摘要
三维成像技术是目前比较热门的研究领域，在众多已提出的方法中，采用结构光对物体表面进行扫描重建的方法越来越受到人们的重视。投影结构光三维重建具有较高精度、非接触、检测速度快、操作简单等优点，在工业场景中正应用得越来越广泛。单目的结构光系统面对具有复杂表面或者阶梯、陡峭表面的物体时，因遮挡问题而不能重建出完整的物体表面。双目或多目的投影结构光系统可以有效地解决单目系统遇到的问题，但也引入了新的问题，比如：需要解决多目系统的标定以及多个点云融合的问题。 本文详细介绍了双目结构光系统的测量原理，主要包括投影图案的编码解码技术、系统模型中参数的标定以及点云的生成与融合拼接等。通过对图案编解码策略进行分析，决定采用格雷码编码，它可以显著提高解码的可靠性。在对投影仪进行标定时，通过局部单应性变换的方法将投影仪标定转换为成熟的相机标定，大大提高了投影仪标定的准确性。在最后的点云重建部分，针对菱形排布投影器件的特性，提出了一种三角法三维点云重建的改进方案，有效地解决了正常使用三角法重建点云出现的变形问题。 之后，根据上述原理开发了一套双目结构光三维测量系统，使用它可对复杂表面进行三维重建。该系统硬件组成比较简单，由一个投影仪和两个相机组成，在进行三维重建时，实际上是左右两个子系统（两个投影仪-相机对）分别进行三维点云重建，之后将右点云变换坐标与左点云进行融合。实验结果表明工作距离为800mm时，系统的重复相对测量误差为0.6%，即能有效地重建出被测物三维形貌。
关键词：三维测量；双目结构光；格雷码；标定；坐标变换
ABSTRACT
Three-dimensional imaging technology is a hot research field at present.Among the many methods proposed,the method of scanning and reconstructing the surface of an object using structured light has received more and more attention.3D reconstruction of projection structure light has many advantages,such as high accuracy,non-contact,fast detection speed,simple operation,etc.It is being applied more and more widely in industrial scenes.When a single-objective structured light system faces an object with a complex surface or a stepped or steep surface,it can not reconstruct a complete object surface due to occlusion problems.Binocular or multi-objective projection structured light systems can effectively solve the problems encountered by monocular systems,but also introduce new problems,such as the need to solve the calibration of multi-eye systems and the problem of multiple point clouds fusion.
再过五十年
In this paper,the measurement principle of binocular structured light system is introduced in detail,including the coding and decoding technology of projection pattern, the calibration of parameters in system model,the generation and fusion of point clouds, etc.By analyzing the pattern c
oding and decoding strategy,it is decided to adopt Gray code coding,which can significantly improve the reliability of decoding.In the calibration of the projector,the projector calibration is converted into a mature camera calibration by a local homography transformation method,which greatly improves the accuracy of the projector calibration.In the last part of point cloud reconstruction, according to the characteristics of diamond-shaped projection devices,an improved scheme of three-dimensional point cloud reconstruction using triangular method is proposed,which effectively solves the deformation problem of point cloud reconstruction using triangular method.
Then,based on the above principle,a set of binocular structured light3D measurement system was developed,which can be used to reconstruct3D complex surfaces.The hardware composition of the system is relatively simple,consisting of a projector and two cameras.When performing3D reconstruction,the two subsystems (two projectors-camera pairs)are actually reconstructed by3D point cloud respectively, and then the coordinates of right point clouds and left point clouds are fused.The experimental results show that the system's repeated relative measurement error is0.6% when the working distance is800mm,which can effectively reconstruct the
three-dimensional shape of the measured object.
KEYWORDS:three-dimensional measurement;binocular structured light;Gray code; calibration;coordinate transformation
目录
第一章绪论 (1)
1.1课题研究的背景和意义 (1)
1.2三维测量技术概述 (1)
大规模定制生产1.3投影结构光三维测量研究现状 (3)
1.3.1点结构光 (4)
1.3.2线结构光 (4)
1.3.3编码结构光 (4)
1.4课题来源和主要研究内容 (6)
1.5小结 (7)
第二章双目结构光三维测量技术 (8)
2.1双目结构光三维测量原理 (8)奚正平
2.2投影仪和相机模型 (9)
2.2.1坐标系简介 (10)
2.2.2针孔相机模型 (12)
2.2.3畸变模型 (13)
2.3投影图案编码 (14)
2.3.1二进制编码 (14)
2.3.2格雷码编码 (15)
2.4健壮的格雷码解码 (16)
2.4.1计算阴影掩码 (16)
2.4.2光分量分离与像素分类 (16)
2.5三角法求解三维点云 (18)
2.6左右点云融合 (20)
2.6.1获取旋转平移矩阵 (20)
2.6.2基于迭代最近点（ICP）算法的点云配准 (21)
2.7小结 (21)
第三章结构光测量中的标定技术 (23)
3.1标定的数学原理 (23)
3.1.1张氏标定法 (23)
3.1.2立体标定 (26)
3.2标定数据的获取 (27)
3.3参数标定 (28)
3.3.1相机标定 (28)
3.3.2投影仪标定 (29)
3.3.3系统标定 (30)
3.4标定实验结果分析 (31)
3.5小结 (33)
第四章软硬件设计及关键问题解决 (34)
4.1系统硬件设计 (34)
4.1.1系统硬件选型 (34)
4.1.2系统硬件搭建 (36)
4.2系统软件设计 (36)
长链二元酸
4.2.1软件开发的前期准备工作 (37)
4.2.2软件总体设计 (37)
4.2.3软件主要模块的实现 (38)
4.3系统搭建中的关键技术 (43)
4.3.1投影仪和相机之间的同步 (44)
4.3.2对于菱形排布投影器件的三角法改进 (45)
4.4小结 (47)
第五章实验研究与分析 (48)
5.1标准阶梯块测量实验 (48)
5.2标准圆柱测量实验 (50)
5.3左右点云融合效果展示 (52)
惠尚学
5.4小结 (54)
稻壳灰第六章总结与展望 (56)
6.1总结 (56)
6.2展望 (57)
参考文献 (58)
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