基于FTP的动态物体三维面形测量系统的研究
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摘要
光学三维面形测量方法,以其非接触、测量速度快、精度高、易于在计算机控制下进行自动化测量等优势而得到深入研究和广泛应用。在众多的主动三维传感技术中,傅立叶变换轮廓术(Fourier Transform Profilometry,简称FTP)使得物体动态过程的测量变得可能,因为它只需要一帧参考条纹图和一帧变形条纹图就能将物体的三维形貌恢复出来。它的基本思想是利用信号的频谱特性来恢复被测物体的面形。
在工业生产流水线上产品质量的在线检测、冲压板几何形状检测、智能机器人运动控制、汽车制导中障碍检测、运动力学等方面,都需要对观察对象进行三维面形的测量。因此动态过程的三维面形测量在科学研究和工程应用领域具有重要意义。
本论文首先介绍了三维面形测量技术的重要意义和研究现状,并总结前人的研究成果,给出了几种目前应用最为广泛的主动式光学三维传感方法的基本原理,比较了其优缺点。文中重点介绍了傅里叶变换轮廓术的基本原理和方法,在此基础上推导出基于FTP的动态过程三维面形测量技术的基本原理;给出了几种三维相位场的计算方法和三维截断相位场展开方法的详细推导过程,并对其性能进行评价。本文还就光学三维面形测量中的难点问题—相位展开,展开了更深入的调查研究,从其问题的提出、研究现状到算法的具体内容都进行了详细的阐述;针对实测对象,最终形成了一套完整的测量技术方案,选择了恰当的数据处理方法对采集的图像数据进行处理分析,获得了满意的结果。
Optical three-dimensional (3D) non-contact profilometry, with the excellence in high speed, high accuracy and easily controlled by computer, has been widely used and studied. In many kinds of activity 3D profilometry, Fourier Transform Profilometry(FTP) that requires only one frame of the deformed fringe pattern and one frame of reference fringe pattern makes real-time data acquiring and processing of dynamic process possible. Its foundation principle is to get the 3D shape sizes with the frequency characteristic of signal.
3D shape measurement has been widely used in many fields, such as produce quality on-line detecting of industry pipelining, striking board geometry shape detecting, and intelligent robot movement controlling, locomotion mechanics. So it is on a very important status in the field of science study and project application.
This paper firstly provides introduction of importance and current study condition of 3-D shape measuring technique. It summarizes the former study outcome, presenting several popular basic principles of actively optical 3-D transduction methods and comparing their merits and demerits. It gives high emphasis on principle and methods of FTP profilometry. Based on the above-mentioned methods, it acquires the fundamental principles of dynamic process 3-D FTP shape measuring technique, putting forward the elaboration of several 3-D phase calculation methods and 3-D unwrapping phase methods, and evaluating its function. Besides, this thesis probes into the difficult problem of phase, elaborating the raise of the problem, the present study condition and the arithmetic. Aimed at the measuring subject, it achieves a set of complete measurement technique plan, conducts analysis of collecting image data with appropriate data management method and fulfilled satisfying effect.
在工业生产流水线上产品质量的在线检测、冲压板几何形状检测、智能机器人运动控制、汽车制导中障碍检测、运动力学等方面,都需要对观察对象进行三维面形的测量。因此动态过程的三维面形测量在科学研究和工程应用领域具有重要意义。
本论文首先介绍了三维面形测量技术的重要意义和研究现状,并总结前人的研究成果,给出了几种目前应用最为广泛的主动式光学三维传感方法的基本原理,比较了其优缺点。文中重点介绍了傅里叶变换轮廓术的基本原理和方法,在此基础上推导出基于FTP的动态过程三维面形测量技术的基本原理;给出了几种三维相位场的计算方法和三维截断相位场展开方法的详细推导过程,并对其性能进行评价。本文还就光学三维面形测量中的难点问题—相位展开,展开了更深入的调查研究,从其问题的提出、研究现状到算法的具体内容都进行了详细的阐述;针对实测对象,最终形成了一套完整的测量技术方案,选择了恰当的数据处理方法对采集的图像数据进行处理分析,获得了满意的结果。
Optical three-dimensional (3D) non-contact profilometry, with the excellence in high speed, high accuracy and easily controlled by computer, has been widely used and studied. In many kinds of activity 3D profilometry, Fourier Transform Profilometry(FTP) that requires only one frame of the deformed fringe pattern and one frame of reference fringe pattern makes real-time data acquiring and processing of dynamic process possible. Its foundation principle is to get the 3D shape sizes with the frequency characteristic of signal.
