基于单目结构光的大物体三维测量关键方法的研究

在单目结构光的三维测量系统中,由于投影仪倾斜投影, 参考平面上的条纹周期展宽, 给测量带来误差,降低了测量精度。同时受大物体自身几何和形貌等因素的影响,以及相交轴测量系统的限制,其单幅面测量范围受限,很难一次测量大物体完整的三维形貌,而且在测量大物体时,摄像机镜头非线性畸变也影响测量精度。根据参考平面上光栅条纹的周期变化规律,提出了一种适用性好、方便快捷的条纹周期校正的理论模型, 在此基础上, 提出了基于条纹周期校正的四步相移法的理论模型,进而提出了基于条纹周期校正的时间相位展开法的理论模型。采用摄像机镜头非线性畸变校正模型,提高测量精度。在被测物表面粘贴标志点,获取其三维坐标,利用SVD分解和L-M优化算法求取转换矩阵,并在设定的全局坐标系下实现三维图像拼接,采用线性加权算法,对重叠区域进行图像融合。实验结果表明,X轴的拼接误差为0.14 mm,Y轴的拼接误差为0.16 mm,Z轴的拼接误差为0.19 mm,其拼接误差均在测量误差允许范围之内。     

离焦条纹投影三维测量中正弦光栅的二值化方法研究

采用离焦二值条纹投影技术进行三维面形测量可以克服数字投影仪的非线性响应,同时有利于提高投影速度,实现高速测量.通过理论分析和实验研究了采用数字投影仪时二值条纹的基频、高次谐波能量分布与条纹周期的关系.结合相移算法,以相位测量误差为指标,衡量各种二值条纹的性能.研究结果表明:在周期小时,罗奇光栅和二维误差扩散算法生成的二值条纹离焦后能产生正弦性较好的条纹;在采用满周期等间隔奇数次相移时,罗奇光栅离焦能获得更高的测量准确度;在周期大时,采用优化脉宽调制方法得到的二值光栅离焦测量准确度最高.研究结果为离焦条纹投影三维测量中二值光栅的选择提供了依据.     

一种新的基于条纹投影的三维轮廓测量系统模型

提出一种新的光栅条纹投影轮廓测量术系统模型,新模型不要求测量系统满足光心连线平行于参考面、成像系统光轴垂直于参考面以及两光轴相交于参考面上等约束条件,只需投射至参考平面的正弦光栅条纹之间相互平行,简化了系统校准过程,有利于现场测量。得到的高度相位映射关系式中,待标定的系数与像点的坐标无关,不需要对每一个像点进行采样,能够减少系统标定所需的时间。实验表明:所提方法使投影装置和成像系统的位置校准过程简单,提高了系统标定的速度,且具有较高的测量精度,能够测量复杂面形的物体,增强了光栅投影三维测量系统的实用性。     

光栅投影测量物体三维轮廓的条纹中心线相对偏移量的获取

精确地获得光栅条纹中心线的相对偏移量，在三角形法测量物体三维轮廓技术中占有非常重要的地位。本文对光栅投影条纹图像进行预处理，提出采用重心法提取条纹中心线位置，可以获得亚像素级的精度；接着修补条纹中心线，采用模板技术跟踪条纹的走向，可求出条纹中心线相对参照平面条纹中心线的相对偏移量。     

二值条纹高速离焦投影的旋转风扇面形测量

傅里叶变化轮廓术将结构光投影与傅里叶条纹分析相结合,只需一帧变形条纹就可以重建被测物体三维面形,是动态三维面形测量中的首选。选择最适用于傅里叶变换轮廓术测量系统的二值条纹编码方法,对二值化后的正弦条纹进行离焦投影,既克服了普通商用数字投影仪的刷新频率限制和非线性响应影响,又能充分利用光学成像系统的低通滤波特性获得很好的高速正弦光场。设计搭建了一套高速离焦投影条纹并同步采集的三维面形测量系统,利用该测量系统对高速旋转的散热器风扇进行测量,得到任意采样时刻风扇扇叶的三维面形信息,重建完整的风扇转动过程。能进一步分析散热器风扇扇叶在高速转动过程中的形变,为散热器风扇材料选择以及改善其性能提供可靠的测量技术方案与原始数据,有效地拓展了动态三维面形测量的应用。     

用于数字条纹轮廓术的一种基于广义分析模型的后滤波方法

由于数字投影和采集系统的非线性失真,传统的方法通常需对采集到的条纹进行低通或带通滤波从而抑制高次谐波并获取基频分量。基于广义分析模型针对数字条纹轮廓术提出一种对测量后的物体形貌进行后滤波的算法,消除了非线性失真对测量结果所造成的影响并提高了数字条纹轮廓术的测量精度。论述了条纹轮廓术的原理和广义分析模型,分析推导出后滤波算法。仿真和实验结果表明,后滤波方法能够快速准确地实现基于数字投影的三维形貌重建。     

