基于波长分离的结构光采集系统

彩色结构光系统利用彩色投影机与摄像机中的三个颜色通道,同时投影和采集三幅条纹图像,拍摄一次即可实现形貌测量,但其无法测量彩色物体,通道间的串扰也降低了精度。提出了一种新的系统,利用三个摄像机采集三个通道,并利用严格设计的分色棱镜和滤光片,消除了彩色结构光系统中常见的波长通道间的颜色串扰。基于三步位移法,分析了拍摄两次图像获得彩色物体形貌的过程,并针对该系统提出了校正方法。利用上述方法,拍摄两次即可得到彩色的物体形貌。     

投影器的标定方法

随着近景摄影测量的发展,投影器的使用越来越频繁和广泛。为了更好地使用和充分地利用投影器,需要求解投影器的内方位元素,即对投影器进行标定。提出了一种方便有效的投影器标定的方法。只需要一架投影器、一部数码相机、一个平面格网和一台计算机,设备的连接和使用相对方便灵活。基于近景摄影测量的理论,结合二维直接线性变换(2D-DLT)和共线方程,运用图像处理的方法,利用光束法平差对投影器进行标定。实验及其结果证明了该标定方法的正确性和有效性。     

光学三维扫描仪光强传递函数的测量和校正

由于数字光栅投影仪的光强传递函数对于正弦投影条纹的质量以及相位测量精度起着至关重要的作用,本文提出了一种校正光学三维扫描仪光强传递函数的新方法。首先,分析了由于投影仪非线性响应引起的光栅谐波的相位测量误差;然后,通过投影一组不同灰度级的图像,并利用光功率计测出数字投影仪投出图像的亮度。接着,通过分析得到数字投影仪的非线性响应特性曲线,再经过数据处理,即可获得投影仪的光强传递函数;最后,对光强传递函数进行反函数逆变换,得到一个校正后的非正弦光栅,利用投影仪对该光栅的投影即可在被测物体表面上获得一个正弦光栅。数字投影仪对标准平板的测量结果表明,校正前平均误差为0.71 mm,校正后为0.55 mm;对于标准量块的测量,校正前的平均误差为0.62 mm,校正后为0.15 mm。上述结果表明,本文提出的方法可以减小由于系统非线性响应引起的测量误差并提高测量精度。     

结构光测量技术中的投影仪标定算法

详细介绍了投影机模型,并提出一种简单、高精度的投影仪参数标定算法,该算法将投影仪当作一个逆向的相机,使用一块带有圆形标志点的平面标定板对投影仪进行标定.标定过程中,使用两组不同方向的光栅图像建立投影仪图像和相机图像的对应关系,从而得到投影仪标定所需的图像数据,将投影仪标定转化为成熟的相机标定,然后使用相机标定算法对投影仪进行高精度标定.实验结果表明,所提议的投影仪标定算法操作过程简单,标定精度可达0.312 pixel.     

Accurate calibration for a camera–projector measurement system based on structured light projection

The accurate calibration for a camera–projector measurement system based on structured light projection is important to the system measurement accuracy. This study proposes an improved systematic calibration method focusing on three key factors: calibration model, calibration artifact and calibration procedures. The calibration model better describes the camera and projector imaging process by considering higher to fourth order radial and tangential lens distortion. The calibration artifact provides a sufficient number of accurate 3D reference points uniformly distributed in a common world coordinate system. And the calibration procedures calibrate the camera and projector simultaneously based on the same reference points to eliminate the influences of the camera calibration error on the projector calibration. The experiments demonstrate that our calibration method can improve the measurement accuracy by 47%.     

A fast and accurate calibration method for the structured light system based on trapezoidal phase-shifting pattern

Calibration plays an important part in the structured light system. It used to be regarded as time-consuming, expensive and hard to implement. In this paper, we introduce a novel and fast method to calibrate the structured light system by using the camera to control the projector to “capture” images. Firstly, we projected just six trapezoidal grayscale pattern to establish the corresponding pixel between the camera and the projector, then we converted the camera image to its corresponding projector image. Thus the structured light system can be easy controlled by the camera calibration. Experiments showed that the present calibration method is fast, easy and accurate.     