3D shape measurement has been widely used in many fields, such as produce quality on-line detecting of industry pipelining, striking board geometry shape detecting, and intelligent robot movement controlling, locomotion mechanics. So it is on a very important status in the field of science study and project application.
This paper firstly provides introduction of importance and current study condition of 3-D shape measuring technique. It summarizes the former study outcome, presenting several popular basic principles of actively optical 3-D transduction methods and comparing their merits and demerits. It gives high emphasis on principle and methods of FTP profilometry. Based on the above-mentioned methods, it acquires the fundamental principles of dynamic process 3-D FTP shape measuring technique, putting forward the elaboration of several 3-D phase calculation methods and 3-D unwrapping phase methods, and evaluating its function. Besides, this thesis probes into the difficult problem of phase, elaborating the raise of the problem, the present study condition and the arithmetic. Aimed at the measuring subject, it achieves a set of complete measurement technique plan, conducts analysis of collecting image data with appropriate data management method and fulfilled satisfying effect.
引文
[1]苏显渝,李继陶编写.《信息光学》.科学出版社.1999
[2]苏显渝,张冠申,陈泽先等,鞋楦三维面形光电自动检测系统[J].光电工程.1989,16(6):1-5莫尔轮廓术
[3]H.Takasaki,Moire topography[J],Appl.Opt,9(6),1970:1467.
[4]Meadows.D.M,etc.Generation of surface contours by Moire pattern[J],Appl.Opt,9(4),1970:942-947
[5]V Srinivasn,H.C Mu,M.Halioua,Automatic phase measuring profilometry:a phase mapping approach[J],Appl.Opt,24(2),1985:3012.
[6]Maurice Halioua,Hsin-Chu Liu,Optical three-dimensional sensing by phase measurement profilometry[J],Optics and lasers in Engineering,11(1989),185-215.
[7]Jin-Feng Lin and Xian-Yu Su,Two-dimensional Fourier transform profilometry for automatic measurement of three-dimensional objece shapes[J],Optical Engineering,1995,34(11):3297.
[8]M.Takeda,K.Motoh.Fourier transform profilometry for the automatic measurement of 3-D object shapes[J].Appl.Opt.1983,22(24):3977-3982.
