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Data fusion method based on structured light

A technology of data fusion and structured light, applied in the field of 3D reconstruction, can solve the problems of poor reconstruction accuracy, influence reconstruction quality, deviation, etc., and achieve the effect of ensuring accuracy

Pending Publication Date: 2022-02-18
新拓三维技术(深圳)有限公司
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Problems solved by technology

[0002] Three-dimensional measurement based on structured light has the advantages of non-contact, high precision, and high efficiency. Its measurement schemes are mainly monocular reconstruction of projector + single camera and binocular reconstruction of projector + dual cameras; binocular reconstruction based on structured light High precision and good effect, but due to the occlusion of binocular field of view, the difference in camera performance and the direction of the light source, the reconstruction points will be missing; the monocular reconstruction based on structured light is fast, but the reconstruction accuracy is poor
[0003] Specifically, the binocular reconstruction based on structured light will lead to the lack of features of the projected pattern and the occlusion of the monocular field of view respectively due to the smoother surface of the object to be measured or the presence of large undulations during reconstruction, which will lead to matching failures, resulting in obvious The lack of reconstruction points; monocular reconstruction based on structured light can not be affected by the direction of the light source and the field of view to a certain extent during reconstruction, but since the calibration of the projector needs to be completed by the camera, and there are certain errors in the camera calibration itself, which makes Errors accumulate in the calibration results of the projectors, further deteriorating the reconstruction results of this scheme
In the monocular and binocular combination scheme based on structured light, if the single and binocular reconstruction data are directly fused, there will be a certain deviation between the binocular reconstruction results and the monocular reconstruction results, which will greatly affect the reconstruction quality.

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Embodiment Construction

[0051] Embodiments of the present invention will be described in detail below. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.

[0052] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection may be for both a fixed function and a circuit / signal communication function.

[0053] It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships sh...

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Abstract

The invention discloses a data fusion method based on structured light. The method comprises the steps: S1, configuring a structured light vision system which comprises two monocular systems and a binocular system, and calibrating the internal and external parameters of the monocular systems and the binocular system; S2, using a calibration plane for calibration to obtain a pixel correction table to be matched on a projector plane, and moving the calibration plane to different positions to obtain n pixel correction tables, wherein the value of n ranges from 8 to 15; S3, performing binocular reconstruction, and in the reconstruction process, identifying points of view shielding and points of matching failure existing in the binocular system; and S4, aiming at the points of view shielding and the points of matching failure in the binocular system in the step S3, performing monocular reconstruction by utilizing the first monocular system and / or the second monocular system and combining the n pixel correction tables obtained in the step S2. The method can meet general precision requirements of monocular and binocular data fusion based on structured light.

Description

technical field [0001] The invention relates to the technical field of three-dimensional reconstruction, in particular to a data fusion method based on structured light. Background technique [0002] Three-dimensional measurement based on structured light has the advantages of non-contact, high precision, and high efficiency. Its measurement schemes are mainly monocular reconstruction of projector + single camera and binocular reconstruction of projector + dual cameras; binocular reconstruction based on structured light The accuracy is high and the effect is good, but due to the occlusion of the binocular field of view, the difference in camera performance, and the direction of the light source, the reconstruction points will be missing; the monocular reconstruction based on structured light is fast, but the reconstruction accuracy is poor. [0003] Specifically, the binocular reconstruction based on structured light will lead to the lack of features of the projected pattern...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06F17/10
CPCG06T17/00G06F17/10
Inventor 任茂栋杨羚烽唐正宗夏增龙
Owner 新拓三维技术(深圳)有限公司
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