激光三维轮廓检测技术研究
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摘要
现今机器视觉技术的应用受到越来越广泛的关注。普遍采用的三角法存在着摄像机内外参数标定繁琐困难的缺点,为此,采用了一种简单易用的视觉检测方法——对映函数法,作为视觉检测的算法。在具体的实现过程中,做了以下的工作和创新:
1、对于对映函数法进行深入的研究和探讨,并撰写程序实现该视觉检测算法,对其可行性和有效性进行充分的研究论证。
2、自行设计开发出一套用于检测的视觉传感器,给出组成传感器的各元件的设计关键要素。
3、为实现传感器内各元件之间的精确定位,开发出一整套的校正流程,并撰写相应的软件实时检测验证,确保传感器的最终精度。
4、对视觉检测中所用的一些关键技术进行深入研究。给出激光条纹中心提取的方法。利用hough变换结合最小二乘线性回归法,求出激光十字线的中心,实现亚像素检测,极大提高检测精度。
利用自行设计的视觉传感器,通过对映函数视觉检测算法,建立起来的空间坐标和摄像机像面坐标之间的对映关系,最终实现了对物体三维轮廓的检测,并利用surfacer软件对最终的检测精度进行了分析。
Today, the application of Machine Vision have attracted more and more attention. The triangle law,which has been adopted extensively, is difficult to determine the internal and external parameter of the camera. For this reason ,the study adopted another simple and wonderful vision detecting method——mapping function method. In the process, we has finished some work and brought some innovation as following:
1、Carried on deep research and discussion to the mapping function method, and achieved the vision measures algorithms with program, and demonstrated the algorithms’feasibility and validity .
2、Designed and developed a suit of vision detecting sensor by self, and bring the designing key elements of every component of the sensor.
3、To obtain the accurate localization between every component in the sensor , develop a whole set of design procedure, write the corresponding software to measure in real time , guarantee the final precision of the sensor.
4、Carry on further investigation on some key technology of the vision measuring . Provide the method to draw the centre of the laser stripe. Utilize hough transform and the least square linear regression, obtain the center of the laser cross curve , achieve the subpixel measuring, improve the precision of measuring greatly.
By our vision sensor, we build up the relationship between the space coordinates and the camera image coordinates with the mapping function method, and accomplished the 3D profile measuring finally, Then analyze the final precision of measuring by surfcer software.
1、对于对映函数法进行深入的研究和探讨,并撰写程序实现该视觉检测算法,对其可行性和有效性进行充分的研究论证。
2、自行设计开发出一套用于检测的视觉传感器,给出组成传感器的各元件的设计关键要素。
3、为实现传感器内各元件之间的精确定位,开发出一整套的校正流程,并撰写相应的软件实时检测验证,确保传感器的最终精度。
4、对视觉检测中所用的一些关键技术进行深入研究。给出激光条纹中心提取的方法。利用hough变换结合最小二乘线性回归法,求出激光十字线的中心,实现亚像素检测,极大提高检测精度。
利用自行设计的视觉传感器,通过对映函数视觉检测算法,建立起来的空间坐标和摄像机像面坐标之间的对映关系,最终实现了对物体三维轮廓的检测,并利用surfacer软件对最终的检测精度进行了分析。
Today, the application of Machine Vision have attracted more and more attention. The triangle law,which has been adopted extensively, is difficult to determine the internal and external parameter of the camera. For this reason ,the study adopted another simple and wonderful vision detecting method——mapping function method. In the process, we has finished some work and brought some innovation as following:
1、Carried on deep research and discussion to the mapping function method, and achieved the vision measures algorithms with program, and demonstrated the algorithms’feasibility and validity .
2、Designed and developed a suit of vision detecting sensor by self, and bring the designing key elements of every component of the sensor.
3、To obtain the accurate localization between every component in the sensor , develop a whole set of design procedure, write the corresponding software to measure in real time , guarantee the final precision of the sensor.
4、Carry on further investigation on some key technology of the vision measuring . Provide the method to draw the centre of the laser stripe. Utilize hough transform and the least square linear regression, obtain the center of the laser cross curve , achieve the subpixel measuring, improve the precision of measuring greatly.