[9]吴春才,苏显渝.动态过程的三维面形测量[J].光电子激光,1996.7(5):273-278
[10]张启灿,苏显渝.动态液面面形测量[J].光学学报2001,21(12):1506-1508
[11]陈锋.动态三维面形测量中相位展开问题的研究.硕士学位论文.2005.5,20-21
[12]Huntly J.M.Noise-immune phase unwrapping algorithm.Appl.Opt.1989,28(15):3268-3271
[13]Cusack R.Huntlev J M.Goldrein H T.Improved noiseimmune phase-unwrapping algorithm.Appl.Opt.1995,34(5):781-789
[14]Towers D P.,Juge T R.Automatic interferogram analysis techniques applied to quasi-heterodyne hclography and ESP.1991,14(4):239-281
[15]Xian-Yu Su,Von Bally G,Vukicevic D.Phase-stepping grating profilometry:Utilization of intensity modulation analysis in complex objects evaluation.Opt.1993,98(1,2,3):141-150
[16]Ghiglia D C,Mastin G A,Romero L A,Cellular automata methods for phase unwrapping.J.Opt.1987,4(1):267-280
[17]Servin M,Rodriguez-Vera R,Moore A J.A robust cellular processor for unwrapping.J.Modern Opt.1994,41(1):119-127
[18]Quiroga J A,Gonzalez-Cano A,Bernabeu E.Stable marriage algorithm for preprocessing phase maps with discontinuity sources.Appl.Opt.1995,34(23):5029-5038
[19]Buckland J R,Huntley J M,Turner S R.Unwrapping noisy phase maps hv use of a minimum -cost-matching algorithm.Appl.Opt.1995,34(23):5100-5108
[20]Soille P.Morphological phase unwrapping.Opt.Laser Engng.2000,32(4):339-352
[21]付林,贺安之等.动态傅里叶变换轮廓术实现路面形变快速检测.光电工程.2006.7
[22]吴春才,苏显渝.动态过程的三维面形测量.光电子.激光.1996.10
[23]肖焱山,苏显渝等.动态过程中破裂表面的三维重建.激光技术.2006.6
[24]张启灿,苏显渝.动态液面面形测量.光学学报.2001.12,21(12)
[25]曲芳,钟金刚.基于数字彩色接轨光投影的唇动三维测量.光学学报.2006.9,32(5)
[26]张启灿,苏显渝等.咀嚼过程人脸颊外形动态变化的光学三维测量.光电子.激光.2004.2,15(2)
[27]郑素珍,陈文静,苏显渝.自适应窗口傅里叶变换三维面形检测技术.光电工程.2005.9,32(9)
[28]赵文杰,陈文静等.基于FTP的动态相位展开方法的研究.激光杂志.2004.6,25(6)
[29]付艳华等.窗口傅里叶变换的三维面形测量.激光杂志.2006,27(1)
[30]李满海.傅里叶变换轮廓术的若干问题研究.四川大学硕士学位论文.2004
[31]陈文静,苏显渝等.傅里叶变换轮廓术中抑制零频的新方法.中国激光.2004.6,31(6)
[32]步鹏等.滤波窗的选择对傅里叶变换轮廓术测量精度的影响.激光杂志.2003,24(4)
[33]陈文静,苏显渝.提高Fourier变换轮廓术测量精度的新方法.光电工 程.2002.2,29(1)
[34]S.Toyooka,Y.Lwaasa.Automatic profilometry of 3-D diffuse objects by spatial phase detection.Appl.Opt.,25(10),1986:1630-1633
[35]Judge TR,Bryanston-Cross PJ.A review of phase unstrapping techniques in fringe analysis.Opt Laser Eng.1994,21(4):199-239
[36]Kenneth R.Castleman.《数字图像处理》.清华大学出版社.1996
[37]张启灿.动态过程三维面形测量技术研究.四川大学博士学位论文.2005
[38]Xianyu Su,Likun Su.New 3D profilometry based on modulation measurement.Proceedings of SPIE.1998,3558,1-7
[39]Xianyu Su,Likun Su,Wansong Li.A new Fourier transform profilometry based on modulation measurement.Proceedings of SPIE.1999,3749,438-439.
[40]Likun Su,Xiaoyu Su,Wansong Li.Application of modulation measurement profilometry to objects with surface holes.Applied Optics.1999,38(7),1533-1158
[41]桑新柱,吕乃光.三维形状测量方法及发展趋势.北京机械工业学院学报.2001,16(2).
[42]李奇等.计算机立体视觉技术综述.光学技术.1999,5,71-73
[43]王伯雄,朱彦民,罗秀芝.三维形貌的快速测量方法.清华大学学报.1999,39(2)
[44]陈文静.傅里叶变换轮廓术的理论与应用研究.四川大学博士学位论文.2000.
