双目视觉测量系统特征点提取与匹配技术研究

自主研发了一种光笔式双目立体视觉大工件尺寸测量系统,对测量系统中特征点的提取及其匹配技术进行了研究。测量系统采用 Canny 算子和 Zernike 矩相结合的算法实现椭圆光斑的亚像素边缘提取,根据得到的亚像素边缘点,采用基于最小二乘的曲线拟合法得到椭圆光斑的中心坐标。针对特征点的匹配问题,提出了一种基于位置约束的快速匹配方法。实验结果显示:所提方法能提取到椭圆光斑亚像素边缘,可精确计算出椭圆光斑中心坐标,匹配率达到95%以上。     

基于Bertrand曲面模型的边缘检测算法

针对图像边缘检测过程中噪声抑制与细节保留不能兼顾的问题,提出一种基于Bertrand曲面模型的边缘检测算法.在确定像素级边缘的基础上,选取沿边缘方向的带状域为拟合区域,利用Bertrand曲面具有沿母线各点的法线与母线共面的性质,将拟合曲面区域内的像素点信息转化为边缘曲线的活动坐标,并对转化后的像素点坐标和归一化灰度值进行拟合,求得亚像素边缘到像素级边缘的法向距离,实现图像亚像素边缘的检测.用视觉测量系统对量块直线边缘进行实验,并与改进Facet曲面拟合亚像素边缘检测算法比较,说明基于Bertrand曲面模型的边缘检测算法具有较高的定位精度,测得一等量块的直线度误差在1μm以内,多次测量的误差平均值为-0.811μm,可靠性高.通过机油泵泵体测量实例,说明本文算法可以应用于机械零件的精密测量,尤其适用于中心距、孔径等的测量.     

逆向工程中基于共轴立体视觉的曲面边界测量

针对逆向工程中引导性曲面边界信息的快速获取问题,系统地研究了共轴立体视觉测量方法,建立该方法的数学模型,详细分析了摄像机焦距、基线距等系统结构参数及被测点空间位置对测量精度的影响,通过数学分析确定摄像机基线距的最佳取值范围,研究共轴立体视觉测量系统特殊的极线几何关系.提出基于共轴立体视觉的曲面边界快速测量方法,利用三坐标测量机的精密机械系统及精确的空间定位能力,用单个摄像机以两次共轴定位摄取图像的方式实现共轴立体视觉测量功能,然后利用共轴立体视觉外极线相互平行且通过各自像平面主点的特殊极线几何关系简化同源像点匹配过程,从而快速获取被测曲面的边界信息.实验结果表明:用基于三坐标测量机的单摄像机共轴立体视觉测量方法获取的曲面边界平均误差为0.268 mm,基本满足逆向工程中对引导性曲面边界的测量精度要求.     

一种基于场景轮廓特征的三维地形重建方法

为了提升双目视觉系统三维重建的准确性和实时性,提出了一种基于区域分割和匹配的方法。针对实际场景中存在大面积灰度相近区域的现象以及稠密三维重建存在实时性差的问题,采用分水岭算法提取区域轮廓进行三维重建;针对轮廓边缘的误匹配问题,建立区域匹配和边缘点匹配的双重约束条件进行优化匹配;根据平行轴双目立体视觉模型进行三维重建。结果表明:采用轮廓特征进行匹配因其匹配点数大为减少,匹配用时提高了90%;由于采用了双重匹配策略,匹配和重建的准确性得到了保证。     

高噪声背景下激光条纹亚像素中心的提取

针对线结构光三维形貌测量中大量噪声易干扰激光条纹中心提取准确度的问题,提出了一种条纹亚像素中心提取方法。分析条纹图像中的噪声,采用平均法和中值滤波预处理图像;利用迭代阈值分割及形态学方法,获取条纹目标,引入距离变换提取条纹的像素级中心;根据像素级中心、二值信息及光强灰度,结合曲线拟合及重心法精确提取条纹的亚像素中心。仿真分析和实验验证下,相邻行条纹中心列坐标最大偏差值像素小于2 ,平均偏差像素值约为0.3,与传统方法相比,2项指标值更小。实验结果表明,算法有效利用条纹灰度分布规律,可降低噪声对中心定位精度的影响,更逼近条纹真实中心位置,抗噪能力极强。     