基于傅里叶频谱分析的相位测量轮廓术系统Gamma非线性校正方法

数字投影和成像系统的Gamma非线性效应是导致相位测量轮廓术（PMP）测量误差的重要原因。目前大多采用多帧条纹图进行Gamma校正,使测量的实时性受到限制。提出了一种Gamma校正方法,利用正交光栅像的傅里叶频谱分布计算Gamma值,再根据此Gamma值对投影相移条纹进行Gamma逆变换,实现投影条纹输入值的提前校正,以获取具有良好正弦性的结构条纹,从而降低PMP相位测量误差。校正过程中只需一帧条纹图,而且考虑了测量系统的离焦效应。实验证实了该方法的有效性和正确性。     

基于相位标靶的投影仪畸变测量与校正

针对传统的投影仪畸变标定方法系统结构和理论推导复杂等问题,提出一种基于相位标靶的投影仪畸变测量和校正方法。该方法以附有全息投影膜的液晶显示屏作为相位标靶,液晶显示屏依次显示水平和垂直方向的正弦条纹图像,投影仪向相位标靶依次投射水平和垂直方向的正弦条纹图像,并分别计算显示条纹和反射条纹的绝对相位。利用两组相位在相机像素上的对应关系,将投影仪投射相位转换到液晶显示屏相位坐标系中,从而测得投影仪的畸变。根据采集的相位空间关系进行畸变校正,使投影仪投射的等相位线在相位标靶上呈直线分布。实验结果证明,该方法可测量并校正投影仪的畸变,不受相机成像质量的影响,可为条纹投影三维形貌测量技术提升投影质量。     

改进的次条纹积分相位分析技术

条纹花样的单帧相位解调算法在实时、动态测量技术中具有广泛应用。次条纹积分算法具有较高抗噪能力,但其采用载频近似估算形变条纹周期时存在频率失配的固有缺陷,提出一种改进的次条纹积分算法,对条纹的局域频率进行探测,利用局域频率进行次条纹积分,然后再计算相位。模拟实验表明,改进算法的最大误差约为原算法的1/3,并通过条纹投影轮廓术实验进一步证明了改进算法的有效性,为单帧条纹相位分析技术提供了一种可供选择的新算法。     

基于双色条纹投影的快速傅里叶变换轮廓术

在实际傅里叶变换轮廓术测量中，获取的条纹图扩展的零频分量对傅里叶变换轮廓术的测量精度和测量范围有很大影响，甚至妨碍正确三维面形的恢复。π相移技术常被用来消除零频分量对测量的影响，但需要在测量系统中安装精密相移装置，并需要采集两帧具有π相位差的条纹图。传统傅里叶变换轮廓术中，完成精密相移需要较长的时间，影响了傅里叶变换轮廓术测量方法的实时性。提出了采用双色正弦光栅投影来实现从一帧条纹图中消除零频对傅里叶变换轮廓术测量的影响。该方法同传统的π相移方法相比，不需要相移装置，测量系统简单，并且能真正实现高速测量。     

3D shape measurement of larger complex objects based on fringe cycle correction

The grating fringe on the reference plane is broadened in the intersecting axis system because of oblique-angle projection. In order to solve this problem, we study the theoretical model of the temporal phase unwrapping method based on the fringe cycle correction. We also study the 3D shape measurement theoretical model of the larger complex objects after considering the coordinate deviation and lens distortion. Experimental results demonstrate that the fringe cycle on the reference plane can be corrected to a constant value, the lens distortion can be corrected, and 3D shape of larger complex objects can be accurately measured.     

Shifted-phase calibration for a 3-D shape measurement system based on orthogonal composite grating projection

This paper proposes a novel method for reducing measurement error caused by spectrum overlapping in orthogonal-composite-grating-based 3-D measurement method. For 3-D measurement systems based on orthogonal composite grating projection, spectrum overlapping causes phase of each deformed phase-shifting fringe changed differently, which violates the principle that the shifted phases between adjacent deformed fringes must be equivalent to 2π/3, and therefore results in phase measurement error. The proposed shifted-phase calibration method is based on that phase variation of each deformed fringe is independent of height and reflectivity of the measured object. Three composite gratings are projected on the reference plane, and each carrier channel includes three phase-shifting gratings needed in phase measuring profilometry (PMP). Because the adjacent phase-shifting fringes demodulated from the same carrier channel have the phase difference of 2π/3, we can respectively calculate the reference plane's phases of three carrier channels by the phase algorithm of PMP method, and the shifted phases between them are obtained. When an object is measured, the shifted phases between deformed phase-shifting fringes can be calibrated. A new 3-D measurement mathematical model is set to reconstruct object. Our experiments prove that the proposed method can effectively restrain the effect of spectrum overlapping and improve measurement accuracy almost one times.     

