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Three-dimensional shape measurement method based on cyclic complementary Gray code

A technology of three-dimensional surface shape and measurement method, which is applied to measurement devices, instruments, and optical devices, etc., can solve problems such as affecting data processing efficiency and increasing the amount of code map collection, so as to ensure real-time performance, improve robustness, and improve The effect of precision

Active Publication Date: 2019-03-29
SICHUAN UNIV
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Problems solved by technology

[0004] The combination of phase shift technology and complementary Gray code technology is used for the reconstruction and measurement of three-dimensional surface shape. The design is simple, no special projection equipment is required, the cost is low, and the application is more and more widely used. However, it needs to be encoded in the traditional Gray code. Adding a Gray code coded map on the basis of projection, in the process of high-speed surface shape reconstruction, every time an additional frame of image is added, one more modulated Gray code coded map must be collected, which increases the amount of coded map collection and affects improve the efficiency of data processing

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  • Three-dimensional shape measurement method based on cyclic complementary Gray code
  • Three-dimensional shape measurement method based on cyclic complementary Gray code
  • Three-dimensional shape measurement method based on cyclic complementary Gray code

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Embodiment 1

[0049] The method of the invention is based on the principle of triangular distance measurement in the structured light technology, first codes the projection patterns, and then projects the patterns onto the object to be measured and uses a camera to photograph them. Since the pattern has been coded, the point on the image and the corresponding point on the coded pattern can be found, and after decoding, the three-dimensional information of the measured object can be obtained. The focus of the whole process is on the coding and decoding of the image. The test devices mainly include projectors, cameras and computers. Computers are mainly used for data processing. The test environment is as follows: figure 2 shown.

[0050] Step 1: Encoding the projection pattern.

[0051]In order to better illustrate the method of the present invention, this embodiment uses m=3, N=16 as an example to describe the method. In order to realize high-speed projection, the present invention perfo...

Embodiment 2

[0087] The difference between Embodiment 2 and Embodiment 1 is that in Sequence 1, the order of the projected 2nd to 5th Gray codes has been adjusted, and the projection sequence becomes the first to project the 5th frame, then the 4th frame, and the 3rd frame. Frame and frame 2, sequence 2 has also been adjusted accordingly. The right half of the last gray code projected is designed as a cyclical black-and-white flip mode, that is, in sequence one, the second period of the last gray code projected is the same as the first period, while in sequence two , the second cycle of the last projected gray code and the first cycle are flipped in black and white, so as to construct the difference in time series. The effect of projecting sequence 1 and sequence 2 onto the real object, such as Figure 8 As shown, it can be seen that sequence one Gray 1 The right projection effect and sequence two Gray 1 The projection effect on the right side of is different, and the projection codewor...

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Abstract

The invention discloses a three-dimensional shape measurement method based on cyclic complementary Gray code, and relates to the field of machine vision measurement methods. The method comprises the following steps of: 1) cyclically projecting sequence diagrams to the surface of a detected object, wherein the sequence diagrams contain the complementary Gray code designed by special coding; 2) acquiring a sequence diagram set modulated by the detected object; 3) calculating a truncated phase basis value of each group of sequence diagrams in the sequence diagram set; 4) decoding the cyclic complementary Gray code in the sequence diagram set, and using the decoded codeword to expand the truncated phase; and 5) obtaining three-dimensional shape information of the object. The special coding design and special decoding steps of the complementary Gray code in the time domain and the spatial domain solve the problem of bit error at the phase level jump, and improve the robustness of decoding.Compared with the prior art, the number of coding cycles is doubled on the basis of the same number of projected Gray code patterns, thereby improving the measurement accuracy. The three-dimensional shape measurement method is suitable for high-speed and high-accuracy measurement of complex and dynamic scenes.

Description

technical field [0001] The invention relates to a machine vision measurement method, in particular to a three-dimensional surface shape measurement method based on cyclic complementary Gray codes. Background technique [0002] With the rapid development of hardware technology and computer science, people increasingly need to use the three-dimensional surface obtained in the high-speed dynamic process to analyze the details of the object change. High-speed and high-precision measurement is being applied more and more to subjects such as experimental mechanics and material mechanics. How to obtain high-speed and high-precision measurement results has become a research hotspot in recent years. [0003] Array projection technology is used to replace commercial projectors to achieve high-speed projection and three-dimensional surface reconstruction, and the reconstruction speed can reach 330 Hz; in addition, the idea of ​​using rotating gratings to project aperiodic sinusoidal f...

Claims

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Application Information

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IPC IPC(8): G01B11/25
CPCG01B11/2433G01B11/254
Inventor 张启灿吴周杰郭文博薛俊鹏刘元坤
Owner SICHUAN UNIV
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