3D point cloud acquisition method based on Gray code structure light and polar constraints

An epipolar constraint, three-dimensional point cloud technology, applied in image data processing, instruments, calculations, etc., can solve problems such as cumbersome process and poor flexibility, and achieve the effect of ensuring accuracy, convenient acquisition, and simplifying matching problems.

Active Publication Date: 2015-08-12
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

Its advantages are large measurement range, high precision, and fast speed, but it requires joint calibration of the projector and camera, and once the relative position of the camera and projector changes, it needs to be re-calibrated, which is cumbersome and less flexible.

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  • 3D point cloud acquisition method based on Gray code structure light and polar constraints
  • 3D point cloud acquisition method based on Gray code structure light and polar constraints
  • 3D point cloud acquisition method based on Gray code structure light and polar constraints

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[0064] The specific implementation manners of the present invention will be further described in detail below in conjunction with the drawings and examples.

[0065] The method of the present invention is based on the principles of the binocular stereo vision method and the coded structured light method, and proposes a three-dimensional point cloud acquisition method based on Gray code structured light and epipolar constraints. First, the dual cameras are calibrated synchronously to obtain the internal and external parameter matrices of the two cameras; then, based on the calibration results, the epipolar constraints between the views of the two cameras are established, and the search range of corresponding points is reduced to one dimension; then, the gray coded stripe Sequentially project onto the surface of the object to be measured and collect images, and then extract the encoded information; then, use the epipolar constraints and encoded information to obtain the matching ...

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Abstract

On the basis of the principles of a binocular stereoscopic vision method and an encoding structure light method, the invention provides a 3D point cloud acquisition method based on Gray code structure light and polar constraints. Two constraint conditions of an epipolar constraint and an encoding stripe constraint corresponding to point matching are superimposed, a searching range of point matching is narrowed to one dimension, the matching problem of two view images is simplified, and the matching accuracy is also ensured. The method does not need to calculate the object point depth by using the relative position of a camera and a projector, thereby bypassing the joint calibration problem of the projector and the camera and further facilitating the 3D point cloud acquisition.

Description

technical field [0001] The invention belongs to the field of image information processing, and relates to a three-dimensional point cloud acquisition method, in particular to a three-dimensional point cloud acquisition method based on Gray code structured light and epipolar constraints. Background technique [0002] 3D reconstruction has always been a hot topic in the field of computer vision. A series of 3D reconstruction methods have been proposed for different application backgrounds. Among the many methods, the optical three-dimensional measurement method is the most widely used because of its "non-contact" and "full-field" characteristics. The binocular stereo vision method and the structured light method are two of the most commonly used optical 3D reconstruction methods in engineering practice. [0003] The binocular stereo vision method uses two cameras at different locations to obtain two parallax images of the same scene, and obtains the three-dimensional coordin...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T7/85
Inventor 赖世铭李靖刘煜熊志辉张政
Owner NAT UNIV OF DEFENSE TECH
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