用于实时三维成像的双频结构光编解码方法

对三维重建中的实时性问题进行了研究,提出一种新的结构光双频测量方法。首先,投影光栅将基频正弦图案和高频正弦图案结合在一起,并保留一张图片作为直流分量,高频图案用于得出鲁棒性较好的高频相位信息,基频图案得出基频相位,并对高频相位进行展开,共5幅图片。其次,用相应的解码方法计算每一像素点的相位,滤除噪声干扰,得到照相机与投影仪的对应关系。最后,根据相位计算出每一采样点的三维坐标,实现三维重建。实验结果表明:计算得到的相位误差的方差为5.559 110-6 rad2,扫描时间为0.156 3 s,在保证实时性的同时有相对较高的精度。对表面深度变化复杂的物体进行三维测量,验证方法的可行性。相比较于传统的双频测量方法,本方法将投影图片数量减小到5幅的同时保持了较好的精度,可应用于扫描动态物体。     

基于梯形与正弦相移算法的非线性误差校正北大核心CSCD

相移轮廓术是一种广泛使用的光学三维测量方法,其精度不仅受相位展开算法本身的影响,也受测量系统中投影仪和摄像机的非线性影响。理论上,投射更多的相移条纹可减弱非线性误差的影响,但是增加了测量时间。为了提高误差校正的效率,提出了一种基于梯形正弦相移的测量方法。该方法需要两组改进的梯形相移条纹和一幅正弦条纹。梯形条纹提供图像强度信息和条纹级次信息,图像强度信息用来求取系统的非线性响应曲线,进一步消除系统的非线性。正弦条纹经过希尔伯特变换可求得额外的条纹图像,用来计算截断相位信息。经过校正的截断相位信息,可进一步获取精度较高的三维信息。相较于先前的梯形与正弦误差校正方法,该方法的测量效率提高了28%。     

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.     

A new method for angular displacement measurement

We describe a new method for angular displacement measurements that is based on a Fabry-Perot interferometer. A measurement accuracy of 10-8 rad is obtained by use of the sinusoidal phase modulating interferometry. Another Fabry-Perot interferometer is used to obtain the key initial angle of incidence.     

获得高质量Moire条纹信号的一种新方法

在细栅距的幅光栅系统中，衍射效应是很明显的，其能量约占总能量的１０～４０％左右，这种衍射光是造成Ｍｏｉｒｅ光电信号对比度不好和正弦性差的根本原因。本文分析了衍射光栅副±１级Ｍｏｉｒｅ条纹的位相关系与光栅副间隙等因素的关系，提出了利用±１级Ｍｏｉｒｅ条纹来获得高质量Ｍｏｉｒｅ条纹信号，实际应用，效果良好。     

法布里-珀罗板正弦相位调制型高精度角位移测量

提出了一种基于法布里-珀罗板和正弦相位调制干涉术的角位移测量新方法。采用CCD探测法布里-珀罗板两透射光束光斑的中心距,通过运算得到了入射光的初始角,解决了采用法布里-珀罗板干涉法测量角位移需确定入射光初始角的问题。采用正弦相位调制干涉术通过测干涉信号的相位来测量物体的角位移,增强了对杂散光的抗干扰能力,减少测量误差,提高了测量精度。理论模拟和实验结果表明本方法可以实现精度为10^-8rad数量级的高精度角位移测量。     

Sinusoidal phase-modulating laser diode interferometer insensitive to intensity modulation for real-time displacement measurement with feedback control system

In sinusoidal phase modulating laser diode (LD) interferometer, the injection current of the LD is sinusoidally modulated to realize the modulation of the wavelength. However, the light intensity of LD is also modulated, which affects the measurement accuracy. An all-fiber sinusoidal phase modulating LD interferometer for real-time displacement measurement is proposed where the influence of the intensity modulation is eliminated with a new algorithm. It is made clear that an optimal depth of the sinusoidal phase modulation (SPM) exists in the algorithm. Moreover, the SPM depth is locked at the optimal value by controlling the injection current with a feedback control system. The feasibility of the proposed interferometer for displacement measurement is verified by experiments.     

