CN101290217A - Color coding structural light three-dimensional measurement method based on green stripe center - Google Patents
Color coding structural light three-dimensional measurement method based on green stripe center Download PDFInfo
- Publication number
- CN101290217A CN101290217A CNA2007101605124A CN200710160512A CN101290217A CN 101290217 A CN101290217 A CN 101290217A CN A2007101605124 A CNA2007101605124 A CN A2007101605124A CN 200710160512 A CN200710160512 A CN 200710160512A CN 101290217 A CN101290217 A CN 101290217A
- Authority
- CN
- China
- Prior art keywords
- red
- color
- post office
- blue
- code value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Image Processing (AREA)
Abstract
The invention discloses a 3D measurement method based on green-fringe center color coded structured light. The importance development direction of the current vision 3D detection technique includes the structured light method which reflects the advantages in resolution and measuring speed. In the method, color replaces grey level for coding; the color is three basic colors, namely, red, green and blue so as to maximize the difference among the colors. Red and blue fringes in project fringes are coded in Gray code and red fringes are arranged at 0 and blue fringes are arranged at 1 while decoding. A green fringe with a wide pixel is inserted in every neighboring red and blue fringes, selecting the final digit of green pixel projection fringe among all neighboring red and blue fringes, the green fringe code value is not unique while decoding, the code value of the green fringe in pattern j only depends on the code values of the red and blue fringes in the former [1,.....j-1] and is not related to the color value of the neighboring pixel. The method has a wide application trend in industrial production and real life.
Description
Technical field:
The present invention relates to a kind of color coding structural light three-dimensional measurement method, relate to visual sensing measuring technique and system, three-dimensional information collection and reconstruction field based on an IOU issued by a post office line center.
Background technology:
In the three-dimensional non-contact measurement technology, the optical three-dimensional measurement technology is to obtain object dimensional information one of the most effective means, and it need not to contact the measured object surface.The direction of giving priority to of 3 D visual detection technique comprises methods such as structured light, stereo-picture, Moire technique, holography method, laser radar at present, and wherein the structured light method has shown the advantage on resolution and measuring speed.
The structured light method is the light that the projector sends to be formed forms such as point, line, coding pattern invest scenery through optical system, on scenery, form pattern and absorb by video camera, then calculate, obtain the depth image on scenery surface according to trigonometry and sensor construction parameter, further calculate the D coordinates value of object plane by image.
In the structured light method, compare the structured light scanning method of incident point, Line beam, structure light coding normal direction projects coding pattern, improved measuring speed greatly and solved the scanning method pattern and obscured problem, so the structure light coding method is fast with its accuracy height, measuring speed, low cost and other advantages has a wide range of applications in fields such as three-dimensionalreconstruction, commercial measurements.
The subject matter of structure light coding method research is under by the prerequisite that demarcate to obtain systematic parameter, determines image sampling point and strip encoding zone (being projectional angle) in itself and object plane sampled point, the coding pattern is mapped.Coding method can be divided into time encoding, space encoding and direct coding, each tool relative merits of three.
Space encoding be pattern that a width of cloth is encoded by certain mode to projects, obtain a width of cloth corresponding codes image, coded image and coded system contrast are decoded, thereby solve both correspondence problems.Space encoding has the advantage that is suitable for kinetic measurement, but has the shortcomings such as influence that resolution is lower, be subjected to the inconsistent and color of scenery surface reflectivity.
Time encoding is that a plurality of different coding patterns are successively projected body surface chronologically, obtain the respective coding image sequence, coded video sequences is combined decode, thereby solve the correspondence problem of projective patterns and images acquired.These class methods have accuracy height, resolution advantages of higher.The more employing gray scale of time encoding striped is encoded in conjunction with Gray code and phase-shifting technique at present, because the candy strip of taking based on the video camera of CCD exists interfringe border in the gray-coded usually to the shortcoming that dark fringe moves on one side, influences the three-dimensional measurement precision thereby can't obtain accurate fringe location.
