基于彩色光栅投影的快速三维测量方法

 针对条纹投影术提取物体高度信息的问题,提出了一种新的基于彩色光栅投影的三维测量方法。对选取G分量为255,R,B分量各取0或255而组成的青、白、黄、绿四色遵循格雷码原理进行编码,然后将G分量作正弦调制形成投影光栅投向被测物体。提取采集到的光栅变形图中G分量,利用傅里叶变换方法得到其初始相位;同时对采集到图像中的R,B分量作阈值迭代分割而G分量自动赋值为255,综合三分量信息得到条纹颜色信息进而获取条纹的周期信息,从而展开相位。全过程仅需投影一幅彩色光栅图就能完成三维测量,实验结果表明该算法易于实现,在测量实时性和精确性上表现良好。     

3D coordinate measurement based on inverse photogrammetry and fringe analysis

A method based on inverse photogrammetry and fringe analysis is presented for 3D coordinate measurement. Measurement system mainly consists of a micro-camera fixed on one end of a measuring rod, a measuring probe on the other end and a liquid crystal display screen for displaying 2D fringe pattern in the measurement. In the measurement process, the probe contacts the surface of the measured object, and the CCD camera captures the stripes image on displays screen. The coordinates of camera principal point in the world coordinate system may be determined by the phase information carried in the fringe pattern. The coordinate relations between the principal point of the camera and the measuring probe can be determined with a least square optimization technique in camera coordinate system. This method has the advantage of large measurement range, good flexibility, and portable, which is suitable for field measurement. A result of our method is compared with that of the Coordinate Measuring Machine (CMM), which shows that the measurement accuracy of this method can meet accuracy requirement of the field measurement in large dimension.     

Surface height retrieval based on fringe shifting of color-encoded structured light pattern

A new method of fringe shifting for color structured pattern projection is presented for three-dimensional (3D) surface height measurement. Temporal encoding of color stripes is combined with locally spatial shifting of multiple fringes to realize image acquisition with a small number of pattern projections. Object topography is retrieved with high resolution by decoding the code word of each fringe with the help of the redundant information provided by the shifting patterns and the encoding patterns in their temporal and spatial neighborhoods. An application to evaluate the shape of a buckled tube demonstrates the effectiveness of the method.     

Real-time 3D shape inspection system of automotive parts based on structured light pattern

The non-contact 3D area sensor technology has achieved many successes in a variety of offline measurements. However, it has not been implemented for online measurement in the automotive production lines. The biggest challenge is the capability of simultaneously satisfying the efficiency, reliability, and accuracy requirements. For this purpose, a real-time 3D area sensor based on structured light pattern is proposed. To satisfy the requirement of online measurement, a one-shot pattern using monochromatic light is proposed. Compared with the previous patterns, this pattern is more robust because it can avoid the influence of the ambient light and the inspected part reflective property. Moreover, the requirement of the accuracy performance is achieved by the pattern primitive which is similar to the corner of the checkerboard since it can provide high accuracy performance even when the occlusion occurs; also, the pixel-to-pixel calibration strategy is utilized to increase the accuracy of the inspection system. Such a real-time shape measurement system has been successfully developed in our laboratory. Last, the evaluation experiments are conducted. The experiment results demonstrate the robustness and accuracy of the approach on automotive parts with different surface properties.     

Optimal pulse width modulation for sinusoidal fringe generation with projector defocusing

Recently, a study showed that generating sinusoidal fringe patterns by properly defocusing binary ones can significantly simplify three-dimensional shape measurement system development and drastically improve its speed. However, when the fringe stripes are very wide, it is very difficult for this technique to achieve high-quality measurement. This Letter presents a method to improve this technique by selectively eliminating high-frequency harmonics induced by a squared binary pattern. As a result, better sinusoidal fringe patterns can be generated with a small degree of defocusing even for wide fringe stripes. Simulation and experiments will be presented to verify the performance of this proposed technique.     

Three-dimensional profile measurement of the blade based on multi-value coding

As the blade must have precise size and accurate shape, three-dimensional (3D) profile measurement of the blade is very important. 3D profile measurement method based on multi-value coding is proposed. This method designs a multi-value coding stripe pattern combined with the four-step phase-shifting method. Two kinds of fringe patterns are projected onto the object respectively, one is sinusoidal intensity distribution used for wrapped phase, the other is multi-value coding fringe pattern for phase unwrapping. Because this encoding method is simple, and easy to implement, the absolute phase can be quickly implemented. Experimental results demonstrated that the proposed method can achieve a high precision, high speed and low cost 3D profile measurement of the blade.     

