CN100449571C - Threshold value dividing method based on single-pixel in three-dimensional scanning system - Google Patents
Threshold value dividing method based on single-pixel in three-dimensional scanning system Download PDFInfo
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Abstract
The single-pixel-based threshold partition method in 3D scanning system comprises: 1. designing a group of grating projection patterns for successive dimidiate; wherein, using the nth coarse grating image to dimidiate the stripes in the (n-1)th image and obtain 2n black-white alternative stripes; projecting patterns to target object, using CCD to take shoot back to a computer; 2. as the binary code should meet selfstandarization request in space, searching gray value for every pixel point in projection patterns, and determining the optimal threshold T by gradual approach and iterative means; 3. taking threshold partition.
Description
Technical field
The present invention is in a kind of reverse-engineering, with a kind of threshold segmentation method based on single pixel of 3 D scanning system according to the realization of space binary coding.The technical field that belongs to visual three-dimensional information reconstruct.
Background technology
Reverse-engineering (Reverse Engineering, RE) technology is the later stage eighties 20th century to appear at the new technology in the advanced manufacturing field, it generally comprises four basic links: three-dimensional body detects and conversion (acquisition of physical data), data pre-service (put cloud processing, identification, look splicing more), the foundation of cad model (surface reconstruction), the moulding of CAM product.Great majority mainly concentrate in the reverse reconstruct in kind about the research of reverse-engineering, and promptly the cad model reconstruct of product material object and the manufacture view of final products are called " reverse-engineering in kind ".Its basic flow sheet as shown in Figure 1.
Three-dimensional detection technique is an emerging research field flourish over past ten years, and it combines with development of computer and has obtained breakthrough.Because having the complete noncontact of testing process, data space resolution height, disposable moment projection, the structured light method realizes that directly the three dimensions body form detects and obtain the characteristics of three-dimensional information, and cost is low, be convenient to practical application, thereby have higher researching value and development prospect, so the structured light method is to realize that 3 dimensional coil geometry detects and the common method of reconstruct.
The final purpose of reverse-engineering is for the reconstruct three dimensional practicality, in theory, does not need any supplementary means, and the parallax among two width of cloth figure that only need to obtain according to binocular CCD just can the reducing matter model.But concerning computing machine, can't directly detect the object parallax of object under different camera lenses, therefore must design the grating fringe secondary computer it is judged.Identification to object parallax under different camera lenses, can be equal to identification to object features zone in the single width picture, that is to say that if on the single width picture, identify each characteristic of object so only the simple same characteristic area that compares among two figure of need just can obtain the error between the two easily.In the single width picture, that object itself does not have is regular, obviously be convenient to the feature discerned.Therefore must carry out optical grating projection to object, have shape of stripes clocklike on the body surface in obtaining picture that makes.So just, finally transform into identification to striped in the image problem to the identification in object different characteristic zone in the picture.In the image in many more, the recognition result of discernible fringe number the positional precision of striped high more, the object space that then finally obtains is divided just thin more, the precision of the object CAD point cloud that finally reconstructs will be high more.Therefore the coding that is met high-precision requirement is exactly a key point.
Coding techniques plays an important role in the data of structured light projection method are obtained, and it affects the precision of measurement, speed and reliability.In order to obtain coding result preferably, the Threshold Segmentation effect decisive role of projection pattern.Yet in three-dimensional detects, when the color of object is spared than dark or uneven illumination, utilize general threshold segmentation method, can't obtain good Threshold Segmentation result, encode disappearance seriously, even can not get the coding of object at all.Therefore what generally adopt before is to carry out projection again after object is sprayed white powder, can obtain coding result preferably, limits morely, can not be applicable to general measurement requirement.
Threshold Segmentation Algorithm commonly used mainly contains global threshold method and local threshold method two big classes.In the global threshold method, the method for selected threshold has: average gray threshold method, histogram method, Mathematical Expectation Method.The method of local threshold method is a lot.The difference of different Threshold Segmentation Algorithm is the choosing method difference of threshold value.The prospect that mainly lays particular emphasis on that these Threshold Segmentation Algorithm have and the differentiation of background, and well do not distinguish for the slight part of image, the division of then emphasizing details that has, and hold not enough for integral body.And most of image Segmentation Technology are based on that the gray scale of neighbor in the width of cloth picture or other parameters carry out, and for the characteristics that depend on full figure cutting apart of certain pixel, noise resisting ability is not strong.For the relatively poor stripe pattern of contrast, general Threshold Segmentation is applied to the segmentation result that grating fringe figure is difficult to be distinguished accurately black and white strip.Therefore, when the color of object is spared than dark or uneven illumination, can be according to binary-coded self-standardization characteristics, promptly require to have at least on each object point above a bright fringes and a dark fringe drop on, because the gray-scale value difference of each pixel under gray-scale value under the black streaking projection and the projection of informal voucher line is bigger, can carry out Threshold Segmentation to single pixel according to a series of projection grating figure fully, thereby obtain better segmentation effect, obtain black and white strip and divide projection pattern clearly.
