摘要
基于主动散斑投射的双目立体视觉成像技术仅需一次投影拍摄即可实现三维重建,适合于动态成像,但在水下应用时,存在小孔模型失效、极线约束匹配条件不满足,以及投射散斑左右图像因受水下环境吸收、散射影响产生退化等问题。本文重新建立了基于主动投射散斑图案的水下双目视觉成像模型,分析了散斑图案对水下双目对应点匹配精度的影响,搭建了主动散斑水下双目视觉动态三维成像系统实验装置。实验结果表明,基于主动散斑投射的水下双目立体视觉技术具有较好的动态3D成像效果,动态误差在该双目立体视觉实验装置本身结构和系统参数决定的静态误差之内。
Objective In the visionguided robot operation,it is necessary to acquire the 3D image of the target in the scene dynamically when there is relative motion between the target and the vision system.Binocular stereo vision can obtain images of the left and right cameras synchronously and quickly and has better dynamic adaptability compared with the 3D imaging methods characterized by scanning,such as laser radar and linear scanning structured light technology.The binocular stereo vision technology assisted by active speckle projection illumination enhances the texture information of the target surface and improves the matching accuracy of corresponding points of the left and right images.Thus,it is a simple and effective approach.At present,the research on the binocular stereo vision system with active speckle projection applied in the air is mature relatively,and many commercial products have been developed,such as the Kinect system of Microsoft,the Vic3D measurement system of Correlation Solutions,and the Q400 system of Dantec in Germany.However,when this technology is applied in the water,there are problems such as the pinhole model failure,unsatisfied matching conditions of polar constraints,and the image degradation caused by the underwater environment absorption and scattering of left and right images of the projected speckle.This will affect the matching accuracy of the corresponding points and the underwater 3D imaging effect.Methods We rebuild an underwater binocular vision imaging model that actively projects speckle patterns based on the 4D parameter representation of light.The influence of the speckle pattern on the matching accuracy of underwater binocular corresponding points is analyzed based on MATLAB 2015b.The experimental device of underwater binocular vision dynamic 3D imaging system with active speckle projection is mainly composed of a speckle pattern projector and two cameras.The employed speckle pattern projector is a projector.The speckle pattern generated by the computer is projected on the
作者
庄苏锋
屠大维
刘建业
Zhuang Sufeng;Tu Dawei;Liu Jianye(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China)
出处
《光学学报》
EI
CAS
CSCD
北大核心
2023年第14期105-114,共10页
Acta Optica Sinica
基金
国家自然科学基金(62176149,61673252)。
关键词
成像系统
水下双目立体视觉
动态三维成像
水下三维重建
主动散斑投射
imaging systems
underwater binocular stereo vision
dynamic 3D imaging
underwater 3D reconstruction
active speckle projection
