CN110132173A - High-precision three-dimensional structured light reconstruction method based on area modulation phase shift template - Google Patents
High-precision three-dimensional structured light reconstruction method based on area modulation phase shift template Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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Abstract
The present invention provides a kind of high-precision three-dimensional structured light reconstruction methods based on area modulation phase shift template, and the present invention is based on defocus triangle two-value template, improved three steps phase shift algorithm, multifrequency heterodyne and two step matching methods.The advantages of using these methods, high accuracy three-dimensional shape measure may be implemented.Experiment shows that this method is more accurate than pervious method, effective.
Description
Technical field
The present invention relates to a kind of high-precision three-dimensional structured light reconstruction methods based on area modulation phase shift template.
Background technique
It is quickly grown in the past few years using the optical non-contact three-dimensional measurement of DLP grenade instrumentation.With other three-dimensionals
Form measuring method is compared, and multifrequency heterodyne phase shift method is one of most widely used technology, has measurement accuracy height, measuring speed
The advantages that fast.However, being difficult to generate ideal sine streak pattern with business projector due to the influence of non-linear gamma.Needle
To the error of non-sine grating, several backoff algorithms are proposed, such as Gamma correction method and error loop up table.All these methods
Sinusoidal template (FSP) is referred to as focused, advances with plate to obtain related coefficient or phase error, this was not only time-consuming but also inaccurate
Really.Recently, a kind of method that defocus binary pattern (DBP) generates sinusoidal grating is proposed, this method is to the non-linear of projector
Gamma is insensitive.However, high-order harmonic wave, such as third harmonic have inherent shadow to sine curve in the case where striped is intensive
It rings.
Summary of the invention
The purpose of the present invention is to provide a kind of high-precision three-dimensional structured light reconstruction sides based on area modulation phase shift template
Method.
To solve the above problems, the present invention provides a kind of high-precision three-dimensional structure light weight based on area modulation phase shift template
Construction method, comprising:
Introducing defocuses triangle binary pattern, and sine streak image is obtained without Gamma correction；
Based on the sine streak image, wrapped up using the improved three step Phase-shifting algorithms comprising mean intensity image
Phase and target mask；
Expansion phase is obtained using multifrequency method；
Corresponding match point is obtained using two step matching process.
Further, in the above-mentioned methods, it introduces and defocuses triangle binary pattern, obtained without Gamma correction
Obtain sine streak, comprising:
It will be applied to triangle binary pattern having a size of 7 pixels, the 2-d gaussian filters device that standard deviation is 1.2 pixels,
Sine streak is obtained without Gamma correction.
Further, in the above-mentioned methods, it is based on the sine streak image, using improved comprising mean intensity image
Three step Phase-shifting algorithms obtain wrapped phase and target mask, comprising:
In order to obtain target mask, mean intensity image is introduced, the intensity of stripe pattern is rewritten are as follows:
I1=I'(x, y)+I " (x, y) sin (φ (x, y))
I2=I'(x, y)+I " (x, y) cos (φ (x, y)) (4)
I3=I'(x, y)
Wherein, I'(x, y) indicate environment light intensity, I " (x, y) indicate modulate intensity, φ (x, y) is wrapped phase；
According to formula (4), φ (x, y) is indicated are as follows:
The range of phase value is [- π, π], and discontinuous, intensity I is eliminated by phase-unwrapping algorithm3For obtaining label three
The object mask for tieing up structure realm, is split the image of intensity, obtains bianry image, as target mask.
Further, in the above-mentioned methods, expansion phase is obtained using multifrequency method, comprising:
The phase that frequency of use is 70 and 64 obtains the phase that frequency is 6；
The phase for the available frequency 5 of phase that frequency of use is 64 and 59；The phase that frequency of use is 6 and 5 can obtain
The continuous phase for being 1 to frequency；
Using the phase of frequency 1, the expansion phase of frequency 64 is obtained.
Further, in the above-mentioned methods, corresponding match point is obtained using two step matching process, comprising:
For the left-hand point in the left image observed, corresponding match point i.e. right-hand point in right image is calculated；
Based on the right-hand point, corresponding three-dimensional point is calculated by calibrating parameters.
Compared with prior art, the present invention is based on defocus triangle two-value template, improved three steps phase shift algorithm, multifrequency heterodyne
With two step matching methods.The advantages of using these methods, high accuracy three-dimensional shape measure may be implemented.Experiment shows this method
It is more accurate than pervious method, effective.