Summary of the invention
Technical matters: at existing in prior technology shortcoming and restriction, the objective of the invention is to design in a kind of 3 D scanning system threshold segmentation method based on single pixel, the method realizes simple, fast operation, therefore carry out Threshold Segmentation for single pixel, cut apart the pixel that does not rely among the figure other, antijamming capability is strong, the projection pattern black and white strip is cut apart clear, helps carrying out the coding of complete and accurate.
Technical scheme: design progressively two minutes projection grating figure according to the binary-coded requirement in space, projection pattern is fetched computing machine analysis.Because the space binary coding must satisfy self-normalization condition, because the light intensity gray-scale value of obtaining on the pixel is influenced by the reflectivity of projection object plane, the gray-scale value that dark fringe is produced on the black object plane at the gray-scale value that produces on the white object plane and bright fringes be close bigger even (Fig. 3), be difficult to divide with general threshold segmentation method this moment, but the gray-scale value difference of each pixel under gray-scale value under the black streaking projection and the projection of informal voucher line is bigger, can carry out Threshold Segmentation to single pixel according to a series of projection grating figure fully.
For choosing of threshold value, for the sake of simplicity, begin to adopt get a certain pixel in a series of patterns maximum gradation value and the average of minimum gradation value as threshold value, the pixel of current location among every width of cloth figure is cut apart according to this threshold value, obviously see and to distinguish most black and white strip, but effect still is not very good, (Fig. 4).Black and white strip can distinguish basically as can be seen from Figure, but some position division is not very clear.Therefore how selected threshold, the present invention has adopted the method for progressively approaching with iteration.Can find an optimal threshold for the pixel of a certain position according to the grey scale pixel value of same position in a series of projected images, be made as T.At first obtain a threshold value t of image, constantly revise t then and be substantially equal to T up to it according to certain rule.At last with T as the threshold value of selecting, be divided into the pixel of this position in a series of projection pattern black or white successively according to this threshold value, the pixel of each position is all disposed, promptly obtained the clear Threshold Segmentation figure that divides black and white strip of all projection pattern.Threshold Segmentation figure has clearly been arranged, then can carry out high-precision coding, thereby obtained the three-dimensional information of object (Fig. 5) accurately.
Main operation and calculation procedure:
Application this method mainly comprises following steps to the Threshold Segmentation of bar graph in the 3 D scanning system:
(1) design is adopted progressively two minutes optical grating projection pattern for one group.In the 1st width of cloth coarse grating picture black and white 2 stripe are arranged, the 2nd width of cloth coarse grating picture carries out five equilibrium to the black and white strip in the 1st width of cloth, obtains the striped that 4 black and white replace, and the rest may be inferred, n (n is a positive integer) width of cloth coarse grating picture carries out five equilibrium to the striped in the n-1 width of cloth coarse grating picture, obtains 2
nThe bar black and white replaces striped, above-mentioned fine grating is that width of fringe is 1/2nd a grating of width of fringe in last width of cloth coarse grating picture, in the wherein back width of cloth fine grating picture fringe position successively with a last width of cloth fine grating picture in fringe position skew l/k distance on equidirectional, l is the width of fringe in the fine grating, k is total width of cloth number of fine grating picture, and the l/k value is 0.4 to 0.6 pixel wide.This group grating pattern of design is projected on the object, takes the photograph by CCD then and be back to computing machine.Projection grating figure as shown in Figure 6.
(2) analysis space characteristic of binary coding.Must satisfy the requirement of self-normalization condition according to the space binary coding,, search the gray-scale value of this position pixel in one group of projection pattern, utilize the method for progressively approaching, determine optimal threshold T with iteration for the pixel of each position.Travel through a series of projected images, the pixel of each position all can obtain a differentiation, and it is optimal threshold T black, white light, the Threshold Segmentation that the pixel of current location can be carried out success according to T.The pixel Threshold Segmentation of all positions finishes, and can mark off black clearly, the informal voucher line of all projection pattern, and effect is comparatively desirable.