逆向工程中基于共轴立体视觉的曲面边界测量（英文）

针对逆向工程中引导性曲面边界信息的快速获取问题,系统地研究了共轴立体视觉测量方法,建立该方法的数学模型,详细分析了摄像机焦距、基线距等系统结构参数及被测点空间位置对测量精度的影响,通过数学分析确定摄像机基线距的最佳取值范围,研究共轴立体视觉测量系统特殊的极线几何关系.提出基于共轴立体视觉的曲面边界快速测量方法,利用三坐标测量机的精密机械系统及精确的空间定位能力,用单个摄像机以两次共轴定位摄取图像的方式实现共轴立体视觉测量功能,然后利用共轴立体视觉外极线相互平行且通过各自像平面主点的特殊极线几何关系简化同源像点匹配过程,从而快速获取被测曲面的边界信息.实验结果表明:用基于三坐标测量机的单摄像机共轴立体视觉测量方法获取的曲面边界平均误差为0.268mm,基本满足逆向工程中对引导性曲面边界的测量精度要求.     

莫尔条纹分析在数字全息存储器中的应用

针对像素不匹配的数字全息存储器中出现的莫尔条纹现象,提出了利用莫尔条纹进行全息存储光路精确调整来实现像素匹配的方法.通过对CCD像面图像中莫尔条纹的周期和角度进行分析,得到光学系统需要的精确调整参数.实验中,实现了空间光调制器和光电耦合器阵列512×512像素的1:1像素匹配,该方法能提高读取速度并降低误码率.     

莫尔条纹分析在数字全息存储器中的应用

针对像素不匹配的数字全息存储器中出现的莫尔条纹现象,提出了利用莫尔条纹进行全息存储光路精确调整来实现像素匹配的方法.通过对CCD像面图像中莫尔条纹的周期和角度进行分析,得到光学系统需要的精确调整参数.实验中, 实现了空间光调制器和光电耦合器阵列512×512像素的1∶1像素匹配,该方法能提高读取速度并降低误码率.     

基于多频外差原理的相位解包裹方法

根据多频外差原理推导了三频光栅条纹解包裹的过程,获取了光栅条纹的绝对相位值。同时,为了减小误差,提高测量精度,提出了一种相位修正的方法,比较了相位修正前后的相位图,表明该方法能够非常有效地去除相位误差。通过将修正后的绝对相位值作为匹配的一个特征量,利用机器视觉中双目立体视觉的方法求取物体的三维特征。实验证实了该方法的可行性,并得到良好的测量结果。     

基于组合编码的条纹结构光主动立体视觉匹配

立体视觉中如何提高图像匹配的密度以及精度,已成为研究中的热点和难点;提出Gray码条纹和正弦位移条纹投射相结合组合编码方案,结合中心线解码完成图像匹配,可消除Gray码解码误差,以及基于绝对相位匹配中的相位展开误差;位移步长不受条纹周期的限制,显著提高了采样点的匹配密度;采用双向正交投射实现视场全局唯一性编码,作为匹配特征完成同名采样点的一一对应;应用该编解码方案建立主动视觉测量系统,完成了标准平板和圆柱的形状检测与误差评定,以及复杂形状物体的三维重构;结果表明了算法的有效性。     

Precise perimeter measurement for 3D object with a binocular stereo vision measurement system

A novel measurement scheme for a three dimensional (3D) object's surface boundary perimeter is proposed. This scheme consists of three steps. First, a binocular stereo vision measurement system with two CCD cameras is devised to obtain the two images of a detected object's 3D surface boundary. Second, two B-spline active contours are applied to converge to the object's contour edges accurately in the two CCD images to perform the stereo matching. Finally, for the reconstructed 3D active contour, its true contour length is computed as the detected object's true boundary perimeter. An experiment on a bent surface's perimeter measurement indicates that this scheme's measurement repetition error decreases to 0.6%.     

