CN103968782A - Real-time three-dimensional measurement method based on color sine structured light coding - Google Patents
Real-time three-dimensional measurement method based on color sine structured light coding Download PDFInfo
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Abstract
The invention provides a real-time three-dimensional measurement method based on color sine structured light coding in the three-dimensional sending technology. In the method, a single color sine structured light coding pattern is projected to the surface of an object through a projector; two camera shooting devices are utilized to record distorted color structured light images respectively, all the color structured light images are subjected to color separation, and then single-color structured light images corresponding to an R channel, a G channel and a B channel are obtained; the phase positions of the two camera shooting devices are calculated according to the single-color structured light images; phase matching is conducted according to the epipolar constraint relation between the two camera shooting devices, and then instantaneous three-dimensional coordinates of the surface of the object are obtained. Through the real-time three-dimensional measurement method based on color sine structured light coding, real-time three-dimensional measurement can be achieved; the method has the advantages of being good in robustness to unbalance of color brightness, coupling of color channels, nonlinearity of the projector and other interference factors, high in measurement accuracy and the like.
Description
Technical field
The present invention relates to optical 3-dimensional sensing technology, particularly relate to by projection single width color structured light coding pattern and realize the real-time three-dimensional on target object surface is measured.
Background technology
The present invention relates to a kind of real-time optical method for three-dimensional measurement.Real-time three-dimensional measuring technique can be measured the three-dimensional data of stationary object and surface of moving object, is not substantially subject to the restriction of testee motion state.Phase measuring profilometer (phase measuring profilometry, PMP) be a kind of active method for three-dimensional measurement of classics, but the method need to project 3 width or 3 width and have above to target object the sinusoidal structured light pattern of phase shift, is difficult to requirement of real time.The people such as Peisen S. Huang paper " Color-encoded digital fringe projection technique for high-speed three-dimensional surface contouring[J]. Optical Engineering; 1999; 38 (6): 1065-1071 " in the sinusoidal structured light pattern that proposes 3 width in PMP to there is phase shift represent with tri-Color Channels of R, G, B of a width multicolour pattern respectively, so just only need projection one width multicolour pattern, preferably requirement of real time.First the method projects the structured light patterns of a width coloud coding to target object with a projector, its 3 Color Channels are respectively phase intervals
frequently sinusoidal structured light patterns of 3 panel heights; Secondly, by a colour imagery shot shooting projection scene, and camera image is carried out to color separated obtain 3 width gray-level structure light images, the operation that has comprised color compensating for coupling and colour brightness equalization in color separation process; Finally calculate wrapped phase with this 3 width gray-level structure light image, adopt again the space phase method of development to obtain absolute phase; Utilize absolute phase to obtain the corresponding relation of camera and projector, and then utilize triangle principle to obtain the three-dimensional coordinate of target object.Mainly there is following defect in its method: (1) measuring accuracy is limited.Phase measurement is subject to the unfavorable factor impacts such as the coupling of colour brightness imbalance, Color Channel, projector are non-linear, neighbourhood noise, although colour brightness imbalance, Color Channel coupling are compensated, but still unavoidably have error, so the phase place obtaining and three-dimensional data degree of accuracy are not high.(2) spatial domain phase unwrapping method applicable elements is comparatively harsh, and geometric jacquard patterning unit surface as discontinuous in target object may cause phase unwrapping mistake.How, in ensureing real-time, can reach again higher accuracy and the stability of three-dimensional measurement, apply the scheme of mentioning of the present invention and just can solve this key issue.
Summary of the invention
The object of the invention is for a little less than the current method for three-dimensional measurement antijamming capability based on colored sinusoidal light coding pattern, low, the unsettled defect of phase unwrapping of measuring accuracy, a kind of real-time three-dimensional measuring method that the phase measuring profilometer of coloud coding is combined with passive stereo vision is provided, the method, in ensureing real-time, can reach higher three-dimensional measurement precision.
The object of the invention is to adopt following technical proposals to realize:
Use projection arrangement, single width sinusoidal light coloud coding pattern is projected to body surface, this multicolour pattern R, G, tri-channel pattern of B are fundamental frequency sinusoidal structured light pattern, and the phase differential between adjacency channel pattern is
, use two camera heads color structured light image of record distortion simultaneously respectively, every width color structured light image is carried out to color separated and obtain R, G, the monochromatic structure light image that tri-passages of B are corresponding, calculate the phase place of each camera head with isolated three width structure light images according to phase measuring profilometer formula, obtain the polar curve restriction relation between two camera heads by camera head calibrating parameters, carry out phase matching by the polar curve restriction relation of two camera heads and obtain two camera head corresponding point coordinates, finally calculate the three-dimensional coordinate on target object surface according to the calibrating parameters of two camera heads and coordinate corresponding relation.
