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A Viewpoint Planning Method for Automatic 3D Measurement

A technology of three-dimensional measurement and three-dimensional point cloud, applied in the field of computer vision, can solve the problem of not many data reports, and achieve the effect of high efficiency and small amount of calculation

Active Publication Date: 2022-07-01
HUAQIAO UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] To sum up, although the automatic 3D measurement of unknown model objects has been studied and some achievements have been made, there are not many data reports, and the key technologies involved need to be further studied

Method used

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  • A Viewpoint Planning Method for Automatic 3D Measurement
  • A Viewpoint Planning Method for Automatic 3D Measurement
  • A Viewpoint Planning Method for Automatic 3D Measurement

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Embodiment Construction

[0074] The sensor in the embodiment of the present invention is measured by taking the structured light binocular vision measurement system as an example. For the overall process flow chart, please refer to figure 1 shown, the specific steps are as follows:

[0075] A1. Obtain the point cloud data of the object in the initial state through the structured light measurement system, and generate the corresponding two-dimensional depth image at the same time;

[0076] The structured light binocular vision system consists of two industrial cameras and a digital projector. The measurement method is based on the principle of binocular parallax, and the combination of Gray code and phase-shift grating is used for stereo matching. The measurable area is the left camera's field of view, the projector's projection area on the object, and the common area contained in the right camera's field of view. In order to increase the public area, the binocular measurement system adopts such as ...

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Abstract

The invention discloses a viewpoint planning method for automatic three-dimensional measurement, belonging to the field of computer vision. Aiming at the problem of automatic measurement of small unknown model objects, a viewpoint planning method combining two-dimensional depth image and trend surface analysis is proposed; The depth image divides the point cloud data from the current perspective, obtains regional data by using the corresponding relationship between the depth image and the 3D point cloud, and uses the trend surface analysis method for each area to estimate the trend of the unknown surface, which is determined based on the fitting error. The direction of the next optimal viewpoint under the current viewing angle; the measurement position curve in the optimal direction is obtained through the depth image, and the next optimal measurement space position of the sensor (measurement system) is determined in combination with the viewpoint constraints.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and relates to an automatic three-dimensional measurement method based on surface structured light, in particular to a viewpoint planning method for automatic measurement of unknown model objects. Background technique [0002] With the rapid development of computer science and technology, structured light 3D measurement has been widely used in many fields due to its advantages of high speed, low cost, and good accuracy. However, due to the limited measurement field of view of the system and the occlusion of complex objects by themselves, it is difficult to obtain the complete shape of the object in a single measurement. For complex measurement objects, dozens or even thousands of measurements are usually required. At present, most of the measurements are made through single-view automatic measurement, manual observation and judgment, moving the device or object to the next suitable posit...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/30G06T7/292G06T7/70
CPCG06T7/292G06T7/70G06T17/30G06T2200/08G06T2207/10028
Inventor 林俊义江开勇郭达峰黄常标
Owner HUAQIAO UNIVERSITY