ANALYSIS AND DESIGN OF MULTIPORT WAVEGUIDE JUNCTIONS WITH ARTIFICIAL INCLUSIONS FORMED OF CONDUCTING STRIPS

A rigorous electromagnetic theory is developed to analyze multiport waveguide junctions with artificial inclusions formed of the conducting strips and dielectric layers. The method is based on the Fourier transform technique combined with the mode matching method technique that takes into account the edge conditions in vicinity of the strip edges. The scattering characteristics of a 3-port junction are discussed with the numerical examples for the SWR maps, the power reflection and transmission coefficients, and the 2D plots of near fields distributions inside the junction area. A strategy of optimize matching properties of the 3-port waveguide junctions is also presented.     

Corner detection and matching for infrared image based on double ring mask and adaptive SUSAN algorithm

Infrared (IR) image fusion is designed to fuse several IR images into a comprehensive image to boost imaging quality and reduce redundancy information, and image matching is an indispensable step. However, Conventional matching techniques are susceptible to the noise and fuzzy edges in IR images and it is therefore very desirable to have a matching algorithm that is tolerant to them. This paper presents a method for infrared image matching based on the SUSAN corner detection. To solve the problems of the traditional SUSAN algorithm including the fixed threshold of gray value difference and the failed detection of symmetry corners, an adaptive threshold extraction method is raised in this study. Furthermore, an attached double ring mask is used to improve the complex corner detection capability. A constraint condition and a principle of gravity are adopted to filtrate the candidate corners. The proposed method is qualitatively and quantitatively evaluated on IR images in the experiments. In comparison with other methods, better performance has been achieved.     

Improved keypoint descriptors based on Delaunay triangulation for image matching

In the current keypoint-based image matching methods, not all the keypoints can be reliably matched because of the influence of noise, illumination, and image distortion. In the paper, we propose a novel method based on the Delaunay triangulation to detect and remove possible mismatches. Given previously matched keypoints by a detector in two images, the proposed method utilizes four steps to remove the mismatched point pairs: first, triangulating keypoints in the reference image, and producing a graph consisting of edges that connects the keypoints; second, drawing a graph in the test image by connecting the corresponding points as same as in the reference image; third, detecting abnormal edges in the test image using special constraints; fourth, detecting and removing mismatched point pairs based on the abnormal edges. The experimental results show that the method can detect the mismatches accurately and improve the robustness of current matching algorithms.     

伪Zernike矩在低信噪比红外目标检测中的应用

由于探测器本身固有的特性以及军事上的极限使用要求,红外图像普遍存在目标-背景间对比度较差、目标边缘模糊和噪声较大等特点,采用常规模板匹配、Hu矩方法难以取得理想的检测效果。针对低信噪比红外目标图像,分析了伪Zernike矩的基本原理、不变性和计算方法,提出了低信噪比红外目标检测的伪Zernike矩方法,并比较了模板匹配、Hu矩、伪Zernike矩方法的目标检测效果。理论分析和实验验证了该方法的有效性。     

Edge-enhanced spatiotemporal constrained reconstruction of undersampled dynamic contrast-enhanced radial MRI

