A free-moving three-dimensional scanning method

Abstract

The invention provides a free-moving type three-dimensional scanning method, belongs to the field of optical detection, and relates to a full three-dimensional skeleton surveying method, a handheld measuring device and a multi-angle splicing method based on texture, the curvature of surface and normal directions. Mobile handheld high-precision three-dimensional scanning is a problem of the scanning field, according to the free-moving type three-dimensional scanning method, a three-frequency color fringe projection method is utilized to project three-frequency color fringes of 1 : 4 :12 to the surface of a tested object through a projection device, and a camera is used for shooting a deformed fringe pattern in a single-frame exposure mode. On one hand, a three-frequency phase unwrapping method is adopted by the deformed fringe pattern to calculate out high-frequency carrier frequency to unwrap a phase, and system calibration parameters are used for obtaining a three-dimensional point cloud of the tested object; on the other hand, a texture pattern of the surface of the tested object can be recovered through the deformed fringe pattern. Handheld scanning has a higher requirement for multi-angle splicing, and by means of the free-moving type three-dimensional scanning method, non-mark splicing of multi-angle point clouds is achieved according to the color texture characteristics, measurement of the curvature of surface and restraint of the normal directions.

Description

technical field [0001] The invention belongs to the field of optical detection, and relates to a full-field three-dimensional profile measurement method, a hand-held measurement device and a multi-angle splicing method based on texture and surface curvature and normal direction. Background technique [0002] At present, some portable scanners on the market are small in size and easy to carry, but each measurement requires multiple frames of continuous exposure to collect deformed fringe images to reconstruct the 3D point cloud. The operation method is generally: select the location and fix the instrument , measure, move position, fix, measure, . . . The measurement efficiency of this working method is very low, and handheld continuous scanning cannot be realized, and it is not suitable for scanning dynamic objects. There are also some portable scanners, although the handheld scanning method can be used, with the help of stereo vision technology, but before the measurement, ...

AI Technical Summary

Problems solved by technology

On the one hand, splicing can be achieved by calibrating the position of the scanner or the position of the measured object for multiple measurements, but the calibration requires auxiliary equipment, such as a translation stage, which not only increases the cost but also limits the applicable occasions

On the other hand, by pasting some mark points on the surface of the measured object to assist splicing, the measurement period will be longer and the measurement will be complicated.

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