一种无公共视场相机位置关系的求解方法

多相机系统的标定是立体视觉测量中的一个重要问题。而当各相机间公共视场较小或无公共视场时,标定参照物不能同时出现在所有相机的公共视场,因此无法求解系统中多相机的相对位置关系。针对该类问题,论文在二维靶标标定法的基础上,提出了一种基于两轴转台的无公共视场相机位置关系的求解方法。将待标定系统固定在转台上,利用转台转动确定靶标坐标系与转台坐标系之间的相对关系;通过转动转台使二维靶标依次进入每个相机视场以分别确定转动后每个相机在靶标坐标系中的位置,并记录转动的角度;最后,结合靶标坐标系与转台坐标系关系,求解各相机之间的相对位置关系。实验结果表明,该方法具有可操作性,解算误差在0.5%以内,可较准确地确定多个光轴之间角度较大的非共视场相机位置关系。     

基于交比不变性的投影仪标定

提出了一种新的投影仪标定方法以提高数字光栅投影三维测量中投影仪标定的准确性。该方法结合二次投影技术和交比不变性进行投影仪标定。采用二次投影技术解决投射图案与标定板图案互相干扰的问题;采用交比不变性以避免引入相机的标定误差。接着进行了对比实验,以验证所提方法的有效性。选取需要相机参数的传统投影仪标定方法以及根据全局单应性的投影仪标定方法作为对比方法。结果显示,本方法的反投影误差标准差分别从(0.2275,0.2264)像素和(0.1397,0.0997)像素降低到(0.0645,0.0601)像素,反投影误差的最大值分别从1.222像素和0.5617像素降低到0.2421像素。另外,该方法还可同时标定相机,从而获得整个三维测量系统的参数。本文提出的方法可以避免相机标定参数的误差传递,提高投影仪的标定精度。     

Flexible digital projector calibration method based on per-pixel distortion measurement and correction

When a digital projector is applied in high precision applications, the intrinsic parameters and distortion characteristics should be calibrated precisely. In this paper, a flexible full-field projector calibration method is proposed without any approximate distortion model. With planar homography theory and fringe projection technique, the projector distortion characteristic on each pixel can be measured independently and an initial distortion map is generated. The intrinsic parameters are calibrated afterwards. Then, the initial distortion map can be refined by correcting the non-perpendicularity between the optical axis and image plane. The original pattern to be projected is corrected with the refined distortion map. Thus, the calibrated projector can be regarded as an ideal projector conforming to the pinhole model. Experimental results show a nearly ideal residual map for the corrected projection pattern. In addition, the proposed calibration method is flexible without any sophisticated ancillary equipment or complicated procedure.     

Fourier-transform profilometry calibration based on an exhaustive geometric model of the system

In Fourier-transform profilometry (FTP), the height information is extracted from the phase distribution through triangulation; the relationship between the phase and height distribution depends on the system parameters such as the relative position of the projector and the camera, the fringe frequency and the reference plane position. In this paper, we propose a novel calibration approach for FTP that uses calibration planes to calculate the system parameters. The main innovation of this method is the application of an exhaustive geometric model of the FTP that expresses the phase-to-height relationship in the most general way with a camera and a projector not aligned; the aberration due to optics is also considered and compensated for. The obtained calibration data have a precise physic meaning and can be easily compared with the real system. Tests on both simulated and real data showed that the proposed method is robust, even in the case on non-negligible noise level.     

Calibration method for fringe projection profilometry with a binary defocusing technique

A novel and simple calibration method for fringe projection profilometry with a binary defocusing technique is proposed and verified by experiments. This paper theoretically presents the principle that the one-to-one mapping servers as spatially invariant to environment in the phase domain when the projector is defocused. In terms of this principle, only two reference planes are introduced in the volume of projector defocusing (the measured volume) to specify one constraint, i.e., the emitted light beams, which are determined by the sub-pixel homologous pairs from the measured object to the reference planes in the phase domain. The nonlinear camera model is utilized to define the other constraint, i.e., the reflected light beams. Then, combining these two constraints will calibrate the 3D information of the measured object. It is pointed out that the proposed method does not require the calibration of the projector. Experiments demonstrate the performance of our proposed approach: the measurement accuracy can reach about 0.0916 mm with the binary defocusing technique.     

