Light template matching method of structured light three-dimensional vision system

Abstract

A light template matching method of a structured light three-dimensional vision system comprises the following steps of: 1) optical strip boundary positioning, i.e. a light template to be detected isan one-dimensional stripe code, scanning is carried out along each line of an image, each passage of each pixel point carries out pretreatment by one-dimensional line operators, the pixel points withstrong grayscale change are determined to be candidate margin points, an area with a certain size is selected from each line of the image by taking the candidate margin points as the centers, the maximum size of the area is no greater than 1 / 2 of optical strip width, and a partial field is searched; and 2) optical strip matching, i.e. a color clustering method is adopted for creating a color matching feature vector, image color is compared with projected color, and candidate optical strip colors including red, green, blue and white are distributed by defining Euclidean distance of the color feature vector and a clustering center. The light template matching method can realize fine light template matching, high imaging accuracy and the reconstruction of the structured light three-dimensional vision system.

Description

technical field [0001] The invention relates to computer vision, data processing and image processing, in particular to a light template matching method of a structured light three-dimensional vision system. Background technique [0002] The human eye's observation and processing of color is a physiological and psychological phenomenon. In order to use a computer to process the color information in an image, it must be able to describe it in a quantitative way, that is, to establish a corresponding color model. All colors in nature can be synthesized from three colors: red, green, and blue (R, G, B). For the amount of red (green / blue) components, it is artificially divided into 256 levels from 0 to 255, 0 means no red (green / blue) components, and 255 means 100% red (green / blue) components. According to various combinations of red, green and blue, 256×256×256 colors can be represented. For example, a pixel is displayed as cyan when its red, green and blue components are 0, 2...

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Problems solved by technology

[0012] In order to overcome the deficiencies of existing structured light vision imaging systems that cannot match light templates, have low imaging precision, and cannot effectively realize three-dimensional reconstruction, the present invention provides a method that can achieve good matching of light templates, high imaging accuracy, and can realize structured light Optical template matching method of structured light visual imaging system for 3D reconstruction of visual imaging system

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