Detailed description of the invention
Fig. 1 is the triangular wave figure of the Pyatyi intensity of one embodiment of the invention；
The flow chart of high-precision three-dimensional structured light reconstruction method based on area modulation phase shift template；
Fig. 2 is the spectrogram of the triangular wave of one embodiment of the invention；
Fig. 3 a is the region triangle two-value Prototype drawing of one embodiment of the invention；
Fig. 3 b is the 2-d gaussian filters device defocusing mode figure of one embodiment of the invention；
Fig. 3 c is the horizontal sectional view of the simulation model of one embodiment of the invention；
Fig. 3 d is the phase error figure compared with FSP method of one embodiment of the invention；
Fig. 4 a is the capture image after the projection of one embodiment of the invention；
Fig. 4 b is the bianry image after the segmentation of one embodiment of the invention；
Fig. 5 is the three frequency heterodyne principle figures of one embodiment of the invention
Fig. 6 is the stereo calibration figure of one embodiment of the invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present invention provides a kind of high-precision three-dimensional structured light reconstruction method based on area modulation phase shift template, comprising:
Step S1, introducing defocus triangle binary pattern, and the sine of high quality is obtained without Gamma correction
Stripe pattern；
Here, defocusing triangle binary striped can produce sine streak.If it is assumed that the image size of projector is M*N (M
It is width and height respectively with N), the mathematical description of triangular wave is:
In above-mentioned equation, T is periodic quantity.Fig. 1 shows triangular wave and sine wave in a cycle, solid line in Fig. 1
Indicate that waveform, dotted line indicate approximate sinusoidal waveform.
It can be found that triangular wave is more like sine wave.Fig. 2 gives the frequency spectrum of triangular wave.It can be seen that from spectrogram
Higher hamonic wave is far from fundamental frequency.If using Gaussian filter on this frequency spectrum, fundamental frequency will be retained, and higher hamonic wave will be pressed down
System.Therefore, sine streak can be obtained by defocusing triangle two-value figure.
Shown in area modulation triangle two-value template such as Fig. 3 (a) used in the present invention.It will be having a size of 7 pixels, standard deviation
It is applied to triangle binary pattern for the 2-d gaussian filters device of 1.2 pixels, shown in defocusing mode such as Fig. 3 (b).One cross section
Intensity and phase error such as Fig. 3 (c), shown in 3 (d).
The result shows that the phase error ratio FSP method of this method is much smaller.It is different from conventional method, it is proposed by the present invention
Method is area modulation.The mode in vertical direction there are five strength grade (0,0.25,0.5,0.75 and 1), therefore with only
There are two the traditional binary modes of strength grade (0 and 1) to compare, and the quality of sine streak can be improved in it.
Step S2 is based on the sine streak image, using the improved three step Phase-shifting algorithms comprising mean intensity image
Obtain wrapped phase and target mask；
Here, many different phase shift algorithms have been developed that, one it is well known that so-called three steps phase shift.
Third width image is replaced with mean intensity image by the present invention.Three traditional step phase shifted images can be described as:
I1=I'(x, y)+I " (x, y) cos (- 2 π/3 φ (x, y))
I2=I'(x, y)+I " (x, y) cos (φ (x, y)) (2)
I3=I'(x, y)+I " (x, y) cos (+2 π/3 φ (x, y))
Wherein, I'(x, y) indicate environment light intensity, I " (x, y) indicate modulate intensity, φ (x, y) is wrapped phase.
According to formula (2), φ (x, y) be may be expressed as:
In order to obtain target mask, mean intensity image is introduced.The intensity of stripe pattern can rewrite are as follows:
I1=I'(x, y)+I " (x, y) sin (φ (x, y))
I2=I'(x, y)+I " (x, y) cos (φ (x, y)) (4)
I3=I'(x, y)
According to formula (4), φ (x, y) be may be expressed as:
The range of phase value is [- π, π], needs to eliminate by phase-unwrapping algorithm discontinuous.Intensity I3It can for obtaining
To mark the object mask of three-dimensional structure realm.The image of intensity is split, bianry image is obtained, as target mask.
Process is as shown in Figure 4.