基于CCD采集的Mach-Zehnder干涉条纹图的处理算法

Mach-Zehnder干涉仪适用于研究气体密度迅速变化的状态。由于气体折射率的变化与其密度的变化成正比,而折射率的变化将使通过气体的光线有不同的光程,因此可通过干涉臂变化对干涉条纹图像效果的影响得到气体密度。实测中,采用图像采集卡和CCD来接收Mach-Zehnder干涉仪产生的条纹图像,再通过计算机对条纹图像的条纹间距进行处理,从而得到气体密度的变化状态。从光干涉理论出发,对Mach-Zehnder干涉条纹图像特征进行了分析,建立了Mach-Zehnder干涉条纹的数学模型,并根据此模型设计了处理Mach-Zehnder干涉条纹图像的算法。算法包括图像的预处理(即图像的噪声提取)、图像的二值化及图像的细化。     

Three-dimensional shape measurement technique for shiny surfaces by adaptive pixel-wise projection intensity adjustment

Conventional methods based on analyses of the absolute gray levels of pixels in fringe pattern images are affected by the problems of image saturation, interreflection, and high sensitivity to noise when obtaining three-dimensional (3D) shape measurements of shiny surfaces. This study presents a robust, adaptive, and fast 3D shape measurement technique, which adaptively adjusts the pixel-wise intensity of the projected patterns, thus it avoids image saturation and has a high signal to noise ratio (SNR) during 3D shape measurement for shiny surfaces. Compared with previous time-consuming methods using multiple exposures and the projection of fringe patterns with multiple intensities, where a large number of fringe pattern images need to be captured, the proposed technique needs to capture far fewer pattern images for measurement. In addition, it can greatly reduce the time costs to obtain the optimal projection intensities by the fusion of uniform gray level patterns and coordinates mapping. Our experimental results demonstrate that the proposed technique can achieve highly accurate and efficient 3D shape measurement for shiny surfaces.     

基于二进制条纹加相位编码条纹离焦投影的三维测量方法

复杂表面的精密三维测量在工业无损检测中非常重要。二进制条纹离焦投影方法在快速三维测量中有重要的应用前景,但该方法难以实现复杂表面高精度三维测量。为此,提出了基于二进制条纹加相位编码条纹离焦投影的三维测量方法。由于离焦投影滤除了高次谐波和高频噪声,可以克服投影仪的非线性伽马效应,与传统投影正弦条纹方法相比,提高了其测量精度。针对离焦投影时,随着相位编码条纹频率增大,条纹级次判决困难,出现周期错位,导致相位解包裹出错,提出了相移编码方法来解决以上问题。采用相移编码方法校正周期错位,使条纹级次判决准确,进一步提高其测量精度。实验结果表明,其测量精度可以达到0.044 mm,验证了本方法的有效性和实用性。     

基于彩色栅线的结构光动态三维测量技术研究

结构光动态三维测量能够实现运动或者变形物体型面重构。将6色3次伪随机条纹序列的色彩信息溶入亮度呈余弦周期性变化的数字栅线图中,构成彩色栅线空域编码图案。图像解码采用仿视觉过程。在直觉处理阶段,通过亮度峰值与对应的色彩信息来实现周期划分;在专注处理阶段,通过局部亮度变化关系来进行空域解相。实验结果证明,测量系统只需投影单幅图案即可实现物体形貌的三维重构,可满足动态测量的要求,结合亚像素匹配可保证一定的测量精度,能形成多分辨率测量。     

A novel color fringe projection based Fourier transform 3D shape measurement method

A novel Fourier transform 3D shape measurement method based on color fringe projection is proposed in order to solve the spectrum overlapping and phase unwrapping problems existed in Fourier transform profilometry (FTP). The R and G components of the color fringe are set to two sinusoidal patterns with different frequencies and the B component is set to the average value of R or G component. Then this pattern is projected to the object and the deformed fringe image is captured. Three gray patterns are separated from the color fringe, the background and high frequency noise can be eliminated using our method and the accurate unwrapped phase can be got. Only one shot color pattern is projected to get the 3D information of the object. Experiment results show that the 3D information of an object can be obtained rapidly and accurately.     

A novel 3D measuring method for discontinuous object by non-integral twin-frequency grating

A new 3D shape measurement method based on non-integral twin-frequency grating projection is proposed. In this paper, the projected composite grating is composed of two sinusoidal gratings, and the quotient of whose frequencies is not an integer. By using appropriate phase-shifting algorithms, two wrapped phases can be obtained from sixteen frames of the distorted grating patterns. In aid of appropriate phase unwrapping method, the unwrapped phase of high frequency fringe is obtained only from the relation of the two wrapped phases by a pixel-to-pixel phase unwrapping technique. Therefore the unwrapped phase of high frequency fringe pattern is independent of the low frequency fringe pattern, different from traditional integral twin-frequency grating projection methods in which the phase unwrapping error of low frequency fringe pattern may be propagated onto the unwrapped phase of high frequency fringe pattern. The new theory proves that the proposed method is applicable to measure discontinuous object, and has considerable measurement accuracy.     