Three-dimensional shape measurement for an underwater object based on two-dimensional grating pattern projection

In this paper, a practical method using phase tracking and ray tracing algorithms is proposed for measuring the three-dimensional (3D) shape of an underwater object. A 2D projected sinusoidal fringe goes through the water and illuminates the tested object. Firstly, the phase tracking algorithm is employed to identify homologous points in phase distributions of the deformed fringe captured by the camera and these of the fringe pattern projected by the projector. The projector is regarded as a special camera as regards the stereovision principle. In the calibrated system, both ray directions of the homologous points can be easily figured out. Secondly, the ray tracing algorithm is used to trace the propagation path of each ray and to calculate the 3D coordinates of each point on the tested object's surface. Finally, the whole shape of the tested object can be reconstructed.     

单周期条纹双四步相移投影仪的标定方法

针对投影仪标定方法中存在畸变及倾斜投影引起条纹周期、条纹级数变化的问题,提出一种单周期条纹双四步相移投影仪的标定方法.设计生成横向和纵向各两组单周期条纹图像,经投影仪投影到带有圆形标识的标定板上,相机同步采集标定板图像,叠加由双四步相移获得的两幅相位主值图,对叠加相位主值图相位展开,利用展开的绝对相位值计算投影仪像素坐标值,最终将投影仪标定转换为成熟的相机标定.实验结果表明:仿真投影仪标定实验准确度的最大重投影误差约为0.4pixel,均方根误差为0.132 96pixel;实际投影仪标定实验准确度的最大反投影误差约为0.46pixel,均方根误差为0.143 12pixel;实验结果与仿真结果的最大反投影误差相差15%,均方根误差相差7.6%.与现有的采用三频相位展开进行投影仪标定的方法相比,投影光栅图像数可减少8幅.该方法改善了现有投影仪标定方法的不足,标定准确度和标定效率均得到提高.     

单摄像机单投影仪结构光三维测量系统标定方法

系统参数的标定是结构光三维测量系统工作的基础,且参数标定的精度直接影响测量的精度,其中投影仪目前还存在标定过程复杂、精度较低等问题。为解决该问题,通过投影一组圆阵图案到一块本身带有特征圆的平板上,并由摄像机拍摄;基于二维射影变换理论,通过误差补偿法建立投影仪图像坐标和摄像机图像坐标的对应关系,利用该对应关系计算获取标定点的投影仪图像坐标;以标定点的两组图像坐标和世界坐标为初始值,使用非线性算法对系统进行全参数整体优化,完成系统的标定。实验验证了系统标定误差最大值小于0.05 mm,误差均方根小于0.03 mm,结果表明该方法标定过程简单,能够有效地提高标定精度,具有较广的适用性。     

融合单目视觉的激光扫描投影系统自标定方法

为解决现有激光扫描投影系统中需要手动标定的问题,提出了融合单目视觉的激光扫描投影系统自标定方法。首先建立了融合单目视觉技术的激光扫描投影系统模型,给出了融合单目视觉的激光扫描投影系统自标定方法;其次建立了单目相机与激光扫描投影系统、被投影物体之间的数学模型;最后运用Matlab软件进行模拟仿真,证明融合单目视觉的激光扫描投影系统自标定方法可以解决上述问题。同时为验证融合单目视觉的激光扫描投影系统自标定方法的精度是否满足激光扫描投影系统的需求,将Matlab软件求解的实验结果与SA软件求解的实验结果进行对比,并分析精度与距离、角度等外部因素的关系。仿真实验结果表明:当距离一定时,单目相机旋转角度为55°时,单目相机距离投影仪和被投影物体的范围为1.5~3 m,且满足投影仪的精度要求。同时通过自主搭建新型激光扫描投影系统,证明了融合单目视觉的激光扫描投影系统自标定方法具有实际可操作性和可行性。     

A robust photometric calibration framework for projector-camera display system

A novel photometric calibration framework is presented for a projector-camera （ProCam） display system, which is currently under booming development. Firstly, a piecewise bilinear model and five 5-ary color coding images are used to construct the homography between the image planes of a projector and a camera. Secondly, a photometric model is proposed to describe the data flow of the ProCam display system for displaying color images on colored surface in a general way. An efficient self-calibration algorithm is correspondingly put forward to recover the model parameters. Aiming to adapt this algorithm to different types of ProCam display system robustly, a 3× 7 masking coupling matrix and a patches image with 1024 color samples are adopted to fit the complex channel interference function of the display system. Finally, the experimental results demonstrate the validity and superiority of this calibration algorithm for the ProCam display system.     