The present invention compared with prior art has the following advantages:
The present invention can reach the three-dimensional measurement of real-time high-precision.Because the present invention obtains the corresponding relation between two cameras by the method for phase matching, in two essentially identical situations of camera hardware bar, colour brightness imbalance, Color Channel coupling, the factors such as projector is non-linear are also basic identical on the impact of two camera corresponding point phase places, thereby above-mentioned disturbing factor is less on the accuracy impact of phase matching, so compared with the existing color coding phase measuring profilometer based on single camera, the present invention is to colour brightness imbalance, Color Channel coupling, the non-linear robustness of disturbing factor that waits of projector is better, can reach higher three-dimensional measurement degree of accuracy.The present invention simultaneously uses fundamental frequency sinusoidal structured light pattern, has avoided space phase to launch the instability problem that may occur.
Brief description of the drawings
Fig. 1 is three-dimension measuring system structural drawing of the present invention.
Fig. 2 is the workflow diagram of method for three-dimensional measurement of the present invention.
Embodiment
Below in conjunction with accompanying drawing, principle of work, the present invention is described in further detail.
Accompanying drawing 1 is three-dimension measuring system structural drawing of the present invention.The device adopting has 1 CASIO XJ-M140 projector, and projector's caching frame size is
pixel, the maximum output frequency of projector is 150 frames/s; 2 Prosilica GC650 industry cameras, resolution is
pixel, the maximum seizure of camera frequency is 62 frames/s.1 has Core i3 3530 CPU, the computing machine of 4GB internal memory.By computing machine, structured light projection and shooting process are controlled.
Accompanying drawing 2 is the real-time three-dimensional measuring method workflow diagram of the present embodiment based on colored sinusoidal light coding.The concrete implementation step of this example is as follows:
(1) two cameras are demarcated, obtained two camera sizes and be
projection matrix
with
.
(2) generate colored sinusoidal light coding pattern.Wherein the monochromatic pattern of R, G, tri-passages of B can be expressed as:
Wherein,
for projector's volume coordinate,
the monochromatic pattern of corresponding R, G, tri-passages of B exists respectively
the gray-scale value at place,
the width in projector space,
for the DC component of structured light patterns,
for the AC amplitude of structured light patterns, meet
.Here structured light patterns parameter value is:
,
.In order to reduce the non-linear to the adverse effect of measuring of projector equipment, before projection, above-mentioned pattern is carried out to greyscale transformation and realize nonlinear compensation.We adopt non-linear correction method method paper " Liu K; Wang Y; Lau D L; et al. Gamma model and its analysis for phase measuring profilometry[J]. JOSA A; 2010,27 (3): 553-562. " in have detailed introduction.Those skilled in the art is understood that nonlinear compensation is the conventional steps that structural light three-dimensional is measured.
(3) after colored sinusoidal structured light pattern being projected on target object with projector, control two cameras and target scene is taken simultaneously, obtain the colored sinusoidal structured light image of two width.Every width coloured image carries out obtaining 3 width gray-level structure light images after color separated, is expressed as
, wherein
represent camera sequence number, meet
,
represent camera
volume coordinate,
the monochromatic pattern that represents respectively isolated R, G, tri-passages of B exists
the gray-scale value at place.The method that color structured light image carries out R, G, B triple channel color separated paper " Color-encoded digital fringe projection technique for high-speed three-dimensional surface contouring[J]. Optical Engineering; 1999; 38 (6): 1065-1071 " in have detailed introduction, comprise color compensating for coupling and colour brightness equalization.
(4) each camera utilization separately isolated 3 width structure light images decodings obtain phase place
with
.The formula that calculates phase place is:
Wherein,
being illustrated in sequence number is
camera coordinate system under, at pixel
the phase value at place.
(5), according to the polar curve restriction relation of two camera plane corresponding point, each pixel on camera 1 is searched out on the corresponding polar curve of camera 2 planes to the corresponding point coordinate that phase place is equal.
