1998,18(2):199
[45]M.A.G. Izquierdo, M.T. Sanchez, A. Ibanez, Sub-pixel measurement of 3D surfaces by laser scanning, Sensor and actuator, A: Physical. 1999,76(1-3):1~8
[46]Y.I. Adbel-Aziz and H.M. Karara, Direct linear transformation from comparator coordinates into object space coordinates, ASP Symposium on Close-Range Photometric, 1971:1~18
[47]Luh J Y, Klaasen J A, A three dimensional vision by off-shelf system with multi-cameras, IEEE Trans PAMI, 1985, 7(1):35~45
[48]R.Y Tsai. An efficient and accurate camera calibration technique for 3D machine vision. Proceedings of IEEE Conf. on computer Vision and Pattern Recognition. Miami Beach, FL. 1986:364~374
[49] R.Y Tsai. A versatile camera calibration technique for high accuracy 3D machine vision metrology using off-the-shelf TV camera and lenses, IEEE Journal of Robotics and Automation, 3(4)1987:323~344
[50]Weng J Y, Cohen P, Hemiou M, Camera calibration with distortion model and accuracy evaluation, IEEE-PAMI, 1982:965~980
[51]LW. Faig. Calibration of the close range photometric system: Mathematical formulation photometric Eng. Remote Sensing. 1975, 41:1479~1486
[52]Ma S D, A self-calibration technique for active vision system, IEEE Transaction on Robotics and Automation, 1996, 12(1):114~120
[53]Basu A, Active calibration: Alternative Strategy and Analysis, In Proc IEEE Confon Computer Vision and Pattern Recognition, 1993:495~500
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