Determine that optimal threshold T adopts the method for progressively approaching with iteration, can find an optimal threshold for the pixel of a certain position according to the gray-scale value of the pixel of same position in a series of projected images, be made as T, at first obtain a threshold value t of image, constantly revise t then and be substantially equal to T up to it according to certain rule; This method mainly may further comprise the steps:
1) travels through a series of projection pattern, find out that (x, y) maximum gradation value of position pixel and minimum gradation value are designated as
G (x, y)
MaxAnd G (x, y)
Min, make initial threshold t=(G (and x, y)
Max+ G (x, y)
Min)/2,
2) according to threshold value t will (x, y) pixel region of position be divided into black streaking projection and the projection of informal voucher line, obtains the average gray value Z under the different projected light respectively
BAnd Z
W,
3) obtain (x, y) the new threshold value t of position pixel
0=(Z
B+ Z
W)/2,
4) if t
0This number of=t or iteration then finishes during greater than 200 times; Otherwise t
0Value compose to t, forward step 2 to), loop iteration calculates,
The t of this moment promptly think to divide (x, y) the position pixel is the optimal threshold T of black or informal voucher line in a series of projection pattern, the pixel of a series of projection pattern current locations can be divided into according to this optimal threshold black or white,
5) traversal: the pixel to each position on the projection pattern travels through, use the Threshold Segmentation that said method carries out a series of projection pattern current pixel locations successively, the traversal pixel of all positions of pattern that finishes is soon cut apart and is finished, and has obtained black and white strip and has divided and cut apart figure clearly.
Beneficial effect: compared with prior art, the present invention has following advantage:
The present invention is mainly used in when the body surface color is spared than dark or uneven illumination, and projection pattern is carried out Threshold Segmentation.Utilize the present invention, can effectively avoid surround lighting and of the influence of the color of object own to cutting apart, a lot of black and white strips can't not distinguished in the time of can not occurring with general threshold segmentation method, all labelled unjustifiably to be complete black or complete white situation, thus the corresponding accuracy that improves coding result.The Threshold Segmentation result and the coding result that utilize common threshold segmentation method to obtain.In Fig. 7, we can see that the object part all is divided into black, can't distinguish black and white strip.In Fig. 8, we can see because the carrying out image threshold segmentation result is bad may cause large-area coding result disappearance, finally can't obtain the three-dimensional information of object.
For above situation, we consider to adopt according to the binary-coded self-standardization characteristics in space, according to a series of projection grating figure single pixel are carried out Threshold Segmentation.This method realizes simple, and fast operation carries out Threshold Segmentation for single pixel, therefore cuts apart the pixel that does not rely among the figure other, and antijamming capability is strong, and the projection pattern black and white strip is cut apart clear, helps carrying out the coding of complete and accurate.Threshold Segmentation result and coding result that employing obtains after based on single pixel threshold dividing method are seen Fig. 9, Figure 10.After adopting this method, need carry out the three-dimensional object that detects and need not to spray again white powder, also not have special requirement, can be applicable to the every field of industrial detection widely for surround lighting.
The method realizes simple, and fast operation carries out Threshold Segmentation for single pixel, therefore cuts apart the pixel that does not rely among the figure other, and antijamming capability is strong, and the projection pattern black and white strip is cut apart clear, helps carrying out the coding of complete and accurate.And after adopting this method, need carry out the three-dimensional object that detects and need not to spray again white powder, also not have special requirement, can be applicable to the every field of industrial detection widely for surround lighting.
The present invention is by the binary-coded self-standardization characteristics in space (promptly requiring to have at least on each object point a bright fringes and a dark fringe to drop on top), utilize a series of projection pattern, carry out Threshold Segmentation according to single pixel, object no longer needs to spray white powder, and under general surround lighting, all can obtain Threshold Segmentation result preferably, black and white strip is cut apart clear, and can obtain complete coding result thus, thereby obtains three-dimensional information preferably.
Description of drawings
Fig. 1 is the reverse-engineering generalized flow chart.
Fig. 2 is that the grating style three-dimension scanning system is formed synoptic diagram.
Fig. 3 is subjected to the reflectivity of projection object plane to influence the situation figure of dark fringe gray-scale value greater than the bright fringes gray-scale value.