[45]Asundi AK,Sajan MR.Digital drum camera for dynamic recording.Optical Engineering.1996,35
[46]田爱玲等.用时间域相位解包法测量不连续物体的三维轮廓.西安交通大学学报.2004,38(11)
[47]刘传才编著.《图像理解与计算机视觉》.厦门大学出版社,2002
[48]李万松.相位测量轮廓术(PMP)应用研究.四川大学博士学位论文.1999
[49]吴双卿.光栅投影三维形貌测量技术的研究.西南交通大学硕士学位论文.2005.
[50]朱自强,王仕瑶,苏显渝编著.《现代光学教程》.四川大学出版社,1990
[51]李永怀,冯其波.光学三维轮廓测量技术进展.激光与红外.2005,35(3)
[52]孙园,李大心.相位测量轮廓术的应用现状及发展趋势.无损检测.2006,38(1)
[53]赵焕东.相位测量轮廓术的理论研究及应用.浙江大学博士学位论文.2001
[54]洪海等.基于单视觉原理实时提取运动物体三维信息的一种方法.中国图象图形学报.1997,2(7)
[2]苏显渝,张冠申,陈泽先等,鞋楦三维面形光电自动检测系统[J].光电工程.1989,16(6):1-5莫尔轮廓术
[3]H.Takasaki,Moire topography[J],Appl.Opt,9(6),1970:1467.
[4]Meadows.D.M,etc.Generation of surface contours by Moire pattern[J],Appl.Opt,9(4),1970:942-947
[5]V Srinivasn,H.C Mu,M.Halioua,Automatic phase measuring profilometry:a phase mapping approach[J],Appl.Opt,24(2),1985:3012.
[6]Maurice Halioua,Hsin-Chu Liu,Optical three-dimensional sensing by phase measurement profilometry[J],Optics and lasers in Engineering,11(1989),185-215.
[7]Jin-Feng Lin and Xian-Yu Su,Two-dimensional Fourier transform profilometry for automatic measurement of three-dimensional objece shapes[J],Optical Engineering,1995,34(11):3297.
[8]M.Takeda,K.Motoh.Fourier transform profilometry for the automatic measurement of 3-D object shapes[J].Appl.Opt.1983,22(24):3977-3982.
[9]吴春才,苏显渝.动态过程的三维面形测量[J].光电子激光,1996.7(5):273-278
[10]张启灿,苏显渝.动态液面面形测量[J].光学学报2001,21(12):1506-1508
[11]陈锋.动态三维面形测量中相位展开问题的研究.硕士学位论文.2005.5,20-21
[12]Huntly J.M.Noise-immune phase unwrapping algorithm.Appl.Opt.1989,28(15):3268-3271
[13]Cusack R.Huntlev J M.Goldrein H T.Improved noiseimmune phase-unwrapping algorithm.Appl.Opt.1995,34(5):781-789
[14]Towers D P.,Juge T R.Automatic interferogram analysis techniques applied to quasi-heterodyne hclography and ESP.1991,14(4):239-281
[15]Xian-Yu Su,Von Bally G,Vukicevic D.Phase-stepping grating profilometry:Utilization of intensity modulation analysis in complex objects evaluation.Opt.1993,98(1,2,3):141-150
[16]Ghiglia D C,Mastin G A,Romero L A,Cellular automata methods for phase unwrapping.J.Opt.1987,4(1):267-280
[17]Servin M,Rodriguez-Vera R,Moore A J.A robust cellular processor for unwrapping.J.Modern Opt.1994,41(1):119-127
[18]Quiroga J A,Gonzalez-Cano A,Bernabeu E.Stable marriage algorithm for preprocessing phase maps with discontinuity sources.Appl.Opt.1995,34(23):5029-5038