Study on Fourier transforms profilometry based on bi-color projecting

Projecting a bicolor sinusoidal fringe pattern consisting of two interlaced RGB format base color fringe patterns with π phase difference onto an object thought digital light projector, we can capture a deformed color pattern by color digital camera, then decode two individual sinusoidal fringe patterns with π phase difference by color-separating technique. Accessing these two fringe patterns, not only are zero-order spectra eliminated, but mask function is also built to mark valid unwrapping area in FTP, automatically.Moreover, because the wrapped phase just inside the valid areas is needed unwrapping, we can mark these areas with mask function, which avoids the error transferring resulting from unwrapping the invalid areas and shortens the unwrapping time. Furthermore, in Fourier transform processing, the full-field deformed fringe pattern generally needed to guarantee measurement precision can be formed by expanding non-full-field fringe pattern captured using the mask function.     

Constructing feature points for calibrating a structured light vision sensor by viewing a plane from unknown orientations

To calibrate a structured light vision sensor, it is necessary to obtain at least four non-collinear feature points that fall on the light stripe plane. We propose a novel method to construct non-collinear feature points used for calibrating a structured light vision sensor with a planar calibration object. After the planar calibration object is moved freely in the range of measuring of the structured light vision sensor at least twice, all the local world coordinates of the feature points falling on the light stripe plane can be readily obtained in site. The global world coordinates of the non-collinear feature points in the local world coordinate frame can be computed through the three-dimensional (3D) camera coordinate frame. A planar calibration object is designed according to the proposed approach to provide accurate feature points. The experiments conducted on a real structured light vision sensor that consists of a camera and a single-light-stripe-plane laser projector reveal that the proposed approach has high accuracy and is practical in the vision inspection applications. The proposed approach greatly reduces the cost of the calibration equipment and simplifies the calibrating procedure. It advances structured light vision inspection one step from laboratory environments to real world use.     

Calibration of a multiple axes 3-D laser scanning system consisting of robot, portable laser scanner and turntable

A multiple axes 3-D laser scanning system consisting of a portable 3-D laser scanner, a industrial robot and a turntable is demonstrated. By using a criterion sphere, a robot tool center point (TCP) calibration approach is proposed to calibrate the relation between the laser 3-D scanner and the robot end-effector. In this approach, two different translational motions of robot are first made to determine the rotation part, and then at least three different rotational motions are made to determine the translation part. Meanwhile, by using the criterion sphere, a turntable approach is proposed to calibrate the pose of the turntable relative to the robot. In this approach, several rotational angles of turntable and two different heights of the sphere are made to determine the rotational axis of turntable. Experiment is performed on a portable laser scanner mounted on an industrial robot ABB IRB4400 with a turntable. The experiment results show that the two proposed calibration algorithms are stable and flexible. The application of 3-D measurement is also given to demonstrate the effectiveness and stability of the multiple axes 3-D laser scanning system.     

真实场景的三维视频采集及显示

提出了一种真实场景三维视频采集及彩色显示的方法.设计了一种采用条纹投影的实时三维成像系统及采用液晶空间光调制器的实时全息彩色三维显示系统.在三维成像系统中采用π相移正弦条纹与编码图案结合实现绝对相位测量,从而可以测量孤立物体.同时对采用数字微镜的投影仪进行改造,实现高速投影,并与高速摄像机配合实现三维视频采集.首先利用实时三维成像系统同时获取三维场景的彩色强度像和距离像;然后根据这些三维成像数据, 设计和制作计算菲涅耳全息图;最后在实时全息彩色三维显示系统中再现.三维信息的采集和显示速度达到了60帧每秒.