摘要
双向相移结构光三维成像具有更高鲁棒性,但在两个方向上使用相同数量的多频相移编码,增加了扫描时间。利用极线几何,提出一种改进的双向结构光编解码算法,在保证精度的前提下能有效减少一个方向的编码图像的数量。首先,在纵向进行多频相移结构光扫描,得到纵向相位。利用极线几何,将纵向相位映射为横向临时相位。然后,在横向使用最高频结构光扫描,得到横向的高频缠绕相位。利用横向临时相位,对横向的缠绕相位进行解缠绕,得到最终的横向相位。最后,建立相机和投影机间的直线模型,在计算三维点云时,计算相机视线和投影机视线的交点,避免了传统的矩阵求逆方法,提高了点云计算速度。实验结果表明:1)最终横向相位的均方根误差为4.89×10^(-3)rad;2)双向扫描和单向扫描后的三维点云计算速度分别提升了6.08倍和4.10倍;3)与传统的方法相比,所提针对单向扫描三维重建方法的误差在10^(-11)mm以内。
Multi-frequency-phase-shift structured light illumination scanning along two-direction will achieve higher robustness,but it increases time spending on scanning and computing.This paper proposes an improved coding and decoding strategy for scanning along two-direction by means of epipolar geometry.First,after scanning along vertical direction and getting unwrapped vertical phase,the temporary horizontal phase is obtained according to unwrapped vertical phase and epipolar geometry of system.Then,after scanning along vertical direction and getting wrapped horizontal phase,unwrapped horizontal phase is obtained by using temporary unwrap algorithm.Finally,a line-model is established between the camera and projector.When calculating a 3D point cloud,the intersection point of the camera line of sight and the projector line of sight is calculated,avoiding the traditional matrix inversion method and improving the point cloud calculation speed.The experimental results show that:1)the root mean square error of final lateral phase is 4.89×10^(-3);2)the computation speeds of 3D point cloud after scanning along two-direction and scanning along one-direction are improved by 6.08 times and 4.10 times,respectively;3)the proposed 3D point cloud reconstruction method for scanning along one-direction is within the error range of 10^(-11) mm compared with the traditional method.
作者
孙伟伦
徐文
胡丹
刘凯
Sun Weilun;Xu Wen;Hu Dan;Liu Kai(College of Electrical Engineering,Sichuan University,Chengdu 610065,Sichuan,China;Sichuan Institute of Product Quality Supervision&Inspection,Chengdu 610100,Sichuan,China)
出处
《激光与光电子学进展》
CSCD
北大核心
2023年第16期290-295,共6页
Laser & Optoelectronics Progress
基金
四川省科技厅重点研发项目(2022YFG0233)
四川大学理科特色方向培育计划项目(2020SCUNL204)。
关键词
机器视觉
双向扫描
极限集合
直线模型
三维点云
machine vision
scanning along two direction
epipolar geometry
line-model
3D point cloud