Dynamic contrast-enhanced magnetic resonance imaging (MRI) is a technique used to study and track contrast kinetics in an area of interest in the body over time. Reconstruction of images with high contrast and sharp edges from undersampled data is a challenge. While good results have been reported using a radial acquisition and a spatiotemporal constrained reconstruction (STCR) method, we propose improvements from using spatially adaptive weighting and an additional edge-based constraint. The new method uses intensity gradients from a sliding window reference image to improve the sharpness of edges in the reconstructed image. The method was tested on eight radial cardiac perfusion data sets with 24 rays and compared to the STCR method. The reconstructions showed that the new method, termed edge-enhanced spatiotemporal constrained reconstruction, was able to reconstruct images with sharper edges, and there were a 36%±13.7% increase in contrast-to-noise ratio and a 24%±11% increase in contrast near the edges when compared to STCR. The novelty of this paper is the combination of spatially adaptive weighting for spatial total variation (TV) constraint along with a gradient matching term to improve the sharpness of edges. The edge map from a reference image allows the reconstruction to trade-off between TV and edge enhancement, depending on the spatially varying weighting provided by the edge map.     

基于边缘与SURF算子的SAR与可见光图像配准方法

鉴于SAR(synthetic aperture radar)与可见光图像的成像机理存在很大差别,使得其同名特征的提取和配准十分困难,但在某些情况下,这两类图像的边缘存在一定的相关性。提出一种基于边缘与SURF(speed-up robust feature)算子的图像配准方法。通过适当预处理增强图像间的共性,采用综合性能比较好的Canny算子提取两幅图像共有的边缘特征,在边缘图像的基础上提取SURF特征;通过比值提纯法进行特征点粗匹配,RANSAC(random sample consensus)算法剔除误匹配点,计算仿射变换模型从而实现SAR与可见光图像的自动配准。实验结果表明:该算法的正确匹配率为100%,均方根误差为0.852个像素,配准精度达到亚像素水平。     

Electron field emission properties of highly dense carbon nanotube arrays

In this paper, we have studied field emission properties of highly dense arrays of multi-walled carbon nanotubes (CNTs) used as cathodes in diode-type field emission devices with a phosphor screen. For the high-density CNT emitters it is demonstrated that the emission sites are located on the CNT-cathode edges, which is direct experimental evidence of the ‘edge effect’. The results of computer simulations (using ‘ANSYS Electromagnetic’ software) are presented to confirm the experimental data and to analyze the effect of patterning on the electric field distribution for high-density CNT arrays. It is shown that selective-area removal of nanotubes in the arrays leads to the formation of additional edges characterized by the high field enhancement factor and enhanced emission from the CNT cathodes. In addition, scanning probe microscopy techniques are employed to examine surface properties of the high-density CNT arrays. For CNT arrays of ‘short’ nanotubes, the work function distribution over the sample surface is detected using a scanning Kelvin microscopy method.     

基于Facet模型的闪光图像边缘检测

针对闪光图像的特点,对经典边缘检测算子进行了分析,发现存在检测出的边缘粗和对噪声的干扰比较敏感的缺点,提出了一种基于Facet模型的爆轰实验图像边缘检测算法。该方法吸取了其它同类方法的优点,引进了正交基简化了运算,用离散正交多项式对图像每个像素的邻域作最佳曲面拟合,在此基础上使用整体梯度算子寻求二阶方向导数的零交叉点,最终提取边缘点。结果表明:该方法检测出的边缘细,并且光滑连续,对图像噪声干扰有较强的抑制能力,对于孤立的边缘能够给出较精确的定位。     

Scattering matrices of Lamb waves at irregular surface and void defects

Time-harmonic solution of Lamb wave scattering in a plane-strain waveguide with irregular thickness is investigated based on stair-step discretization and stepwise mode matching. The transfer relations of the transmission matrices and reflection matrices are derived in both directions of the waveguide. With these, an explicit expression of the scattering matrix is derived. When the scattering region of an inner irregular defect is geometrically divided into several parts composed of sub-waveguides with variable thicknesses and void regions with vertical free edges corresponding to the plate surfaces, the scattering matrix of the whole region could then be derived by modal matching along the artificial boundaries, as explicit functions of all the scattering matrices of the sub-waveguides and reflection matrices of the free edges. The effectiveness of the formulation is examined by numerical examples; the calculated scattering coefficients are in good accordance with those obtained from numerical simulation models.