一种三维数字成像系统的多视点姿态估计方法

为校准多视场深度数据,提出基于条纹投影的三维数字成像系统的多视点姿态估计方法。该方法至少在两个视点分别向被测物体投射出一组正交条纹图,利用条纹投影和相位重建技术,将相位图映射为物体的三维空间坐标。进而,利用投影仪的投射过程是摄像机成像过程的逆过程,建立投影仪的投射平面和摄像机的成像平面的对应关系,将“极线几何约束”应用到基于条纹投影的主动三维视觉的姿态估计问题,并在考虑测量数据受噪声影响的条件下,建立了求解视点姿态参量的数学模型。通过优化求解非线性方程可以获得多视点的姿态估计参量。所设计的实验及结果证明了所提出方法的有效性。

Pose Estimation of Multiple Viewpoints for Three-Dimensional Digital Imaging System

To register multiple range images,we present a method for the pose estimation of multiple viewpoints for three-dimensional digital imaging system based on fringe projection.This method illuminates the test object with two orthogonal fringe sequences,respectively,from at least two different viewpoints,then reconstructs Cartesian coordinates of the object in three-dimensional space from phase map with help of fringe projection and phase reconstruction techniques.As the projector can conceptually be regarded as camera acting in reverse,the relation between projection plane of the projector and imaging plane of the camera is fixed.Taking epipolar geometry into account,this approach can further realize the pose estimation of three-dimensional active vision system based on fringe projection.We build up a non linear equation to calculate the parameters of orientation even if the input data are influenced by noise.Mathematical formulation of the proposed method is given and the effectiveness of this approach has been demonstrated by the designed experiments.