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Real-time three-dimensional measurement method based on color sine structured light coding

A structured light and color technology, applied in the field of optical three-dimensional sensing, can solve the problems of unstable phase expansion, low measurement accuracy, and weak anti-interference ability, and achieve real-time high-precision three-dimensional measurement, good robustness, and high three-dimensional The effect of measurement accuracy

Active Publication Date: 2014-08-06
SICHUAN UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to provide a method that combines color-coded phase measurement profilometry with passive stereoscopic Combined real-time three-dimensional measurement method, this method can achieve high three-dimensional measurement accuracy while ensuring real-time performance

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  • Real-time three-dimensional measurement method based on color sine structured light coding
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  • Real-time three-dimensional measurement method based on color sine structured light coding

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Embodiment Construction

[0010] The present invention will be described in further detail below in conjunction with the accompanying drawings and working principles.

[0011] attached figure 1 It is a structural diagram of the three-dimensional measurement system of the present invention. The device used has a CASIO XJ-M140 projector, and the projector buffer frame size is pixels, the maximum output frequency of the projector is 150 frames / s; 2 Prosilica GC650 industrial cameras, the resolution is pixels, and the maximum capture frequency of the camera is 62 frames / s. 1 computer with Core i3 3530 CPU, 4GB RAM. The computer controls the structured light projection and shooting process.

[0012] attached figure 2 It is a working flow chart of the real-time three-dimensional measurement method based on color sinusoidal structured light encoding in this embodiment. The specific implementation steps of this example are as follows:

[0013] (1) Calibrate the two cameras, and the size of the two ca...

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Abstract

The invention provides a real-time three-dimensional measurement method based on color sine structured light coding in the three-dimensional sending technology. In the method, a single color sine structured light coding pattern is projected to the surface of an object through a projector; two camera shooting devices are utilized to record distorted color structured light images respectively, all the color structured light images are subjected to color separation, and then single-color structured light images corresponding to an R channel, a G channel and a B channel are obtained; the phase positions of the two camera shooting devices are calculated according to the single-color structured light images; phase matching is conducted according to the epipolar constraint relation between the two camera shooting devices, and then instantaneous three-dimensional coordinates of the surface of the object are obtained. Through the real-time three-dimensional measurement method based on color sine structured light coding, real-time three-dimensional measurement can be achieved; the method has the advantages of being good in robustness to unbalance of color brightness, coupling of color channels, nonlinearity of the projector and other interference factors, high in measurement accuracy and the like.

Description

technical field [0001] The invention relates to optical three-dimensional sensing technology, in particular to realizing real-time three-dimensional measurement on the surface of a target object by projecting a single color structured light coding pattern. Background technique [0002] The invention relates to a real-time optical three-dimensional measuring method. Real-time three-dimensional measurement technology can measure three-dimensional data on the surface of stationary objects and moving objects, and is basically not limited by the motion state of the measured object. Phase measuring profilometry (PMP) is a classic active three-dimensional measurement method, but this method needs to project three or more sinusoidal structured light patterns with phase shifts to the target object, which is difficult to meet the real-time requirements . In the paper "Color-encoded digital fringe projection technique for high-speed three-dimensional surface contouring [J]. Optical E...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/25
Inventor 刘凯龙云飞
Owner SICHUAN UNIV
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