By our vision sensor, we build up the relationship between the space coordinates and the camera image coordinates with the mapping function method, and accomplished the 3D profile measuring finally, Then analyze the final precision of measuring by surfcer software.
引文
[1] Milan Sonka. Vaclav Hlavac. Roger Boyle. Image Processing,Analysis,and Machine Vision 2003,9 Second Edition, 人民邮电出版社 北京
[2] 周新伦,柳健,刘华志,数字图像处理[M],1984,国防工业出版社,北京
[3] 惠增宏. 激光三维扫描、重建技术及其在工程中的应用 2002,5 西北工业大学.
[4] 陈利红. 机器人视觉系统的研究与开发 2003,3 浙江大学.
[5] 许智钦 孙长库 3D 逆向工程技术 2002,4 中国计量出版社,北京
[6] 曾秉儒 三维影像快速测量系统 2000,6 国立台湾大学机械工程研究所 台湾
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[10] Barshan, B. Location and curvature estimation of spherical targets using multiple sonar time-of-flight measurements. Instrumentation and Measurement, IEEE Transactions on , Volume: 48 , Issue: 6 , Dec. 1999 Pages:1212 – 1223
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[12] Bingcheng Li. Jun Shen. Range-image-based calculation of three-dimensional convex object moments. Robotics and Automation, IEEE Transactions on , Volume: 9 , Issue: 4 , Aug. 1993 Pages:484 – 490
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[17] Luo Bingwei. Zhen Qiang. Wu Ling. Automatic 3-D shape analysis with the aid of moire topography. Engineering in Medicine and Biology Society, 1988. Proceedings of the Annual International Conference of the IEEE , 4-7 Nov. 1988 Pages:363 vol.1
[18] Jung-Young Son. Saveljev, V.V. Kyung-Tae Kim. Sung-Sik Kim. Minimizing Moire fringes in contact-type 3-dimensional imaging systems. Lasers and Electro-Optics Society, 2004. LEOS 2004. The 17th Annual Meeting of the IEEE , Volume: 1 , Nov. 8-9, 2004 Pages:350 – 351
[19] Batouche, M. A knowledge based system for diagnosing spinal deformations: moire pattern analysis and interpretation. Pattern Recognition, 1992 . Vol.1. Conference A: Computer Vision and Applications, Proceedings., 11th IAPR International Conference on , 30 Aug.-3 Sept. 1992 Pages:591 – 594
[20] Kory, C.L. Three-dimensional simulations of electron beams focused by periodic permanent magnets. Plasma Science, 1999. ICOPS '99. IEEE Conference Record - Abstracts. 1999 IEEE International Conference on , 20-24 June 1999 Pages:91
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[27] Parameswaran, V. Chellappa, R. View independent human body pose estimation from a single perspective image. Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on , Volume: 2 , 27 June-2 July 2004 Pages:II-16 - II-22 Vol.2
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[30] Gledhill, D. Gui Yun Tian Taylor, D. Clarke, D. 3D reconstruction of a region of interest using structured light and stereo panoramic images. Information Visualisation, 2004. IV 2004. Proceedings. Eighth International Conference on , 14-16 July 2004 Pages:1007 – 1012
[31] Lengagne, R. Fua, P. Monga, O. 3D face modeling from stereo and differential constraints. Automatic Face and Gesture Recognition, 1998. Proceedings. Third IEEE International Conference on , 14-16 April 1998 Pages:148 – 153
[32] McDonald, J.P. Lambert, R. Fryer, R.J. 3D measurement using stereo scene coding. 3D Imaging and Analysis of Depth/Range Images, IEE Colloquium on , 1 Mar 1994 Pages:3/1 - 3/4
