Stripe structured light three-dimensional reconstruction method based on virtual binocular

Abstract

The invention provides a stripe structured light three-dimensional reconstruction method based on virtual binocular. The method comprises the following steps: constructing a virtual binocular stripe structured light visual system based on biprisms; calibrating the virtual binocular vision system to obtain internal and external parameters of two virtual binocular cameras; projecting a three-frequency four-step sine fringe image to an object; unwrapped phases corresponding to the left virtual camera and the right virtual camera are obtained through a multi-frequency heterodyne unwrapping method; performing epipolar correction on the unwrapped phase according to internal and external parameters of the virtual camera; performing stereo matching on the left and right unwrapped phases to obtain parallax of matching points corresponding to the left and right unwrapped phases; combining internal and external parameters of a virtual binocular, and converting parallax into depth information by using a parallax principle; and generating a dense point cloud picture of the object according to the three-dimensional space coordinates of the object to complete three-dimensional reconstruction of the object. According to the invention, the problem of high cost of a traditional binocular structured light three-dimensional reconstruction system is solved, and the problems of camera synchronization stability and gray scale difference of the three-dimensional reconstruction system are avoided.

Description

technical field [0001] The invention belongs to the technical field of computer three-dimensional vision, in particular to a three-dimensional reconstruction method based on virtual binocular stripe structured light. Background technique [0002] Optical three-dimensional (3D) measurement has the advantages of non-contact, full field, high precision, etc. It can quickly and accurately obtain the depth information of the surface of the measured object, and is widely used in robot vision, defect detection, biomedicine and other fields. Binocular structured light 3D measurement is a widely used optical 3D measurement method. Two cameras are used to collect images of the measured object from different perspectives, and 3D reconstruction of high-precision and dense point clouds is assisted by structured light information such as speckles and stripes. . In the binocular structured light projection 3D reconstruction method, the 3D imaging technology based on fringe projection is w...

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Problems solved by technology

[0004] In view of this, the present invention aims to propose a 3D reconstruction method based on virtual binocular fringe structured light, which is suitable for high-precision measurement requiring a small footprint of measurement equipment, and solves the problem of the high cost of traditional binocular structured light 3D reconstruction systems. , The reconstruction result is affected by the gray value and other problems, and it helps to improve the stability of the binocular fringe structured light 3D reconstruction system

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