Three-dimensional measuring method and system based on line structure light
A technology of three-dimensional measurement and line structured light, applied in the field of visual measurement, can solve the problem that the center of the structured light bar cannot fully cope with the outdoor strong light environment
Inactive Publication Date: 2019-07-23
ZHENGZHOU YUTONG BUS CO LTD
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[0004] The purpose of the present invention is to provide a three-dimensional measurement method based on line structured light to solve the problem that the current extraction method of the center of the structured light strip cannot fully cope with the strong outdoor light environment
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[0037] as attached figure 1 Shown is the schematic diagram of the principle of the three-dimensional measurement system based on line structured light of the present invention, wherein, 1 is a structured light generating unit (such as an optical system composed of a laser, a cylindrical mirror and other optical components), and 2 is an imaging unit (such as a CCD camera or CMOS camera), 3 is a processor, a memory, and a computer program that is stored in the memory and can run on the processor, 4 is a fixed structure (such as a bracket), and it is necessary to check the internal reference of the imaging unit and the optical center of the camera before performing three-dimensional measurement For calibration, it is also necessary to fix the structured light generation unit and the imaging unit so that a known fixed distance is maintained between them, and at the same time, the line of sight of the imaging unit and the exit direction of the structured light are kept at a fixed an...
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The invention relates to a three-dimensional measuring method and system based on line structure light, and belongs to the field of visual measurement. The method performs coordinated control on an imaging unit and a structured light generating unit to collect a first original image as a frame including a structured light strip and a second original image as the other frame not including a structured light strip in two frames of images of the same scene, processes the two frames of images using a frame difference method to obtain a structured light strip image, locating the position of the light strip in the first original image, taking the position as the region of interest, and extracting the center of the structured light strip from the region of interest of the first original image. Since the physical method used by the scheme makes the structured light strip become the difference between the two frames of images, the other information will be erased, the specific position of the structured light strip is obtained simply and accurately, and the impact of external environment on the original images is avoided.
Description
technical field [0001] The invention relates to a three-dimensional measurement method and system based on line structured light, belonging to the field of visual measurement. Background technique [0002] Structured light vision measurement has the advantages of large range, non-contact, fast speed, good system flexibility, and high precision. It is widely used in 3D model reconstruction, 3D information measurement of object surface contours and other fields. With the development of technologies such as intelligent robots and unmanned vehicles, the three-dimensional measurement technology based on line structured light has also begun to be applied to the environment perception and obstacle avoidance of robots. A typical line-structured light vision sensor is mainly composed of a laser projector, a camera, and a visual processing system. The beam projected by the laser passes through a cylindrical mirror to form a narrow laser plane in space. A streak of light is produced o...
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CPCG01B11/24
Inventor 王士军李会仙焦志峰
Owner ZHENGZHOU YUTONG BUS CO LTD