[33] Saito, H. Kawamura, H. Nakajima, M. 3D shape measurement of underwater objects using motion stereo. Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on , Volume: 2 , 6-10 Nov. 1995 Pages:1231 - 1235 vol.2
[34] Echigo, T. Segmentation of a 3D scene into free areas and object surfaces by using occluded edges of trinocular stereo. Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on , 3-5 Nov. 1991 Pages:863 - 868 vol.2
[35] SangMin Yoon Ig-Jae Kim Sang Chul Ahn Ko, H. HyoungGon Kim. Stereo vision based 3D input device. Acoustics, Speech, and Signal Processing, 2002. Proceedings. (ICASSP '02). IEEE International Conference on , Volume: 2 , 2002 Pages:2129 – 2132
[36] Zhang, Z. Faugeras, O.D. Estimation of displacements from two 3D frames obtained from stereo. Pattern Analysis and Machine Intelligence, IEEE Transactions on , Volume: 14 , Issue: 12 , Dec. 1992 Pages:1141 – 1156
[37] Neubert, J. Hammond, T. Guse, N. Do, Y. Hu, Y. Ferrier, N. Automatic training of a neural net for active stereo 3D reconstruction. Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on , Volume: 2 , 2001 Pages:2140 - 2146 vol.2
[38] Lengagne, R. Fua, P. Monga, O. Using differential constraints to generate a 3D face model from stereo. Pattern Recognition, 1998. Proceedings. Fourteenth International Conference on , Volume: 1 , 16-20 Aug. 1998 Pages:637 - 639 vol.1
[39] 韦巍, 智能控制技术, 2001, 机械工业出版社, 北京
[40] A.и.加卢什金, 神经网络理论,2002,清华大学出版社, 北京
[41] 焦李成,神经网络的应用与实现 ,1996,西安电子科技大学出版社,北京
[42] 吕乃光 冯迪 邓文怡 桑新柱,用BP神经网络构成三维视觉测量系统的新方法,华中科技大学学报(自然科学版),2005,5 ,Vol.30 No.5
[43] 刘志刚 方勇 陈康宁 林志航,线结构光三维视觉传感器的一种 B 样条神经网络模型,机械科学与技术,1999,Vol.18 No.1
[44] 李鑫 张广军 魏振忠,基于RBF神经网络的结构光三维视觉检测方法,北京航空航天大学学报,2002,Vol.28 No.3
[45] 张广军 魏振忠 孙志武 李鑫,基于BP神经网络的结构光三维视觉检测方法研究,仪器仪表学报,2002,Vol.23 No.1
[46] 冯迪 吕乃光 邓文怡,基于人工神经网络的立体视觉系统的研究,北京机械工业学院学报,2002,Vol.15 No.1
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[2] 周新伦,柳健,刘华志,数字图像处理[M],1984,国防工业出版社,北京
[3] 惠增宏. 激光三维扫描、重建技术及其在工程中的应用 2002,5 西北工业大学.
[4] 陈利红. 机器人视觉系统的研究与开发 2003,3 浙江大学.
[5] 许智钦 孙长库 3D 逆向工程技术 2002,4 中国计量出版社,北京
[6] 曾秉儒 三维影像快速测量系统 2000,6 国立台湾大学机械工程研究所 台湾
[7] Simoni, A. Gonzo, L. Gottardi, M. Integrated optical sensors for 3-D vision. Sensors, 2002. Proceedings of IEEE , Volume: 1 , 12-14 June 2002 Pages:1 - 4 vol.1
[8] Bastuscheck, C.M. Techniques for real-time generation of range images. Computer Vision and Pattern Recognition, 1989. Proceedings CVPR '89., IEEE Computer Society Conference on , 4-8 June 1989 Pages:262 – 268
[9] Viarani, L. Stoppa, D. Gonzo, L. Gottardi, M. Simoni, A. A CMOS smart pixel for active 3-D vision applications. Sensors Journal, IEEE , Volume: 4 , Issue: 1 , Feb. 2004 Pages:145 – 152
[10] Barshan, B. Location and curvature estimation of spherical targets using multiple sonar time-of-flight measurements. Instrumentation and Measurement, IEEE Transactions on , Volume: 48 , Issue: 6 , Dec. 1999 Pages:1212 – 1223
[11] Koschan, A.F. Perception-based 3D triangle mesh segmentation using fast marching watersheds. Computer Vision and Pattern Recognition, 2003. Proceedings. 2003 IEEE Computer Society Conference on , Volume: 2 , 18-20 June 2003 Pages:II-27 - II-32 vol.2
[12] Bingcheng Li. Jun Shen. Range-image-based calculation of three-dimensional convex object moments. Robotics and Automation, IEEE Transactions on , Volume: 9 , Issue: 4 , Aug. 1993 Pages:484 – 490