[19]Buckland J R,Huntley J M,Turner S R.Unwrapping noisy phase maps hv use of a minimum -cost-matching algorithm.Appl.Opt.1995,34(23):5100-5108
[20]Soille P.Morphological phase unwrapping.Opt.Laser Engng.2000,32(4):339-352
[21]付林,贺安之等.动态傅里叶变换轮廓术实现路面形变快速检测.光电工程.2006.7
[22]吴春才,苏显渝.动态过程的三维面形测量.光电子.激光.1996.10
[23]肖焱山,苏显渝等.动态过程中破裂表面的三维重建.激光技术.2006.6
[24]张启灿,苏显渝.动态液面面形测量.光学学报.2001.12,21(12)
[25]曲芳,钟金刚.基于数字彩色接轨光投影的唇动三维测量.光学学报.2006.9,32(5)
[26]张启灿,苏显渝等.咀嚼过程人脸颊外形动态变化的光学三维测量.光电子.激光.2004.2,15(2)
[27]郑素珍,陈文静,苏显渝.自适应窗口傅里叶变换三维面形检测技术.光电工程.2005.9,32(9)
[28]赵文杰,陈文静等.基于FTP的动态相位展开方法的研究.激光杂志.2004.6,25(6)
[29]付艳华等.窗口傅里叶变换的三维面形测量.激光杂志.2006,27(1)
[30]李满海.傅里叶变换轮廓术的若干问题研究.四川大学硕士学位论文.2004
[31]陈文静,苏显渝等.傅里叶变换轮廓术中抑制零频的新方法.中国激光.2004.6,31(6)
[32]步鹏等.滤波窗的选择对傅里叶变换轮廓术测量精度的影响.激光杂志.2003,24(4)
[33]陈文静,苏显渝.提高Fourier变换轮廓术测量精度的新方法.光电工 程.2002.2,29(1)
[34]S.Toyooka,Y.Lwaasa.Automatic profilometry of 3-D diffuse objects by spatial phase detection.Appl.Opt.,25(10),1986:1630-1633
[35]Judge TR,Bryanston-Cross PJ.A review of phase unstrapping techniques in fringe analysis.Opt Laser Eng.1994,21(4):199-239
[36]Kenneth R.Castleman.《数字图像处理》.清华大学出版社.1996
[37]张启灿.动态过程三维面形测量技术研究.四川大学博士学位论文.2005
[38]Xianyu Su,Likun Su.New 3D profilometry based on modulation measurement.Proceedings of SPIE.1998,3558,1-7
[39]Xianyu Su,Likun Su,Wansong Li.A new Fourier transform profilometry based on modulation measurement.Proceedings of SPIE.1999,3749,438-439.
[40]Likun Su,Xiaoyu Su,Wansong Li.Application of modulation measurement profilometry to objects with surface holes.Applied Optics.1999,38(7),1533-1158
[41]桑新柱,吕乃光.三维形状测量方法及发展趋势.北京机械工业学院学报.2001,16(2).
[42]李奇等.计算机立体视觉技术综述.光学技术.1999,5,71-73
[43]王伯雄,朱彦民,罗秀芝.三维形貌的快速测量方法.清华大学学报.1999,39(2)
[44]陈文静.傅里叶变换轮廓术的理论与应用研究.四川大学博士学位论文.2000.
[45]Asundi AK,Sajan MR.Digital drum camera for dynamic recording.Optical Engineering.1996,35
[46]田爱玲等.用时间域相位解包法测量不连续物体的三维轮廓.西安交通大学学报.2004,38(11)
[47]刘传才编著.《图像理解与计算机视觉》.厦门大学出版社,2002
[48]李万松.相位测量轮廓术(PMP)应用研究.四川大学博士学位论文.1999
[49]吴双卿.光栅投影三维形貌测量技术的研究.西南交通大学硕士学位论文.2005.
[50]朱自强,王仕瑶,苏显渝编著.《现代光学教程》.四川大学出版社,1990
[51]李永怀,冯其波.光学三维轮廓测量技术进展.激光与红外.2005,35(3)
[52]孙园,李大心.相位测量轮廓术的应用现状及发展趋势.无损检测.2006,38(1)
[53]赵焕东.相位测量轮廓术的理论研究及应用.浙江大学博士学位论文.2001
[54]洪海等.基于单视觉原理实时提取运动物体三维信息的一种方法.中国图象图形学报.1997,2(7)