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Self-splicing surface point cloud measurement method without active visual marking

A technology of splicing surfaces and active vision, applied in the field of visual measurement, can solve problems such as inapplicability, and achieve the effect of flexible operation, stable and reliable self-splicing

Active Publication Date: 2020-09-08
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

This kind of method of measuring segmented point cloud data and then using software to splicing, the splicing effect depends to a large extent on the shape of the measured object and whether common features can be extracted on different point clouds. Many industrial parts does not meet this requirement
Therefore, this stitching method is not suitable for many industrial measurement problems

Method used

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  • Self-splicing surface point cloud measurement method without active visual marking
  • Self-splicing surface point cloud measurement method without active visual marking
  • Self-splicing surface point cloud measurement method without active visual marking

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Embodiment Construction

[0039] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0040] A method for measuring a point cloud of a self-mosaic surface without active visual marking in this embodiment, wherein: comprising the following steps:

[0041] Step 1. Prepare a projector that can move independently and project structured light on the measured object, an industrial camera that can move independently and take images of the measured object, and a computer. The projector can project a package with a code Structured light of information, the computer is used to control the analysis and calculation required for projector projection, camera shooting, and three-dimensional point cloud measurement; calibrate the internal parameters of the camera and projector, wherein both the projector and the camera use the internal parameters based on perspective projection parametric model;

[0042] Step 2, adjusting the relative position...

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Abstract

The invention relates to a self-splicing surface point cloud measurement method without active visual marking. The method is characterized in that a camera and a projector can independently and freelymove to obtain a series of modulated structured light images, the images jointly cover the whole surface to be measured, the images are decoded to obtain the coded information, dense pixel matching is realized according to the coding information in the series of modulation structured light images, meanwhile, spatial geometric constraints of the images under different poses are established, then,under the framework of the motion recovery structure, global poses of the camera and the projector corresponding to each image are calculated and optimized, and space coordinates of three-dimensionalpoints are reconstructed, and lastly, point cloud data of the whole surface to be measured in a unified world coordinate system. The method is advantaged in that marking points do not need to be arranged in advance, an independent point cloud splicing post-processing algorithm is not needed, meanwhile, operation is flexible, and the method can be suitable for accurate measurement of objects of different sizes and shapes.

Description

technical field [0001] The invention belongs to the technical field of visual measurement. Specifically, it relates to a self-stitching surface point cloud measurement method without active visual labeling. Background technique [0002] Structured light measurement method is widely used in point cloud measurement of object surface due to its advantages of high precision, non-contact and low cost. A typical structured light measurement system consists of a computer, an industrial camera, and a projector. The camera and the projector need to be fixed together to ensure that their relative pose remains unchanged. Before the actual measurement, the system needs to be calibrated to establish the matching relationship between the projector and camera image planes through the encoded information in the structured light image. During the measurement process, the camera captures the structured light image modulated by the surface of the object projected by the projector, while the ...

Claims

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Application Information

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IPC IPC(8): G01B11/25G06K9/62G06T3/40G06T7/00G06T17/20
CPCG01B11/2513G01B11/2545G06T3/4038G06T7/0002G06T17/20G06T2207/10028G06V10/751
Inventor 汪鹏张丽艳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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