Structured light coding method based on space sequence and light intensity threshold segmentation

A technology of light intensity threshold and spatial sequence, applied in the direction of using optical devices, instruments, measuring devices, etc., can solve the problem of not being able to adapt well, and achieve the effect of three-dimensional measurement and reducing the number of images projected and collected.

Pending Publication Date: 2021-06-11
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Due to the large number of pictures required, it cannot be well adapted to scenes that require high-speed measurement

Method used

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  • Structured light coding method based on space sequence and light intensity threshold segmentation
  • Structured light coding method based on space sequence and light intensity threshold segmentation
  • Structured light coding method based on space sequence and light intensity threshold segmentation

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Embodiment 1

[0035] This embodiment discloses a structured light encoding method based on spatial sequence and light intensity threshold segmentation. The spatial sequence is taken as an example of De Bruin sequence, and the search algorithm is taken as an example of Otsu algorithm. See figure 1 and figure 2 , including the following steps:

[0036] 1) Build a structured light measurement system. The structured light measurement system includes a projector 1 , a measured object 2 , a camera 3 and a computer 4 . The camera 3 and the projector 1 are communicably connected to the computer 4 . The camera 3 and the projector 1 are respectively arranged on the front side of the measured object 2, the optical axes of the camera 3 and the projector 1 intersect, the projection areas overlap each other, and the measured object 2 is just located in the common field of view of the two Inside.

[0037] 2) Adjust the position of camera 3 and projector 1. After the position adjustment is completed, ...

Embodiment 2

[0053] This embodiment provides a relatively basic implementation method, a structured light encoding method based on spatial sequence and light intensity threshold segmentation. The spatial sequence takes De Bruin sequence as an example, and the search algorithm takes Otsu algorithm as an example. See figure 1 and figure 2 , including the following steps:

[0054] 1) Build a structured light measurement system. The structured light measurement system includes a projector 1 , a measured object 2 , a camera 3 and a computer 4 . The camera 3 and the projector 1 are communicably connected to the computer 4 . The camera 3 and the projector 1 are respectively arranged on the front side of the measured object 2, the optical axes of the camera 3 and the projector 1 intersect, the projection areas overlap each other, and the measured object 2 is just located in the common field of view of the two Inside.

[0055] 2) Adjust the position of camera 3 and projector 1. After the posit...

Embodiment 3

[0067] The main steps of this embodiment are the same as those in Embodiment 2. Further, in step 4), during the process of the computer 4 synthesizing the structured light raster image containing the spatial coding sequence information, the computer 4 is for the 0 code and the step 3) 1 yard, design the corresponding 0 stripes and 1 stripes, the specific stripes of each level are as follows:

[0068]

[0069] In formula (1), T(x 0 ,y 0 ) is the pixel coordinate x in the stripe 0 ,y 0 The light intensity value at , A 0 and A 1 is the DC component, where A 0 and A 1 Determined by the segmentation threshold of light intensity (range 0-255), a threshold k is used to divide the light intensity range into two parts [0, k], [k, 255], A 0 and A 1 Take the median value of the interval [0, k] and [k, 255] respectively, B 0 and B 1 is the amplitude, B 0 and B 1 A respectively 0 and A 1 Half of the length of the interval, W 0 is the pixel width unit occupied by each level ...

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Abstract

The invention discloses a structured light coding method based on a space sequence and light intensity threshold segmentation. The method comprises the following steps: 1) constructing a structured light measurement system; 2) adjusting the positions of the camera and the projector, and storing calibration parameters; 3) generating a random space coding sequence; 4) synthesizing a structured light grating pattern containing space coding sequence information; 5) projecting the structured light grating pattern to the surface of the measured object, and collecting a deformation image reflected by the measured object; 6) segmenting the deformation image into a plurality of areas, and calculating the initial phase of each pixel in each area; 7) obtaining the periodicity corresponding to the initial phase of each region; and 8) calculating a full-field phase, and completing the three-dimensional reconstruction of the measured object; according to the invention, three-dimensional measurement is achieved by using only one projection grating image without phase shift, and the number of projected and acquired images required in active optical three-dimensional measurement is greatly reduced.

Description

technical field [0001] The invention belongs to the technical field of optical three-dimensional shape measurement, and in particular relates to a structured light coding method based on space sequence and light intensity threshold segmentation. Background technique [0002] With the development of modern science and technology, intelligent equipment such as industrial robots and service robots are required to be able to obtain environmental information well and interact with the environment better. This demand has greatly promoted the development of 3D measurement technology. It has a wide range of applications in many fields such as industrial automatic inspection, product quality control, reverse design, and virtual reality. [0003] Three-dimensional measurement technology can be divided into contact type and non-contact type according to whether the measurement equipment is in direct contact with the measured object. Non-contact measurement, also known as optical measu...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01B11/25
CPCG01B11/002G01B11/254
Inventor 刘飞杨炀李文博黄瀚霖杨恬贾文超贺仁智
Owner CHONGQING UNIV
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