Improved composite Fourier transform profilometry

An improved composite Fourier transform profilometry (ICFTP) is proposed through optimizing the composite grating. Compared with the composite Fourier transform profilometry (CFTP), the frequencies of the two sinusoidal images modulated along the orthogonal direction in the optimized composite grating are not equal. The overlapping degree of Fourier spectrum of the optimized grating is lowered. The measuring accuracy is improved because two frequencies are used to calculate phase more accurately. By using a more advantageous flat image extracted ingeniously from the optimized grating, the zero component of the lower frequency sinusoidal image in the Fourier spectrum can be eliminated. So the measuring range is extended the same as that by the π phase shifting technique. Both numerical simulation and experiment demonstrate the feasibility and validity of the proposed method.     

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。     

基于偏振位相调制的位相轮廓测量

本文介绍了一种用来测量三维物体面形的位相轮廓方法，它是通过将正弦光场投影到被测物面，该光场被物体表面调制后发生位相改变，利用偏振位相调制及位相检测算法计算物面的位相分布，再根据几何关系实现对物体三维形貌的测量。实验装置采用一种偏振位相调制的干涉光场投影装置对光场进行简便而精确的移相，采用ＣＣＤ摄像机记录畸变光场，并用计算机处理和显示测量结果。文中给出了有关实验结果。     

Pulse-width modulation in defocused three-dimensional fringe projection

Shape measurements by fringe projection methods require high-quality sinusoidal fringes. We present a sinusoidal fringe generation technique that utilizes slightly defocused binary fringe projection. The proposed method is a spatial version of the well-known pulse-width modulation (PWM) technique of electrical engineering. PWM is easy to implement using off-the-shelf projectors, and it allows us to overcome the gamma problem (i.e., the nonlinear projector response) in the output light intensity. We will demonstrate that, with a small defocusing level--lower than with other techniques proposed in the literature--a high-quality sinusoidal pattern is obtained. Validation experiments using a commercial video projector are presented.     

Sinusoidal phase-modulating laser diode interferometer insensitive to the intensity modulation of the light source

In a conventional sinusoidal phase-modulating laser-diode (SPM-LD) interferometer, the wavelength of the LD is sinusoidally modulated by varying its injection current. However, the intensity modulation is associated with the wavelength modulation, which affects the measurement accuracy. We propose an SPM-LD interferometer insensitive to the intensity modulation of the light source, in which the influence of the intensity modulation is eliminated by choosing the appropriate sinusoidal phase modulation depth. Computer simulations and experiments are performed for real-time displacement measurement with the proposed SPM-LD interferometer. The measurement accuracy has been improved and the measurement repeatability is less than 1 nm. No additional components are required in our proposed method that leads to a simple system compared with the other previously proposed methods.     

以慢变化近似为基础的新型正弦相位调制半导体激光干涉仪

提出并在实验上实现了一种以慢变化近似为基础的新型正弦相位调制半导体激光干涉仪。原理上它不要求相位解调一次和二次谐波分量振幅在实验中必须保持相等，从而将动态范围提高了３－４个数量级且不损失精度。用压电陶瓷和微电机驱动位移。     

傅里叶变换轮廓术中相位失真的预矫正方法

介绍了一种基于傅里叶变换轮廓术的三维面形测量系统中相位失真的预矫正方法。由于投影系统和成像系统的空间三角位置关系、投影仪的发散照明和两套系统蕴含的光学畸变,投影一幅相位与空间坐标成理想线性关系的标准正弦光场,拍摄到的条纹相位和空间坐标不再呈线性分布,引起相位失真,甚至会影响系统测量精度。该方法借鉴反向条纹投影的思想,计算拍摄光场的非线性相位分布与理想的线性相位分布之间的关系,预先矫正,反算出一个新的待投影光场。实验结果表明这种方法能有效地减小该类相位失真所导致的测量误差,获得了更好的测量结果．     

Sinusoidal Phase-Modulating Superluminescent Diode Interferometer with Fabry-Perot Etalone for Step-Profile Measurement

