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Structure light 3D measuring technology based on edge gray code and line movement

A measurement method, Gray code technology, applied in the direction of measurement devices, photogrammetry/video measurement, surveying and navigation, etc., can solve the problem of spatial point measurement accuracy, sampling density without substantial improvement, and projection angle space division. Continuous and other problems, to achieve the effect of improving adaptability, strong adaptability, and eliminating one-bit decoding error

Inactive Publication Date: 2009-12-16
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The former is simple to encode, but has the disadvantage of discontinuous division of the projection angle space during the decoding process. The latter solves the problem of continuous projection angles, but does not substantially improve the accuracy of spatial point measurement and sampling density.

Method used

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  • Structure light 3D measuring technology based on edge gray code and line movement
  • Structure light 3D measuring technology based on edge gray code and line movement
  • Structure light 3D measuring technology based on edge gray code and line movement

Examples

Experimental program
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Effect test

Embodiment 1

[0029] The existing time coding methods all divide the projection angles based on binary codes and Gray codes, or further subdivide the projection angles by combining phase shift method or vertical layering method on this basis. The above methods use pixels as image sampling points, which is called pixel-centered decoding.

[0030] There may be several bits of difference between the adjacent code values ​​of the binary code, which is reflected in the decoding process, that is, some pixels may be on the edge of the stripes many times in each intensity image, so their code values ​​may be misjudged by multiple bits. If the judgment exists in the high position, the decoding error will be larger. There is only one bit difference between any two adjacent code values ​​of the Gray code and the weights of each bit are the same, which is reflected in the decoding process, that is, any pixel is at the edge of the stripe at most once in each intensity image, so only one bit of its code ...

Embodiment 2

[0038]Gray code edge decoding eliminates a conversion error, but reduces the image sampling point density to a certain extent. Theoretically, when the width of the thinnest stripe in the intensity image is 1 pixel, the gray code edge decoding can obtain the same image sampling point density as the pixel center decoding. On the basis of code edge decoding, the sampling density of image points is doubled, and at the same time, the sub-pixel accuracy positioning of image sampling points is guaranteed.

[0039] Such as figure 2 As shown in the left figure, four periodic line-shifting stripe patterns are projected sequentially after the Gray code pattern is projected. The line shift period is equal to the Gray code period width. Each line shift cycle contains 1 white stripe and 3 black stripes. The width of the white stripes is equal to the width of the thinnest stripes in the Gray code pattern, and the direction is parallel to the Gray code stripes. Two adjacent patterns are ...

Embodiment 3

[0045] Using multiple anti-color dynamic thresholding method. First, binarize the coded image, which requires projecting a full-brightness pattern and a full-darkness pattern, then the grayscale of each point of the first coded image (the high-bit coded image after binarization) is equal to the first coded image The difference between the gray level of the (high-bit coded image before binarization) and the full dark image is divided by the difference between the full bright image gray level and the full dark gray level, and its value is between 0 and 1. Then project the inverse reference pattern 1 corresponding to the first coded image (high-order coded image before binarization), then the grayscale of each point in the second coded image (high-order coded image after binarization) is equal to the second The absolute value of the difference between the gray level of the coded image (the high-order coded image before binarization) and the first coded image (the high-order coded...

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Abstract

Based on the structured light 3D measurement method of edge gray code and line shift, optical three-dimensional measurement technology is one of the most effective means to obtain three-dimensional information of objects. Advantages, in the optical three-dimensional measurement technology, the structured light coding method has a wide range of application prospects in the fields of three-dimensional reconstruction and industrial measurement due to its advantages of high accuracy, fast measurement speed, and low cost. The present invention is based on edge Gray code and line shift The structured light 3D measurement method uses the sub-pixel positioning technology to extract the edge and center of the stripes in the image before the intensity binarization, and uses the points on the edge and the center as the image sampling points, and then according to the image after the intensity binarization The gray value 0 or 1 in is used to obtain the Gray code, and the gray code value is used to find the corresponding relationship between the intensity image and the edge in the coding pattern. The invention is applied in three-dimensional measurement technology.

Description

Technical field: [0001] The invention relates to a computer vision measurement technology and system, 3D information collection and reconstruction, and in particular to a structured light 3D measurement method based on edge gray code and line shift. Background technique: [0002] In the design and production of modern industrial products, the three-dimensional measurement for extracting the spatial information of the product is a common concern of hot people. At present, a variety of three-dimensional measurement methods and instruments have been researched and developed. The most important development direction is the visual three-dimensional detection technology. This non-contact three-dimensional measurement technology based on the concept of vision restores the three-dimensional shape of the object based on the graphics and images obtained by the three-dimensional vision sensor. This technology can measure the shape of the human body and product models in industries such...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01B11/24
Inventor 于晓洋吴海滨
Owner HARBIN UNIV OF SCI & TECH
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