Binocular stereo vision three-dimensional measurement method based on line structured light scanning

Abstract

The invention discloses a binocular stereo vision three-dimensional measurement method based on line structured light scanning, which comprises the steps of performing stereo calibration on binocularindustrial cameras, projecting laser light bars by using a line laser, respectively acquiring left and right laser light bar images, extracting light bar center coordinates with sub-pixel accuracy based on a Hessian matrix method, performing light bar matching according to an epipolar constraint principle, and calculating a laser plane equation; secondly, acquiring a line laser scanning image of aworkpiece to be measured, extracting coordinates of the image of the workpiece to be measured, calculating world coordinates of the workpiece to be measured by combining binocular camera calibrationparameters and the laser plane equation, and recovering the three-dimensional surface topography of the workpiece to be measured. Compared with a common three-dimensional measurement system combininga monocular camera and line structured light, the binocular stereo vision three-dimensional measurement method avoids complicated laser plane calibration. Compared with the traditional stereo vision method, the binocular stereo vision three-dimensional measurement method reduces the difficulty of stereo matching in binocular stereo vision while ensuring the measurement accuracy, and improves the robustness and the usability of a visual three-dimensional measurement system.

Description

technical field [0001] The invention relates to the technical field of computer vision three-dimensional measurement, in particular to a binocular stereoscopic three-dimensional measurement method for line structured light scanning. Background technique [0002] Line structured light three-dimensional measurement technology is to project structured light strips on the surface of the measured object, use the camera to obtain the light strip image and analyze and process it, and use the optical triangulation measurement principle to recover the three-dimensional contour information of the measured object. It has high measurement accuracy and fast speed, and is currently widely used in industrial measurement and other fields. To achieve 3D measurement based on line structured light, the positional relationship between the camera and the laser plane needs to be calibrated first, but most of the traditional calibration methods have shortcomings such as low calibration accuracy an...

AI Technical Summary

Problems solved by technology

To achieve 3D measurement based on line structured light, it is necessary to calibrate the positional relationship between the camera and the laser plane, but most of the traditional calibration methods have shortcomings such as low calibration accuracy and cumbersome calibration process.

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