Dense parallel line structured light three-dimensional scanning method and system

Abstract

The invention provides a dense parallel line structured light three-dimensional scanning method and system. The method comprises the following steps: designing a dense parallel line single-frame pattern; projecting a pre-designed single-frame dense parallel line to the surface of the measured object through a projector; shooting the modulated dense parallel line pattern by a binocular camera, andcarrying out high-precision line extraction and segmentation; determining a candidate projector column number value of each extraction point on the segmented line segment by utilizing a relative relationship of a space plane formed by the binocular camera and the dense parallel lines; deleting and selecting candidate projector column number values by utilizing the consistency of the extracted point projector column numbers on the same line segment; verifying the validity of the column number values of the candidate projectors by utilizing the continuity of the column numbers of the adjacent line segments; and reconstructing the point cloud point by point according to the image point coordinates on the line segments and the corresponding projector column numbers. The problems that a traditional multi-line structured light scanning reconstruction result is sparse and uneven in distribution, mark point auxiliary positioning is needed, and the reconstruction result is affected by multi-line crossing are solved.

Description

technical field [0001] The invention relates to the field of three-dimensional measurement, in particular to a method and system for three-dimensional scanning of dense parallel line structured light. Background technique [0002] In ordinary image modeling, the light source is ambient light or white light, which has not been encoded, and image recognition depends entirely on the feature points of the object itself. Therefore, matching has always been a difficult point in image modeling. The difference of the structured light method is that the projected light source is coded, and the image that is projected onto the object by the coded light source and modulated by the depth of the object surface is captured. Because the structured light source has a lot of coding features, it is very convenient to match the feature points, that is, the structured light method actively provides many feature points for matching, and no longer needs to use the feature points of the object its...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at problems such as sparse and uneven distribution of traditional multi-line structured light scanning reconstruction results, need for auxiliary positioning of marker points, multi-line intersections affect reconstruction results, etc., and provides a three-dimensional scanning method of dense parallel line structured light, which not only retains the traditional The advantages of multi-line structured light, while solving the problems of traditional multi-line structured light, include the following steps:

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