Three-dimensional measuring method, system and device based on color gray code structured light

Abstract

The invention belongs to the technical field of three-dimensional measurement, particularly relates to a three-dimensional measuring method based on colored Gray code structure light, a three-dimensional measuring system based on the colored Gray code structure light, and devices, and aims at solving the problem that in an existing three-dimensional measuring method, colored coded patterns and a time coding method cannot be well compatible. The method of the system comprises the steps of obtaining an image sequence of an object to be reconstructed under the coded pattern projection; performingdistortion correction and polar line correction on images in the image sequence, and obtaining a first target region; obtaining a target region of each image in the image sequence on the basis of thefirst target region; obtaining a coding value of each pixel point in the image target region; obtaining a parallax value on the surface of the object to be reconstructed through a preset value decoding and matching method; and obtaining a depth value of the surface of the object to be reconstructed on the basis of a calibration parameter of a binocular camera and the parallax value. Through the cooperation of the time coding method, the colored structure light and the binocular camera, the defects caused by a single method are overcome; and high-resolution high-speed and high-precision three-dimensional measurement is completed.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional measurement, and in particular relates to a three-dimensional measurement method, system and device based on color Gray code structured light. Background technique [0002] Three-dimensional measurement technology has an important position and significance in the research of computer vision, and has a wide range of applications in computer graphics, virtual reality, and reverse engineering. Since two-dimensional measurement can only reflect shade and color, it performs poorly in occasions that require information such as height and volume. In contrast, three-dimensional measurement technology has great potential in a large number of measurement tasks and can greatly improve measurement accuracy. [0003] Three-dimensional measurement technology is divided into contact measurement and non-contact measurement. Contact measurement is no longer the focus of research because the equipment is ...

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Problems solved by technology

[0006] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the color coding pattern and the time coding method in the existing three-dimensional measurement method are not well compatible, resulting in low resolution, speed and precision of the three-dimensional measurement, the first method of the present invention On the one hand, a three-dimensional measurement method based on color Gray code structured light is proposed, which includes:

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