Laser stripe axis extracting method in fitting multiple Gaussian signals

An extraction method, laser stripe technology, applied in the field of low-cost 3D scanning system processing, can solve the problems of high cost and limited popularization

Active Publication Date: 2016-11-09
HARBIN ENG UNIV
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Problems solved by technology

[0003] At present, the non-contact 3D scanning system based on structured light has high precision and wide application range, but its high cost li

Method used

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  • Laser stripe axis extracting method in fitting multiple Gaussian signals
  • Laser stripe axis extracting method in fitting multiple Gaussian signals
  • Laser stripe axis extracting method in fitting multiple Gaussian signals

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Embodiment Construction

[0046] The present invention will be described in detail below with reference to the accompanying drawings.

[0047] The method of the present invention does not rely on the high symmetry requirement of the pixel value distribution of the laser line image, and uses multiple Gaussian signals with different expectations and variances to fit the pixel value distribution of a single line of the laser line, and finds when the cross-correlation is maximized. The relative position of each of the different Gaussian signals determines the center of the line of laser lines. After calculating the center point of the laser line cross-section of all rows of the laser line image, the center line of the laser line image can be obtained. The specific process includes the following steps:

[0048] (1) Use a laser-based 3D measurement system to measure such as figure 2 For the measured object shown, obtain an image instance 1 in the laser line image sequence, such as image 3 shown.

[0049...

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Abstract

The invention provides a laser stripe axis extracting method in fitting multiple Gaussian signals. According to the method of the invention, through using a set of Gaussian signals with different expectations and methods, the Gaussian signals are combined through different positions and weights, thereby maximally fitting distribution of pixel values in a certain line of a laser line image. When an optimal fitting combination is found, optimal estimation to the center of the laser line can be obtained according to the position of each Gaussian signal in fitting. The laser strip axis extracting method can be used for accurately estimating axis of the laser strip and improving 3D scanning reconstruction precision on condition that pixel value distribution of the laser strip image cannot satisfy symmetry and heterogeneity.

Description

technical field [0001] The present invention relates to a low-cost 3D scanning system processing method based on laser lines, in particular to a laser line center extraction method based on Gaussian signal fitting. Background technique [0002] 3D object recognition technology has a wide range of applications in many fields such as robot workpiece grasping, automatic navigation, automatic detection, and medical analysis. The 3D scanning system is the most important means of data acquisition, and its acquisition accuracy will directly affect the success of the recognition. [0003] At present, the non-contact 3D scanning system based on structured light has high precision and wide application range, but its high cost limits its popularization. Therefore, the low-cost measurement system using laser instead of structured light has a broader market and research space. [0004] In a laser-based 3D scanning system, how to accurately extract the center of the laser stripe will dir...

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Application Information

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IPC IPC(8): G06T15/50G06T15/00G06T7/40G06T7/00
CPCG06T7/0004G06T7/0012G06T15/005G06T15/503G06T2211/416
Inventor 叶秀芬李传龙陈尚泽宫垠刘文智王潇洋
Owner HARBIN ENG UNIV
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