Three-dimensional photographing process based on laser probe array and device utilizing same

Abstract

The invention discloses a three-dimensional photographing process based on a laser probe array and a device utilizing the same, and belongs to the field of three-dimensional photographing and measuring. Thousands of laser probes are projected to preset space positions according to the digital optical phase conjugation principle, reflection of the laser probes on surfaces of articles is monitored by a general two-dimensional camera, and then three-dimensional coordinate measurement is realized. Meanwhile, since the laser probe array is combined with a pair of three-dimensional cameras, more three-dimensional coordinates can be acquired by means of three-dimensional reconstruction, and accurate and compact three-dimensional coordinate measurement for large sites can be realized. Accordingly, three-dimensional matching treatment accuracy of three-dimensional images in the three-dimensional reconstruction process can be improved, matching treatment time is shortened, images picked up by the three-dimensional cameras can be compensated at the post stage, error in focal length and installation of the two cameras is eliminated, and requirements for the previous stage installation and synchronization of the focal length in the actual photographing process of the three-dimensional cameras are lowered. The three-dimensional photographing process based on the laser probe array and the device utilizing the same are applicable to fields of three-dimensional films, robots, intelligent driving, quick detection for obstacles, automatic measurement for industrial parts, and the like.

Description

[0001] The invention belongs to the fields of three-dimensional photography and three-dimensional measurement, and more specifically relates to a three-dimensional photography method based on a laser probe array, and also relates to a three-dimensional photography device based on a laser probe array. It is suitable for dense 3D coordinate measurement and stereo photography of large scenes, and also suitable for fast 3D coordinate measurement of robots, intelligent driving and obstacle detection, and 3D measurement of industrial parts. Background technique [0002] Ordinary cameras project objects onto the image plane through optical lenses, and use film or CCD / CMOS image sensors to record. The pictures taken are two-dimensional, and the depth information is lost. However, with the rapid development of intelligent robots, safe unmanned driving and other fields, the demand for depth information is increasing, and there is an urgent need to quickly collect 3D coordinate informatio...

AI Technical Summary

Problems solved by technology

For example, measurement technology based on laser triangulation and laser scanning technology based on time-of-flight generally use point-to-point measurement methods, which cannot quickly provide large-area dense three-dimensional coordinates; although laser interferometry technology has high precision, it is prone to laser noise and vibration interference , and the measurement area is small; another example is that although various structured light projection measurement technologies have good measurement accuracy, the measurement depth and width generally do not exceed 5 meters, and shadow occlusion problems often occur.

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