[13] Qing Li. Manli Zhou. Jian Liu. Multi-resolution mesh based 3D object recognition. Computer Vision Beyond the Visible Spectrum: Methods and Applications, 2000. Proceedings. IEEE Workshop on , 16 June 2000 Pages:37 – 43
[14] Zhang, Y. Paik, J. Koschan, A. Abidi, M.A. Gorsich, D. Simple and efficient algorithm for part decomposition of 3-D triangulated models based on curvature analysis. Image Processing. 2002. Proceedings. 2002 International Conference on , Volume: 3 , 24-28 June 2002 Pages:III-273 - III-276 vol.3
[15] Mazumder, P. A new strategy for octree representation of three-dimensional objects. Computer Vision and Pattern Recognition, 1988. Proceedings CVPR '88., Computer Society Conference on , 5-9 June 1988 Pages:270 – 275
[16] Lu, C. Inokuchi, S. An absolute depth range measurement of 3-D objects based on modulation Moire topography. Pattern Recognition, 2000. Proceedings. 15th International Conference on , Volume: 1 , 3-7 Sept. 2000 Pages:754 - 757 vol.1
[17] Luo Bingwei. Zhen Qiang. Wu Ling. Automatic 3-D shape analysis with the aid of moire topography. Engineering in Medicine and Biology Society, 1988. Proceedings of the Annual International Conference of the IEEE , 4-7 Nov. 1988 Pages:363 vol.1
[18] Jung-Young Son. Saveljev, V.V. Kyung-Tae Kim. Sung-Sik Kim. Minimizing Moire fringes in contact-type 3-dimensional imaging systems. Lasers and Electro-Optics Society, 2004. LEOS 2004. The 17th Annual Meeting of the IEEE , Volume: 1 , Nov. 8-9, 2004 Pages:350 – 351
[19] Batouche, M. A knowledge based system for diagnosing spinal deformations: moire pattern analysis and interpretation. Pattern Recognition, 1992 . Vol.1. Conference A: Computer Vision and Applications, Proceedings., 11th IAPR International Conference on , 30 Aug.-3 Sept. 1992 Pages:591 – 594
[20] Kory, C.L. Three-dimensional simulations of electron beams focused by periodic permanent magnets. Plasma Science, 1999. ICOPS '99. IEEE Conference Record - Abstracts. 1999 IEEE International Conference on , 20-24 June 1999 Pages:91
[21] Kudo, T. Hirano, A. Miike, H. Recovering 3D shape and texture from continuous focus series: using a polarized filter. Image Processing, 1996. Proceedings., International Conference on , Volume: 1 , 16-19 Sept. 1996 Pages:741 - 744 vol.1
[22] Hauck, A. Lanser, S. Zierl, C. Hierarchical recognition of articulated objects from single perspective views. Computer Vision and Pattern Recognition, 1997. Proceedings., 1997 IEEE Computer Society Conference on , 17-19 June 1997 Pages:870 – 876
[23] Jenq-Neng Hwang. Yen-Hao Tseng. Motion estimation of partially viewed 3-D objects based on a continuous distance transform neural network. Image Processing, 1994. Proceedings. ICIP-94., IEEE International Conference , Volume: 3 , 13-16 Nov. 1994 Pages:917 - 921 vol.3
[24] Rothwell, C.A. Forsyth, D.A. Zisserman, A. Mundy, J.L. Extracting projective structure from single perspective views of 3D point sets. Computer Vision, 1993. Proceedings., Fourth International Conference on , 11-14 May 1993 Pages:573 – 582
[25] Abidi, M.A. Chandra, T. Accurate pose estimation from a single perspective view. System Theory, 1989. Proceedings., Twenty-First Southeastern Symposium on , 26-28 March 1989 Pages:557 – 561