In this paper we use a superluminescent diode (SLD) as the light source of an interferometer and extract a narrow spectrum from a wide spectrum of the SLD with a Fabry-Perot Etalone (FPE). By varying sinusoidally the distance between the two mirrors of FPE, the central wavelength of the narrow spectrum is scanned sinusoidally. The distance between the mirrors is exactly set by a feedback control system, and sinusoidal phase-modulated SLD light that has a large scanning width of about 10 nm can be obtained with high stability and spatial uniformity. The phase of the interference signal has two different components. One is amplitude Z_b of sinusoidal phase modulation, which is proportional to the optical path difference (OPD) and the scanning width. The other is conventional phase α, which provides a fractional value of the OPD in the range of the wavelength. By combining the two values of the OPD obtained from Z_b and α, an exact OPD larger than the wavelength can be measure with ment accuracy in α. Characteristics of the interferometer are made clearly through step-profile measurements.     

基于双色条纹投影的薄膜振动模式分析

结构光投影和条纹时间平均分析技术已被用于振动模式分析中,但由于投影单色正弦条纹时振动薄膜变形条纹傅里叶谱中零频涵盖范围较大,会限制滤波窗的选取范围,从而影响模式的最终重建结果。为提高振动模式重建的准确性,提出了一种利用π相移正弦条纹投影进行薄膜振动模式分析和振幅重建的方法,通过处理两个通道的条纹分量达到消除零频的目的。给出了该方法的理论分析,完成了相应的计算机模拟,分析了影响测量精度的因素。通过与投影单色正弦条纹的振动模式重建结果对比,表明该方法有较高的重建精度。不同激励频率下的实际薄膜振动实验结果也证明了该方法正确可行。     

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.     

Real-time surface profile measurement using a feedback type of sinusoidal phase modulating interferometer

In this paper, we propose a sinusoidal phase modulating (SPM) interferometer that is insensitive to external disturbances, and its measuring principle is analyzed theoretically. In the SPM interferometer, the interference signal is detected by a high-speed image sensor based on a low-speed CCD and a signal processing circuit is used to obtain the phase of each point on the surface. Therefore, the surface profile can be measured real-time. The experiments measuring the surface profile of a wedge-shaped optical flat show that the measurement time of the SPM interferometer is less than 10 ms, the repetitive measurement accuracy is 4.2 nm. The results show that the impacts of nonlinear distortion of the piezoelectric transducer (PZT) and part external disturbance are removed.     

一种制作投影灰度正弦光栅的新方法

针对传统方法难以制作结构光三维投影测量设备的灰度正弦光栅元件,并以Ronchi光栅代替从而影响测量准确度,提出了一种制作灰度按正弦分布的光栅模板的新方法.通过对银盐全息干板透过率特性曲线的理论分析,指出在对比度为一的正弦干涉条纹下曝光不能得到线性记录和变换的原因,并提出了采用均匀非相干光预曝光提供偏置点来实现线性记录的新方法.实验表明,采用空间滤波法能够获得对称双光束正弦干涉条纹记录,并准确控制正弦干涉条纹曝光在干板的线性区域,可以达到线性记录并获得尽可能高的反衬度.     

基于正弦和三角波条纹投影的三维测量方法

在现有的针对复杂物体表面形貌的三维测量方法中, 为了完成绝对相位的测量, 通常需要处理至少6幅条纹图像, 限制了测量速度。提出了采用2幅正弦条纹和2幅三角波条纹图来获得物体三维形貌的方法。利用两步相移正弦条纹和两步相移三角条纹得到截断相位, 再利用两步相移三角波条纹得到条纹级次, 减少了投影条纹幅数, 提高测量速度。在得到条纹级次时, 计算三角波条纹强度调制和强度对比度, 与计算相位相比, 可以减少数据处理的时间, 进一步提高测量速度, 同时能减小物体表面反射率的影响, 提高了测量精度。测量最大高度为39 mm的阶梯状标准块, 得到的最大绝对误差和最大的RMS误差分别为0.045 mm和0.041 mm。验证了该方法的有效性和实用性, 在高速实时的复杂形貌三维测量中有广泛的应用前景。