Fig. 4 is the segmentation result synoptic diagram of the average of pixel in a series of patterns as threshold value.
Fig. 5 obtains object dimensional information approach overall flow synoptic diagram.
Fig. 6 is the bar graph segmentation result synoptic diagram when adopting common Threshold Segmentation.
Fig. 7 is the coding result synoptic diagram after the common Threshold Segmentation of employing.
Fig. 8 is two minutes a projection grating pattern progressively.
Fig. 9 is the bar graph segmentation result synoptic diagram that adopts based on single pixel threshold dividing method.
Figure 10 is the coding result synoptic diagram after employing is cut apart based on single pixel threshold.
Embodiment
Show below in conjunction with accompanying drawing the specific embodiment of the present invention is further described.According to said method, in Windows operating system, realized that with the C++ programming bar graph carries out the operation of Threshold Segmentation by the VC+6.0 platform.This example in the 3 D scanning system to not dusting, the projection grating figure of the motorcycle backplate that the contrast of black and white strip is lower carries out Threshold Segmentation.Mainly may further comprise the steps:
1) design is adopted progressively two minutes optical grating projection pattern for one group: in the 1st width of cloth coarse grating picture black and white 2 stripe are arranged, the 2nd width of cloth coarse grating picture carries out five equilibrium to the black and white strip in the 1st width of cloth, obtain the striped that 4 black and white replace, the rest may be inferred, n width of cloth coarse grating picture carries out five equilibrium to the striped in the n-1 width of cloth coarse grating picture, obtains 2
nThe bar black and white replaces striped, above-mentioned fine grating is that width of fringe is 1/2nd a grating of width of fringe in last width of cloth coarse grating picture, in the wherein back width of cloth fine grating picture fringe position successively with a last width of cloth fine grating picture in fringe position skew l/k distance on equidirectional, l is the width of fringe in the fine grating, k is total width of cloth number of fine grating picture, the l/k value is 0.4 to 0.6 pixel wide, and this group grating pattern that designs is projected on the object, is taken the photograph by CCD then and is back to computing machine.Projection grating figure as shown in Figure 5.
A) grating design: we have designed one group of grating fringe when reality is used, 11 width of cloth altogether, cord series 7 width of cloth wherein, serial 4 width of cloth of stria.They satisfy the requirement to grating mentioned in the technical scheme.Grating fringe that can certainly other width of cloth numbers of design and use.
B) use the ccd video camera photographic images: for each amplitude grating figure, video camera is all got figure once to object.In order to guarantee to get the quality of figure, reduce during shooting as far as possible and walk about, not in the light acute variation, under the extremely strong situation of surround lighting object is taken,
2) analysis space characteristic of binary coding: must satisfy the requirement of self-normalization condition according to the space binary coding, pixel for each position, the gray-scale value of search this position pixel in one group of projection pattern utilizes the method for progressively approaching with iteration, determines optimal threshold T.Travel through a series of projected images, the pixel of each position all can obtain a differentiation, and it is optimal threshold T black, white light, the Threshold Segmentation that the pixel of current location can be carried out success according to T.The pixel Threshold Segmentation of all positions finishes, and can mark off black clearly, the informal voucher line of all projection pattern, and effect is comparatively desirable.
A) selected threshold: adopted the method for progressively approaching with iteration.Can find an optimal threshold for the pixel of a certain position according to the gray-scale value of the pixel of same position in a series of projected images, be made as T, at first obtain a threshold value t of image, constantly revise t then and be substantially equal to T up to it according to certain rule.For a certain position (x, the Threshold Segmentation concrete steps of pixel y) are as follows:
(1) travels through a series of projection pattern, find out that (x, y) maximum gradation value of position pixel and minimum gradation value are designated as
G (x, y)
MaxAnd G (x, y)
Min, make initial threshold t=(G (and x, y)
Max+ G (x, y)
Min)/2.
(2) according to threshold value t will (x, y) pixel region of position be divided into black streaking projection and the projection of informal voucher line, obtains the average gray value Z under the different projected light respectively
BAnd Z
W
(3) obtain (x, y) the new threshold value t of position pixel
0=(Z
B+ Z
W)/2.
(4) if t
0This number of=t or iteration then finishes during greater than 200 times.Otherwise t
0Value compose to t.Forward step (2) to, loop iteration calculates.