静态傅里叶变换光谱仪的机理及干涉条纹的校正

针对高速、瞬时光谱测量要求光谱仪的结构简单、装备方便、实时性强的特点,文章介绍了一种静态傅里叶变换光谱仪,并对其原理进行了推导与剖析。针对其调整中出现的干涉条纹的倾斜校正问题,进行了详细的理论分析和干涉条纹模型的数学推导,得出倾斜镜旋转参数和光学元件最小通光口径之间的数学关系,以及倾斜镜旋转参数和干涉条纹旋转参数之间的数学关系。通过利用Matlab7.0数学工具,对所总结推导的干涉条纹模型进行模拟,对所得的各种参数之间的数学关系进行验证。分析结果表明据此数学关系所求得的β角校正精度达到1.4%,是一种有效可行的校正方法。     

A novel fringe adaptation method for digital projector

Aimed to obtain high-quality sinusoidal fringe projection, a new method to correct the output fringe of digital projector is presented. The method is based on the proposed fringe transform model, which describes the relationship of the input and output fringe pattern. Firstly, a series of fringe patterns are projected and from the fringe images, the transform function is calculated by the pattern shifting method. At last, by modifying the input fringe pattern, a standard sinusoidal output fringe can be achieved. Different from the previous methods, the waveform nonlinearity is estimated by varying the intensity of the projected fringe pixel by pixel; thus the waveform nonlinearity can be estimated precisely and the time cost is considerably reduced. Experimental results show that by modification of the input projection patterns the projector can project fringe with high-quality sinusoidal waveform leading to high performance of the projection system.     

Period correction method for binary fringe defocused projection

Binary fringe defocused projection can resolve the problem caused by the nonlinear gamma of the projector. Owing to the intersecting axis measurement system, the broadening of the fringe period on the reference plane can cause measurement errors. Non-uniform periodical binary fringe defocused projection is utilized to overcome this problem. After appropriate defocused projection of non-uniform periodical binary fringe, uniform periodical sinusoidal fringe can be obtained on the reference plane. This method can prevent the nonlinear gamma effect and broadening of the fringe period, and filter high harmonics and high-frequency noise. Three-dimensional (3-D) shape measurement experiments of standard flat are performed with four-step phase-shift method. Experimental results demonstrate that the proposed method exhibits high measurement precision. Highly accurate 3-D measurements of large objects can also be performed with the proposed method.     

Phase deviation analysis and phase retrieval for partial intensity saturation in phase-shifting projected fringe profilometry

Intensity saturation may take place as a sinusoidal fringe pattern is projected onto an object which has a relative high reflective index on some regions of the surface. If a phase-shifting method is used, the illuming light intensities at the same point of the object may have different values for each projected phase-shifting fringe pattern. Therefore, when the intensity at a point of the object exceeds the saturation level for a certain phase step of projected fringe pattern, other intensities obtained at the same point with different phase steps of projected fringe patterns do not exceed the saturation level. This kind of saturation is defined as partial intensity saturation. In the case of partial intensity saturation, a relative larger phase error is introduced when a conventional phase reconstruction algorithm is used in the phase-shifting projected fringe profilometry (PSPFP). To get rid of such disadvantage, an improved algorithm for phase reconstruction is proposed in this paper. By using the new algorithm, the effect of partial intensity saturation for the phase reconstruction can be decreased greatly and a good quality of reconstructed phase map can be obtained. Phase deviation of the reconstructed phase is also analyzed. Finally, an experimental result with PSPFP is presented to validate the feasibility of the proposed algorithm.     

A flexible new three-dimensional measurement technique by projected fringe pattern

Aimed at the problems of inferior precision and bad maneuverability for three-dimensional (3D) measurement by projected fringe pattern, a flexible new 3D technique for performing system calibration and measuring was proposed. First, we analyzed the principle of conventional 3D measurement with projected fringe pattern, and pointed out the shortcoming of measurement system. Then, the CCD camera calibration technique is analyzed and we set up the perspective projection model which transforms the computer image coordinate to 3D world coordinate, and we get the coordinate of the CCD camera image lens. Third, the position of projection lens optical center can be obtained using the above model. At last, some experiment results presented show that this technique is more simple and robust in engineering than conventional measurement method.     

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.     

位相相关在大尺寸物体三维重构中的应用

提出了一种对大尺寸物体进行三维重构的方法.将一正弦光栅投影到物体表面,通过摄像机得到有变形条纹的二维子区域强度像.在频域中完成各二维子区域强度像之间的相关,根据输出的相关峰值位置即可得出平移量,通过图像拼接获得有变形条纹的整个物体的二维强度像.运用傅里叶变换轮廓术可得到大尺寸物体的三维型面,给出了实验结果.