N frequency coding structured light range computing method

A technology of coding structured light and calculation method, applied in the field of structured light three-dimensional measurement, can solve the problem of not finding

Active Publication Date: 2015-09-23
深兰人工智能应用研究院(山东)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The main research content of this work is to determine the range and phase unwrapping. However, no algorithm suitable f

Method used

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  • N frequency coding structured light range computing method
  • N frequency coding structured light range computing method
  • N frequency coding structured light range computing method

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Experimental program
Comparison scheme
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specific Embodiment 1

[0060] The range calculation method of n-frequency encoded structured light in this embodiment, taking 4-frequency as an example, includes the following steps:

[0061] S1. Projection coding stripes

[0062] Project 4 coded stripes, the periods of the coded stripes are 4, 5, 6, 7 respectively, and the periods of all coded stripes in this embodiment are positive numbers;

[0063] S2, decomposing prime factor

[0064] Since 4 can be decomposed into 2×2, 5 cannot be decomposed into prime factors, 6 can be decomposed into 2×3, and 7 cannot be decomposed into prime factors, the results of all prime factors arranged in ascending order are 2, 3, 5, 7, At this time, the prime factors of 4, 5, 6, and 7 are decomposed, specifically:

[0065] 4=2 2 ×3 0 ×5 0 ×7 0

[0066] 5=2 0 ×3 0 ×5 1 ×7 0

[0067] 6=2 1 ×3 1 ×5 0 ×7 0

[0068] 7=2 0 ×3 0 ×5 0 ×7 1

[0069] S3, calculation range

[0070] Calculate the span t according to the following formula:

[0071] t=2 max(2...

specific Embodiment 2

[0072] The range calculation method of n-frequency coded structured light in this embodiment still takes 4-frequency as an example, including the following steps:

[0073] S1. Projection coding stripes

[0074] Project 4 coded stripes, the periods of the coded stripes are 3.5, 4, 5, 6 respectively, and the periods of all coded stripes in this embodiment are not all positive integers;

[0075] S2, adjust the coding cycle

[0076] Adjust the periods 3.5, 4, 5, and 6 of the coding stripes. The specific method is:

[0077] A 1 =3.5k

[0078] A 2 = 4k

[0079] A 3 =5k

[0080] A 4 =6k

[0081] In the formula, A 1 、A 2 、A 3 、A 4 is the adjusted cycle, all are positive integers; k is to make A 1 、A 2 ,...,A n The smallest positive numbers that are all positive integers, we can know that k=2, and there are:

[0082] A 1 =7

[0083] A 2 =8

[0084] A 3 =10

[0085] A 4 =12

[0086] S3, decomposition of prime factor

[0087] Since 7 cannot be decomposed into pr...

specific Embodiment 3

[0098] The range calculation method of n-frequency coded structured light in this embodiment still takes 4-frequency as an example, including the following steps:

[0099] S1. Projection coding stripes

[0100] Project 4 coded stripes, the periods of the coded stripes are 3.5, 4.2, 5.4, 6.3 respectively, and the periods of all coded stripes in this embodiment are not positive integers;

[0101] S2, adjust the encoding cycle

[0102] Adjust the periods 3.5, 4.2, 5.4, and 6.3 of the coding stripes. The specific method is:

[0103] A 1 =3.5k

[0104] A 2 =4.2k

[0105] A 3 =5.4k

[0106] A 4 =6.3k

[0107] In the formula, A 1 、A 2 、A 3 、A 4 is the adjusted cycle, all are positive integers; k is to make A 1 、A 2 ,...,A n The smallest positive numbers that are all positive integers, we can know that k=10, and there are:

[0108] A 1 =35

[0109] A 2 =42

[0110] A 3 =54

[0111] A 4 =63

[0112] S3, decomposition of prime factor

[0113] Since 35 can be de...

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Abstract

The invention provides an n frequency coding structured light range computing method which belongs to the technical filed of structured light three-dimensional measuring. The method comprises the steps that coding stripes are projected; according to whether the periods of the coding stripes are all positive integers, coding periods are selectively adjusted; substance factors are decomposed; range is computed; and according to whether the coding periods are adjusted, selective re-adjusting is carried out. According to the n frequency coding structured light range computing method provided by the invention, the n frequency coding structured light range computing method is provided; if the period of a coding stripe is an integer multiple of the period of another coding stripe, the coding stripe of a short period makes no contribution to change the range; the projection sequence of n frequency coding structured lights does not affect the range; and when the substance factors are decomposed, if the substance factors are in ascending order and the like, the whole derivation process is unique.

Description

technical field [0001] A method for calculating the range of n-frequency coded structured light belongs to the technical field of structured light three-dimensional measurement. Background technique [0002] Three-dimensional shape measurement is widely used in scientific research, medical diagnosis, engineering design, criminal investigation and other fields. As an important part of the three-dimensional shape measurement method, structured light has attracted extensive attention from scholars and engineers from all over the world due to its advantages of non-contact, low cost, high resolution and fast speed, and has developed rapidly. [0003] Structured light is a set of system structures composed of projectors and cameras. After the specific light information is projected onto the surface of the object and the background by the projector, it is collected by the camera, and the position and depth information of the object are calculated according to the light signal chan...

Claims

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Application Information

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IPC IPC(8): G01B11/25
Inventor 赵烟桥孙晓明于双刘爽于晓洋吴海滨于舒春
Owner 深兰人工智能应用研究院(山东)有限公司
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