The t of this moment thinks that promptly (x, y) the position pixel is the optimal threshold T of black (or white) striped in division in a series of projection pattern.The pixel of a series of projection pattern current locations can be divided into black or white according to this optimal threshold.
B) traversal: the pixel to each position on the projection pattern travels through, use the Threshold Segmentation that said method carries out a series of projection pattern current pixel locations successively, the traversal pixel of all positions of pattern that finishes is soon cut apart and is finished, and has obtained black and white strip and has divided and cut apart figure clearly.
Claims (1)
- In the 3 D scanning system based on the threshold segmentation method of single pixel, it is characterized in that this method mainly comprises following steps:1.) design is adopted progressively two minutes optical grating projection pattern for one group: in the 1st width of cloth coarse grating picture black and white 2 stripe are arranged, the 2nd width of cloth coarse grating picture carries out five equilibrium to the black and white strip in the 1st width of cloth, obtain the striped that 4 black and white replace, the rest may be inferred, n width of cloth coarse grating picture carries out five equilibrium to the striped in the n-1 width of cloth coarse grating picture, obtains 2 nThe bar black and white replaces striped, obtain final fine grating, this fine grating is that width of fringe is 1/2nd a grating of width of fringe in last width of cloth coarse grating picture, in the wherein back width of cloth fine grating picture fringe position successively with a last width of cloth fine grating picture in fringe position skew l/k distance on equidirectional, wherein, l is the width of fringe in the fine grating, and k is total width of cloth number of fine grating picture, and the l/k value is 0.4 to 0.6 pixel wide; This group grating pattern of design is projected on the object, takes the photograph by CCD then and be back to computing machine;2.) analysis space characteristic of binary coding: must satisfy the requirement of self-normalization condition according to the space binary coding, pixel for each position, the gray-scale value of search this position pixel in one group of projection pattern utilizes the method for progressively approaching with iteration, determines optimal threshold T; Travel through a series of projected images, the pixel of each position all can obtain a differentiation, and it is optimal threshold T black, white light, the Threshold Segmentation that the pixel of current location can be carried out success according to optimal threshold T; The pixel Threshold Segmentation of all positions finishes, and can mark off black clearly, the informal voucher line of all projection pattern; Determine that optimal threshold T adopts the method for progressively approaching with iteration, can find an optimal threshold for the pixel of a certain position according to the gray-scale value of the pixel of same position in a series of projected images, be made as T, at first obtain a threshold value t of image, constantly revise t then and be substantially equal to T up to it according to certain rule; This method mainly may further comprise the steps:1) travel through a series of projection pattern, find out (x, y) maximum gradation value of position pixel and minimum gradation value, be designated as G (x, y) MaxAnd G (x, y) Min, make initial threshold t=(G (and x, y) Max+ G (x, y) Min)/2,2) according to threshold value t will (x, y) pixel region of position be divided into black streaking projection and the projection of informal voucher line, obtains the average gray value Z under the different projected light respectively BAnd Z W,3) obtain (x, y) the new threshold value t of position pixel 0=(Z R+ Z W)/2,4) if t 0This number of=t or iteration then finishes during greater than 200 times; Otherwise t 0Value compose to t, forward step 2 to), loop iteration calculates; The t of this moment promptly think to divide (x, y) the position pixel is the optimal threshold T of black or informal voucher line in a series of projection pattern, the pixel of a series of projection pattern current locations can be divided into according to this optimal threshold black or white,5) traversal: the pixel to each position on the projection pattern travels through, use the Threshold Segmentation that said method carries out a series of projection pattern current pixel locations successively, the traversal pixel of all positions of pattern that finishes is soon cut apart and is finished, and has obtained black and white strip and has divided and cut apart figure clearly.
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| CN102608162B (en) * | 2012-02-20 | 2013-08-21 | 首都师范大学 | Threshold segmentation method for ultrasonic infrared thermograph |
| CN107437256B (en) * | 2016-05-27 | 2020-06-02 | 合肥美亚光电技术股份有限公司 | Automatic dividing method and system applied to tire X-ray image channel |
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| CN113639630A (en) * | 2021-04-01 | 2021-11-12 | 浙江大学台州研究院 | Dimension measuring instrument system based on multi-template matching and automatic focusing functions |
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| 光栅投影三维测量中线条纹细化方法的研究. 蒋滢莹，达飞鹏，巩绪庆，雷家勇.微型机与应用，第2期. 2005 |
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