Color structured light three-dimensional measuring method, apparatus and device, and storage medium

Abstract

The invention discloses a color structured light three-dimensional measuring method, apparatus and device, and a storage medium. The method comprises the following steps of coding four color stripe patterns by adopting a sinusoidal phase shift coding method, a segmented step phase coding method and Gray codes; sequentially focusing and projecting the four color stripe patterns on a reference planeand a measured object through a DLP projector; acquiring the stripe patterns which are not modulated on the reference plane and after height modulation deformation of the measured object through a color CCD camera; performing decoding processing on the two groups of the stripe patterns to obtain a continuous phase difference value of the measured object; and solving three-dimensional height information of the surface of the measured object by utilizing a triangular method. Through the measuring method based on color composite coding which fuses sinusoidal phase shift coding, segmented step phase coding and the gray codes, the three-dimensional measurement can be realized by only four color patterns by means of a triangular principle; and therefore, the method is small in projection amount, high in processing speed and good in anti-jamming capability, and is suitable for fast and high-precision three-dimensional measurement of objects with the non-continuous surfaces in a static scene.

Description

technical field [0001] The invention relates to the field of three-dimensional optical measurement, in particular to a method, device, equipment and storage medium for three-dimensional measurement of colored structured light. Background technique [0002] At present, the main directions of 3D measurement technology development include active vision technologies such as time-of-flight, speckle interferometry, structured light fringe projection measurement profilometry, and passive vision technologies such as binocular stereo vision and photogrammetry. Among them, structured light fringe projection measurement profilometry has the advantages of high speed, high precision, full-field lossless measurement, and low cost. It has been widely used in reverse engineering, digitalization of cultural relics, biomedicine, industrial inspection, and virtual reality. important research directions in the field. The structured light three-dimensional measurement system is composed of a ca...

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Problems solved by technology

[0004] However, the structured light three-dimensional measurement method based on gray-scale time coding has the disadvantages of large number of projections and slow measurement speed, while the color coding measurement method with few projections, based on color trapezoidal phase shift plus Gray code or sinusoidal phase shift plus When the Gray code method requires high spatial resolution, the number of fringe patterns to be projected increases, and the number of color Gray code patterns based on the same primary color also increases, and it becomes difficult to judge the gray code corresponding to the stripe level. Problems such as periodic misalignment are more likely to occur, resulting in reduced measurement accuracy

In addition, in the measurement method using step phase encoding to assist the unwrapping operation of the sinusoidal phase shift fringe, because the traditional step phase encoding is embedded in the sinusoidal phase shift fringe, there is only one cycle, the number of code words is limited, and the measurement accuracy is also limited.

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