[26] Consales, R. Del Bimbo, A. Nesi, P. Using single perspective views for 3-D object recognition. Image Processing and its Applications, 1992., International Conference on , 7-9 Apr 1992 Pages:323 – 326
[27] Parameswaran, V. Chellappa, R. View independent human body pose estimation from a single perspective image. Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on , Volume: 2 , 27 June-2 July 2004 Pages:II-16 - II-22 Vol.2
[28] Fua, P. Reconstructing complex surfaces from multiple stereo views. Computer Vision, 1995.Proceedings., Fifth International Conference on , 20-23 June 1995 Pages:1078 – 1085
[29] Papadimitriou, D.V. Dennis, T.J. A stereo disparity algorithm for 3D model construction. Image Processing and its Applications, 1995., Fifth International Conference on , 4-6 Jul 1995 Pages:178 – 182
[30] Gledhill, D. Gui Yun Tian Taylor, D. Clarke, D. 3D reconstruction of a region of interest using structured light and stereo panoramic images. Information Visualisation, 2004. IV 2004. Proceedings. Eighth International Conference on , 14-16 July 2004 Pages:1007 – 1012
[31] Lengagne, R. Fua, P. Monga, O. 3D face modeling from stereo and differential constraints. Automatic Face and Gesture Recognition, 1998. Proceedings. Third IEEE International Conference on , 14-16 April 1998 Pages:148 – 153
[32] McDonald, J.P. Lambert, R. Fryer, R.J. 3D measurement using stereo scene coding. 3D Imaging and Analysis of Depth/Range Images, IEE Colloquium on , 1 Mar 1994 Pages:3/1 - 3/4
[33] Saito, H. Kawamura, H. Nakajima, M. 3D shape measurement of underwater objects using motion stereo. Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on , Volume: 2 , 6-10 Nov. 1995 Pages:1231 - 1235 vol.2
[34] Echigo, T. Segmentation of a 3D scene into free areas and object surfaces by using occluded edges of trinocular stereo. Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on , 3-5 Nov. 1991 Pages:863 - 868 vol.2
[35] SangMin Yoon Ig-Jae Kim Sang Chul Ahn Ko, H. HyoungGon Kim. Stereo vision based 3D input device. Acoustics, Speech, and Signal Processing, 2002. Proceedings. (ICASSP '02). IEEE International Conference on , Volume: 2 , 2002 Pages:2129 – 2132
[36] Zhang, Z. Faugeras, O.D. Estimation of displacements from two 3D frames obtained from stereo. Pattern Analysis and Machine Intelligence, IEEE Transactions on , Volume: 14 , Issue: 12 , Dec. 1992 Pages:1141 – 1156
[37] Neubert, J. Hammond, T. Guse, N. Do, Y. Hu, Y. Ferrier, N. Automatic training of a neural net for active stereo 3D reconstruction. Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on , Volume: 2 , 2001 Pages:2140 - 2146 vol.2
[38] Lengagne, R. Fua, P. Monga, O. Using differential constraints to generate a 3D face model from stereo. Pattern Recognition, 1998. Proceedings. Fourteenth International Conference on , Volume: 1 , 16-20 Aug. 1998 Pages:637 - 639 vol.1
[39] 韦巍, 智能控制技术, 2001, 机械工业出版社, 北京
[40] A.и.加卢什金, 神经网络理论,2002,清华大学出版社, 北京
[41] 焦李成,神经网络的应用与实现 ,1996,西安电子科技大学出版社,北京
[42] 吕乃光 冯迪 邓文怡 桑新柱,用BP神经网络构成三维视觉测量系统的新方法,华中科技大学学报(自然科学版),2005,5 ,Vol.30 No.5
[43] 刘志刚 方勇 陈康宁 林志航,线结构光三维视觉传感器的一种 B 样条神经网络模型,机械科学与技术,1999,Vol.18 No.1
[44] 李鑫 张广军 魏振忠,基于RBF神经网络的结构光三维视觉检测方法,北京航空航天大学学报,2002,Vol.28 No.3
[45] 张广军 魏振忠 孙志武 李鑫,基于BP神经网络的结构光三维视觉检测方法研究,仪器仪表学报,2002,Vol.23 No.1
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