Structured light measuring system calibration method based on sinusoidal grating

A sine grating and measurement system technology, applied in measurement devices, optical devices, instruments, etc., can solve problems such as many noise points, phase unwrapping failures, errors, etc., and achieve strong robustness, high measurement accuracy, and simple operation. Effect

Inactive Publication Date: 2013-08-07
HARBIN ENG UNIV
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Problems solved by technology

[0004] For traditional system calibration methods, most of the phase unwrapping starts from the beginning of the image, but the quality of the edge of the image is often low and there are many noise points. Using such an area as the starting point of phase unwrapping will introduce errors prematurely. , resulting in phase unwrap

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  • Structured light measuring system calibration method based on sinusoidal grating
  • Structured light measuring system calibration method based on sinusoidal grating
  • Structured light measuring system calibration method based on sinusoidal grating

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Embodiment Construction

[0040] Preferred embodiments of the present invention are given below and described in conjunction with the accompanying drawings.

[0041] Such as figure 1 As shown, a method for calibrating a sinusoidal grating-based structured light measurement system proposed by the present invention mainly includes the following nine steps:

[0042] 1) Make coded gratings; including three row sinusoidal gratings with a phase shift of 120 degrees, three column sinusoidal gratings with a phase shift of 120 degrees, and a pair of coded disk images used to determine the starting point of phase unwrapping:

[0043] When the light intensity of the image projected by the projector satisfies the sinusoidal distribution, then its light intensity can be expressed by formula (1):

[0044] I 0 (x,y)=r 0 (x,y){A(x,y)+B(x,y)cosφ(x,y)} (1)

[0045] Among them, r 0 (x,y) represents the reflectivity of the object surface, A(x,y) is the background light intensity, B(x,y) is the fringe amplitude, φ(x,y...

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Abstract

The invention discloses a structured light measuring system calibration method based on sinusoidal grating. The method includes producing coding grating, setting up measuring system to capture calibrating board flat images, projecting coding grating, collecting, storing, confirming phase-unfolding initial points, solving wrapped phase and unfolding, restoring the calibrating board flat images of projector imaging planes, calibrating projectors according to the multi-group projector calibrating board flat images at different positions, calibrating cameras according to multiple camera calibrating board flat images at different positions, and acquiring rotation matrixes from projector coordinate systems to camera coordinate system according to calibrating results of the projectors and the cameras. The phase-unfolding initial point can be effectively confirmed by utilizing coding disc images, and image quality of image region is guaranteed to be high; and the designed phase-unfolding method has a noise-proof function, 'line-pulling' conditions in conventional phase-unfolding methods are overcome, and the designed structured light measuring system calibration method has the advantages of simple operation, strong robustness, high measurement accuracy and the like.

Description

technical field [0001] The invention relates to a calibration method of a structured light measurement system based on a sinusoidal grating, which belongs to the technical field of computer measurement. Background technique [0002] Structured light vision measurement is a new method for measuring the three-dimensional surface shape of objects. It has been widely used in industrial inspection, virtual reality, cultural relics protection and medical engineering in recent years due to its characteristics of non-contact, convenience, speed and high precision. Applications. As an active visual measurement method, structured light vision measurement uses a projector to project a pre-designed pattern onto the surface of the measured object to increase visual matching feature information, thereby solving the problem of stereo vision corresponding point matching, and then through triangulation The measurement realizes the acquisition of the depth information of the object surface. ...

Claims

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Application Information

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IPC IPC(8): G01B11/25
Inventor 陆军宋成业李积江高乐孙小玲苏群张鑫宋景豪
Owner HARBIN ENG UNIV
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