High-precision three-dimensional reconstruction method applied to scenes with large light and shade contrast

Abstract

The invention relates to a high-precision three-dimensional reconstruction method applied to scenes with large light and shade contrast, belonging to the field of three-dimensional machine vision. In the method, optical information changing in sine or cosine law at the wavelengths of Lambda 1, Lambda 2 and Lambda 3 is projected, and each of the optical information is subjected to at least three-step phase shift, preferably four to eight steps. Suppose that Lambda 1 is greater than Lambda 2 which is greater than Lambda 3, if phase-shifting gratings are arrayed vertically, the three wavelengths meet the equation that Lambda 1 is greater than or equal to LR* Lambda 1 which is equal to M *Lambda 2* Lambda 2 and is equal to N*Lambda 3 (M and N are integers); if the phase-shifting gratings are arrayed horizontally, the three wavelengths meet the equation that Lambda 1 is greater than or equal to Lc* Lambda 1 which is equal to M *Lambda 2* Lambda 2 and is equal to N*Lambda 3 (M and N are integers). The global phase information of Lambda 3 is calculated through the phase information of Lambda 1 and Lambda 2, so as to further obtain the three-dimensional coordinate of a measured object. Superior to traditional three-dimensional reconstruction methods of gray code method and heterodyne multi-frequency method, the three-dimensional reconstruction method designed by the invention can effectively solve the measuring problems of complex scenes in the three-dimensional measurement and inconsistency of colors on the surface of the measured object. In addition, the method is more environment-friendly without spraying the developer.

Description

technical field [0001] The present invention relates to a high-precision three-dimensional reconstruction method applied to scenes with large light-dark contrast. More specifically, the three-dimensional reconstruction method provided by the present invention can realize high-precision three-dimensional reconstruction of objects in scenes with large light-dark contrast. Background technique [0002] The 3D reconstruction method has been widely used in many fields such as industrial inspection, reverse engineering, human body scanning, cultural relics protection, clothing, shoes and hats, etc. It has the advantages of fast speed and high precision for free-form surface detection. According to different imaging and lighting methods, optical three-dimensional measurement technology can be divided into two categories: passive three-dimensional measurement and active three-dimensional measurement. Among the active 3D measurement technologies, the structured light 3D measurement t...

AI Technical Summary

Problems solved by technology

Since this method requires three superposition operations, if the background is complex, there will be a large error in the phase of the superposition, which will greatly affect the measurement effect

Therefore, although the heterodyne multi-frequency method has certain advantages over the Gray code method, it still cannot solve the problem of high-precision 3D reconstruction in complex scenes.

[0004] In order to solve the problem of 3D reconstruction with large contrast between light and dark and the inability to spray developer, the present invention designs a new 3D reconstruction method, which can restore the complex environment and the 3D shape of objects with many color changes with high precision without spraying developer. appearance

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