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。     

An improved stair phase encoding method for absolute phase retrieval

An improved phase unwrapping method is proposed to reduce the projection fringes in three-dimensional (3D) surface measurement. Color fringe patterns are generated by encoding with sinusoidal fringe and stair phase fringe patterns in red and blue channels. These color fringe patterns are projected onto the tested objects and then captured by a color CCD camera. The recorded fringe patterns are separated into their RGB components. Two groups of four-step phase-shifting fringe patterns are obtained. One group of the stripes are four sinusoidal patterns, which are used to determine the wrapped phase. The other group of stripes are four sinusoidal patterns with the codeword embedded into stair phase, whose stair changes are perfectly aligned with the 2π discontinuities of sinusoidal fringe phase, which are used to determine the fringe order for the phase unwrapping. The experimental results are analyzed and compared with those of the method in Zheng and Da (2012. Opt Express 20(22):24139–24150). The results show that the proposed method needs only four fringe patterns while having less error. It can effectively reduce the number of projection fringes and improve the measuring speed.     

基于相移的彩色结构光编码三维扫描技术

在物体三维轮廓扫描中,被动式双目立体视觉方法对表面特征不明显的物体难以获取足够的三维信息,针对这一问题,基于双目立体视觉原理,结合主动视觉中结构光投射方法,提出了基于相移的彩色结构光编码方法。该方法将四种颜色按照全排列的相关性质编码产生彩色光栅投射在被测物体表面,依据光栅相位移动增大光栅密度,结合极线约束实现立体匹配,最终获取物体三维数据。结果表明使用该三维扫描技术得到的三维曲面符合原物特征,特别适用于物体三维轮廓的致密测量。     

散斑干涉相位条纹图的频域滤波处理

为了解决在数字散斑干涉技术测量时,散斑干涉相位条纹图像中大量噪声对相位解包裹结果和精度产生严重影响的问题,介绍了一种条纹正余弦分解和频域低通滤波结合的方法,实现了散斑干涉相位条纹图的高精度滤波。该方法的基本思路是在对相位图像进行滤波处理前,先将相位图通过正余弦函数进行映射转换成两幅图,分别经过频域滤波,然后再合成为相位图。这种分解频域滤波方法可以在滤波的同时,有效保留相位跳变信息。实验结果表明：与传统的图像降噪方法相比,该方法能够在保留图像“尖峰”信息的基础上,较好地滤除图像中的散斑噪声,方法简单有效,有效解决了传统滤波方法应用在相位条纹图中,相图灰度信息丢失10%~40%的问题。     

Complex object 3D measurement based on phase-shifting and a neural network

An accurate phase-height mapping algorithm based on phase-shifting and a neural network is proposed to improve the performance of the structured light system with digital fringe projection. As phase-height mapping is nonlinear, it is difficult to find the best camera model for the system. In order to achieve high accuracy, a trained three-layer back propagation neural network is employed to obtain the complicated transformation. The phase error caused by the non-sinusoidal attribute of the fringe image is analyzed. During the phase calculation process, a pre-calibrated phase error look-up-table is used to reduce the phase error. The detailed procedures of the sample data collection are described. By training the network, the relationship between the image coordinates and the 3D coordinates of the object can be obtained. Experimental results demonstrate that the proposed method is not sensitive to the non-sinusoidal attribute of the fringe image and it can recover complex free-form objects with high accuracy.     

Computer Simulation of a 3-D Sensing System with Structured Illumination

A computer simulation system of three-dimensional sensing with structured illumination is presented. It includes the generation of deformed fringe patterns from 3-D shapes and the reconstruction of 3-D shapes, conversely. Some experimental results of the deformed fringe pattern and the reconstructed object shapes are presented. We have also discussed the effect of some major system parameters on the measurement results and considered how to correct these parameters according to the measurement result of the standard plane. Using this simulation system, the major system parameters: environmental conditions, measurement accuracy and algorithm evaluation of the 3-D shape measurement system based on PMP, FTP, SPM, etc., can be researched. © 1997 Elsevier Science Ltd. All rights reserved.     

Three-dimensional profile measurement of the blade based on surface structured light

As the blade must have precise size and accurate shape, three-dimensional profile measurement of the blade is very important. In this paper, three-dimensional profile measurement method of the blade based on surface structured light is proposed. A new phase unwrapping method is also proposed. This encoding method combined coding fringe pattern with the four-step phase-shifting method, the coding information is embedded into the phase, which can be used to determine fringe order for absolute phase retrieval. The encoding method is simple and easy to implement, so the phase unwrapping of the blade can be quickly perform. The experimental and simulation results show that the method can achieve a high precision, high speed and low cost three-dimensional profile measurement of the blade.     

Lens distortion elimination for improving measurement accuracy of fringe projection profilometry

Fringe projection profilometry (FPP) is a powerful method for three-dimensional (3D) shape measurement. However, the measurement accuracy of the existing FPP is often hindered by the distortion of the lens used in FPP. In this paper, a simple and efficient method is presented to overcome this problem. First, the FPP system is calibrated as a stereovision system. Then, the camera lens distortion is eliminated by correcting the captured images. For the projector lens distortion, distorted fringe patterns are generated according to the lens distortion model. With these distorted fringe patterns, the projector can project undistorted fringe patterns, which means that the projector lens distortion is eliminated. Experimental results show that the proposed method can successfully eliminate the lens distortions of FPP and therefore improves its measurement accuracy.