Real-time three-dimensional measurement method based on primary projection structured light parallel stripe pattern

Abstract

The invention discloses a real-time three-dimensional measurement method based on a primary projection structured light parallel stripe pattern. The method comprises the following steps of through a structured light projection device, t, projecting a single black and white or color structured light parallel stripe pattern to a surface of a measured object; recording deformed black and white or color structured light stripe patterns through a single camera device; extracting each deformed stripe through a stripe segmentation technology; classifying the extracted deformed stripes from bottom totop or from top to bottom through a stripe clustering technology; fitting the classified deformation fringes through a spline function; generating a longitudinal coordinate matrix according to the longitudinal coordinates of the fitting line in the image, improving the resolution of the coordinate matrix through a spline interpolation method to enable the resolution of the coordinate matrix to beconsistent with the resolution of the image of the camera device, generating a longitudinal coordinate graph, and calculating the three-dimensional shape of the measured object in real time through the longitudinal coordinate graph and the calibrated system parameters. According to the invention, real-time robust measurement can be carried out on a static, moving or deformed object in a darkroom or an outdoor scene.

Description

technical field [0001] The invention relates to optical three-dimensional sensing technology, in particular to real-time measurement of the three-dimensional shape of an object surface by projecting a single pattern composed of parallel black and white stripes or colored stripes. Background technique [0002] The invention relates to a real-time three-dimensional measurement method based on one-time projection structured light. The three-dimensional measurement technology based on one-shot structured light can measure not only the three-dimensional data of stationary objects, but also the three-dimensional data of moving or deformed objects, and is not limited by the state of motion of objects at all. At present, the technologies that can perform real-time measurement of moving or deformed objects mainly include binocular / multi-eye vision technology, time of flight (TOF) technology and one-time projection structured light measurement technology. Among them, the algorithm co...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a three-dimensional measurement method based on one-time projection of structured light parallel stripes for the existing real-time structured light three-dimensional measurement technology with low measurement accuracy and poor ability to resist external light interference. The method is based on a single image Calculate the ordinate map that needs to be calculated through more than three images by the traditional phase shift method, which not only meets the real-time performance of 3D measurement, but also ensures that the measurement accuracy is very close to the 3D measurement accuracy of the traditional phase shift method

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