A diode matrix (0 and 1) is established according to bianry image.If the element value of matrix is 1, need to calculate phase
The point answered, vice versa.
Step S3 obtains expansion phase using multifrequency method；
Here, utilizing the available edge order of heterodyne principle.In the present invention, three frequency heterodynes have been used.Selection closure
Frequency 70,64 and 59.Firstly, the phase that frequency of use is 70 and 64 obtains the phase that frequency is 6.Equally, frequency of use 64
With the phase of the 59 available frequency 5 of phase.Then the continuous phase that the available frequency of phase that frequency of use is 6 and 5 is 1
Position.Finally, obtaining the continuous phase bitmap of upper frequency using the phase of frequency 1.Process is as shown in Figure 5.
Using the phase of frequency 1, the expansion phase of frequency 64 is obtained.
Step S4 obtains corresponding match point using two step matching process.
Here, easily obtaining match point using three-dimensional correction before matching process.Later, by left image (Left
Image), the row of right image (Right image) is parallel with pole outside line, and process is as shown in Figure 6.
Three-dimensional coordinate in order to obtain needs to obtain corresponding picture point from two absolute phase figures.Firstly, passing through thick
With obtaining the range of match point.Second, the exact position of match point is obtained by position interpolation.
For the left-hand point in the left image observed, corresponding can be calculated in right image with equation (6) and (7)
It is right-hand point with point.
It is then based on the right-hand point, calculates corresponding three-dimensional point by calibrating parameters.
In conclusion the present invention is based on defocus triangle two-value template, improved three steps phase shift algorithm, multifrequency heterodyne and two steps
Matching method.The advantages of using these methods, high accuracy three-dimensional shape measure may be implemented.Experiment shows this method than former
Method it is more accurate, effectively.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from spirit of the invention to invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the invention is also intended to include including these modification and variations.
Claims (5)
1. a kind of high-precision three-dimensional structured light reconstruction method based on area modulation phase shift template characterized by comprising
Introducing defocuses triangle binary pattern, and sine streak image is obtained without Gamma correction；
Based on the sine streak image, wrapped phase is obtained using the improved three step Phase-shifting algorithms comprising mean intensity image
And target mask；
Expansion phase is obtained using multifrequency method；
Corresponding match point is obtained using two step matching process.
2. as described in claim 1 based on the high-precision three-dimensional structured light reconstruction method of area modulation phase shift template, feature
It is, introducing defocuses triangle binary pattern, obtains sine streak without Gamma correction, comprising:
It will be applied to triangle binary pattern having a size of 7 pixels, the 2-d gaussian filters device that standard deviation is 1.2 pixels, not
It carries out obtaining sine streak in the case where Gamma correction.
3. as described in claim 1 based on the high-precision three-dimensional structured light reconstruction method of area modulation phase shift template, feature
It is, is based on the sine streak image, obtains package phase using the improved three step Phase-shifting algorithms comprising mean intensity image
Position and target mask, comprising:
In order to obtain target mask, mean intensity image is introduced, the intensity of stripe pattern is rewritten are as follows:
Wherein, I'(x, y) indicate environment light intensity, I " (x, y) indicate modulate intensity, φ (x, y) is wrapped phase；
According to formula (4), φ (x, y) is indicated are as follows:
The range of phase value is [- π, π], and discontinuous, intensity I is eliminated by phase-unwrapping algorithm3Three-dimensional construction is marked for obtaining
The object mask in region is split the image of intensity, obtains bianry image, as target mask.
4. as described in claim 1 based on the high-precision three-dimensional structured light reconstruction method of area modulation phase shift template, feature
It is, expansion phase is obtained using multifrequency method, comprising:
The phase that frequency of use is 70 and 64 obtains the phase that frequency is 6；
The phase for the available frequency 5 of phase that frequency of use is 64 and 59；The available frequency of phase that frequency of use is 6 and 5
The continuous phase that rate is 1；
Using the phase of frequency 1, the expansion phase of frequency 64 is obtained.
5. as described in claim 1 based on the high-precision three-dimensional structured light reconstruction method of area modulation phase shift template, feature
It is, obtains corresponding match point using two step matching process, comprising:
For the left-hand point in the left image observed, corresponding match point i.e. right-hand point in right image is calculated；
Based on the right-hand point, corresponding three-dimensional point is calculated by calibrating parameters.
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Application publication date: 20190816 |