The polar curve restriction relation of two camera plane corresponding point can be expressed as:
Wherein
with
be respectively the secondly coordinate form of camera 1 plane and camera 2 plane corresponding point,
,
,
for basis matrix, this matrix description the relative geometrical relation between two cameras.Basis matrix can be by camera projection matrix
with
obtain, computing formula is:
Wherein,
,
represent camera projection matrix
the left side
part,
represent camera projection matrix
the right
part,
for
antisymmetric matrix.
Obtain basis matrix
after, to every bit in camera 1 plane
, can obtain
at polar curve corresponding to camera 2 planes, computing formula is:
, wherein
represent
at the coefficient vector of polar curve corresponding to camera 2 planes.Then at polar curve
upper search with
the equal sub-pixel point of place's phase place.Be corresponding point
with
meet:
Sub-pixel phase matching method based on polar curve constraint has detailed introduction in paper " Wang Y; Liu K; Hao Q; et al. Multicamera phase measuring profilometry for accurate depth measurement[C] //Defense and Security Symposium. International Society for Optics and Photonics, 2007:655509-655509-12 ".After phase matching, obtain the respective coordinates relation of two cameras.
(6) according to two camera corresponding point coordinates and camera projection matrix
with
calculate the three-dimensional coordinate on target object surface.Computing method have detailed introduction in paper " Wang Y; Liu K; Hao Q; et al. Multicamera phase measuring profilometry for accurate depth measurement[C] //Defense and Security Symposium. International Society for Optics and Photonics, 2007:655509-655509-12 ".
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. one kind is applicable to use in three-dimensional sensing commercial measurement the real-time optical method for three-dimensional measurement of the colored sinusoidal light coding pattern of single width and polar curve matching technique, it is characterized in that using projection arrangement, by colored single width sinusoidal light encoded pattern projection to body surface, use two camera heads to record respectively the color structured light image of distortion, every width color structured light image is carried out to color separated and obtain R, G, the monochromatic structure light image that tri-passages of B are corresponding, the three width monochrome structure light images corresponding with color structured light image calculate two camera heads phase place separately according to phase measuring profilometer formula, thereby carry out phase matching according to the polar curve restriction relation of two camera heads and obtain the instantaneous three-dimensional coordinate of body surface.
2. in accordance with the method for claim 1, it is characterized in that said colored sinusoidal light coding pattern, refer to that R, G, tri-passages of B are fundamental frequency, have the sinusoidal structured light pattern of identical DC component and amplitude, and phase differential between adjacency channel pattern is
.
3. in accordance with the method for claim 1, it is characterized in that said phase matching, refer to 1 a on the phase diagram of camera head 1, on the phase diagram of camera head 2, determine corresponding polar curve according to polar curve restriction relation, and on this polar curve, search out and the approximately equalised phase place of a phase value position, to all operations as stated above of all pixels on camera head 1 phase diagram, obtain the coordinate corresponding relation of camera head 1 and camera head 2.
4. in accordance with the method for claim 1, it is characterized in that obtaining by phase matching the coordinate corresponding relation of two camera heads, and then according to the three-dimensional coordinate of camera calibration parameter and triangle principle acquisition target object.
5. in accordance with the method for claim 1, it is characterized in that demarcating two cameras, and by obtain the polar curve restriction relation between two cameras as a calibrating parameters, and do not need projection arrangement to demarcate.
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| CN104390607A (en) * | 2014-11-05 | 2015-03-04 | 南昌航空大学 | Phase encoding-based colorful structured light rapid three-dimensional measurement method |
| CN104634323A (en) * | 2015-02-15 | 2015-05-20 | 四川川大智胜软件股份有限公司 | Multi-stage photographing three-dimensional photographic system and method |
| CN104697469A (en) * | 2015-03-30 | 2015-06-10 | 四川大学 | High-dynamic three-dimensional measurement method capable of judging saturation by use of harmonic amplitudes |
| CN105157613A (en) * | 2015-06-03 | 2015-12-16 | 五邑大学 | Three-dimensional fast measurement method utilizing colored structured light |
| CN106767405A (en) * | 2016-12-15 | 2017-05-31 | 深圳大学 | The method and device of the quick corresponding point matching of phase mapping assist three-dimensional imaging system |
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| CN104697469A (en) * | 2015-03-30 | 2015-06-10 | 四川大学 | High-dynamic three-dimensional measurement method capable of judging saturation by use of harmonic amplitudes |
| CN105157613A (en) * | 2015-06-03 | 2015-12-16 | 五邑大学 | Three-dimensional fast measurement method utilizing colored structured light |
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