Spatial coding structured light three-dimensional scanning method and system

Abstract

The invention provides a spatial coding structured light three-dimensional scanning method and system. The method comprises the steps: designing a single-frame spatial coding pattern which comprises adecoding point for decoding and an encryption point for encryption; projecting a pre-coded single-frame space coding pattern to the surface of a measured object through a projector; shooting the space coding pattern modulated by the object by a camera, and extracting an image decoding point and an encryption point; determining a candidate projector column number of a decoding point by utilizing ahorizontal epipolar constraint and a neighborhood relative displacement relationship ; constructing and updating a statistical weight array of the decoding point, and deleting and selecting the candidate projector column number of the decoding point according to the statistical weight array; deducing the projector column number of the encryption point according to the projector column number of the decoding point; and reconstructing a point cloud according to the image coordinates of the decoding point and the encryption point and the corresponding projector column number. Therefore, problemsthat a traditional spatial coding structure is low in light robustness, poor in precision, large in decoding requirement for image space, poor in expansibility and the like are solved.

Description

technical field [0001] The invention relates to the field of three-dimensional measurement, in particular to a three-dimensional scanning method and system for spatially coded 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 encoded, and the image that is projected on the object by the encoded light source and modulated by the depth of the object surface is taken, such as figure 1 shown. 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 ...

AI Technical Summary

Problems solved by technology

[0011] Aiming at the problems of low robustness, poor precision, large image space required for decoding, and poor scalability of traditional spatially coded structured light, the present invention provides a three-dimensional scanning method for spatially coded structured light. The process includes the following steps:

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