High-precision real-time three-dimensional color measurement system and method based on multiple angles of view

Abstract

The invention discloses a high-precision real-time three-dimensional color measurement system and method based on multiple angles of view. The system comprises four black-and-white cameras, a color camera, a projector and a computer. The four black-and-white cameras are symmetric about the central axis of the projector, and two black-and-white cameras are placed on each side of the projector. Thecolor camera is arranged on either side and located outside the black-and-white cameras. All the cameras are connected with the computer through data lines and connected with the projectors through trigger lines. The projector projects three phase shift stripes and generates a trigger signal of which the rate is the same with the projection rate. The trigger signal is transmitted to the four black-and-white cameras and the color camera through the trigger lines. All the cameras simultaneously take phase shift images projected by the projector and modulated by a measured object under the driveof the trigger signal. The phase shift images are transmitted to the computer through the data lines. The computer processes the phase shift images to obtain a color texture mapping. High-precision real-time measurement is realized under the premise of the highest measurement efficiency of the phase shift profilometry.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional imaging, in particular to a high-precision real-time three-dimensional color measurement system based on multiple viewing angles and a method thereof. Background technique [0002] In the field of 3D imaging, fast acquisition of high-precision 3D data of target objects has always been an important technical difficulty. In the early days, people used a mechanical three-coordinate measuring machine to detect the target object point by point to obtain a three-dimensional image. However, this point-by-point contact image acquisition technology is extremely inefficient on the one hand, and on the other hand, it damages the measured object. The shortcomings make it difficult to apply this technology in fields such as human body detection and cultural relic protection. Compared with traditional mechanical 3D image acquisition technology, optical 3D image acquisition technology has been widely ...

AI Technical Summary

Problems solved by technology

The current mainstream phase unwrapping methods include time-domain phase unwrapping and space-domain phase unwrapping. Time-domain phase unwrapping can stably unwrap the phase of any surface, but too many grating stripes will greatly affect the efficiency of phase acquisition and thus affect the acquisition of 3D images. Speed ​​(efficiency) (Chen Qian; Feng Shijie; Gu Guohua; Zuo Chao; Sun Jiasong; Yu Shiling; Shen Guochen; Li Rubin. Time phase unwrapping method based on dual-frequency three-gray-scale sinusoidal grating fringe projection: China, 201410027275.4[I]. 2013-04-30.), which will reduce the measurement efficiency of phase-shift profilometry and thus reduce its ability to measure moving objects

On the other hand, although the space domain can ensure the efficiency of phase unwrapping, it is very unstable when measuring discontinuous or complex surfaces, and it is prone to phase unwrapping errors.

[0004] Compared with other methods, the 3D imaging technology based on phase-shift profilometry has great advantages in measurement methods, imaging efficiency and imaging accuracy, and has been widely used in fields such as cultural relics protection and human detection. However, the current phase-shift profilometry is large Most of them focus on static scene measurement. Although the measurement accuracy is high, the measurement efficiency is extremely low.

Although there are also works on dynamic phase shift profilometry, they generally obtain measurement efficiency or speed improvement at the expense of measurement accuracy, contrary to static measurement.

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