Summary of the invention:
The purpose of this invention is to provide and a kind ofly overcome, obtain the method that accurate fringe location improves the three-dimensional measurement precision thereby extract an IOU issued by a post office line center because there is the defective that interfringe border in the gray-coded is moved to dark fringe usually on one side in the candy strip of taking based on the video camera of CCD.
Above-mentioned purpose realizes by following technical scheme:
Color coding structural light three-dimensional measurement method based on an IOU issued by a post office line center, replace gray scale to encode with color, color adopts three primary colours red, green, blue, make the difference between every kind of color reach maximum, red Blue Streak line coding is pressed the layout of Gray code mode in the projection striped, red striped is put 0 Blue Streak line and is put 1 during decoding, in every adjacent red Blue Streak line, insert an IOU issued by a post office line that pixel is wide, be about to get in all adjacent red Blue Streak lines its last pixel projection an IOU issued by a post office line, an IOU issued by a post office line code value is not unique during decoding, before the code value of j width of cloth medium green striped only depends on [1 ..., j-1] width of cloth red Blue Streak line code value and determine that it is irrelevant to be adjacent the color of pixel value.
Described color coding structural light three-dimensional measurement method based on an IOU issued by a post office line center, the pattern that adopts an IOU issued by a post office line centre code to take, because the projection light intensity is identical, the an IOU issued by a post office line to red, territory, blue area diffusion is identical, adopt inferior pixel technology to extract an IOU issued by a post office line center, obtain accurate fringe location and improve the three-dimensional measurement precision.
Described color coding structural light three-dimensional measurement method based on an IOU issued by a post office line center, the image that obtains at CCD has proposed a kind of code value from detection algorithm when decoding, and this algorithm is only realized according to decoded picture self.
This technical scheme has following beneficial effect:
1. the inventive method reduces bluring between the color to greatest extent, improves the antijamming capability of bar detection, and it is more reliable to decode.
2. the inventive method, striped decode value are only relevant with the corresponding striped color value of its former width of cloth projections, and it is irrelevant to be adjacent pixel color, avoid when body surface when discontinuous or very precipitous since the striped compression seriously or lose the code error of separating of generation.
3. the inventive method adopts inferior pixel location technology to improve green center, and the fringe location precision is provided, and assurance image sampling point is corresponding one by one with the object plane sampled point.
4. the inventive method, decode value can carry out self check with the code value of its neighbor, as wrong code value occurs and can revise with the mean value of its neighbor code value.
Description of drawings:
Fig. 1 is a scale-of-two gray scale gray encoding
Fig. 2 is red blue two look gray encodings, and wherein redness is represented with 1 profile line of pointing out, and is blue with 2 grid representations of pointing out.
Fig. 3 is an an IOU issued by a post office line gray encoding, and wherein redness is represented with 1 profile line of pointing out, blue with 2 grid representations of pointing out, green is represented with 3 fine grids of pointing out.
Fig. 4 is four width of cloth an IOU issued by a post office line center color gray encoding schematic diagrams, and wherein redness is represented with 1 profile line of pointing out, blue with 2 grid representations of pointing out, green is represented with 3 fine grids of pointing out.
Fig. 5 is that the code value self-checking algorithm realizes the result
The specific embodiment of the present invention:
Embodiment 1:
Color is strong son of describing in the graphical analysis, and human eye only can be distinguished twenties kinds of gray levels, but can discern thousands of color.The color of nearly all frequent use can directly be mixed by three kinds of primary colours of red, green, blue, and these three primary colours just with the human eye retina on red cones, the green cone and blue cones cell responsive color consistent.For 24 true color images, 28 kinds of gray levels are arranged in each passage color, the gray scale value is 0～255, its color can reach kind more than 160,000.Because video camera is difficult to tell the color of all gray levels.For making the difference between every kind of color reach maximum, the color fringe that this coding method is adopted only adopts the maximum gray scale 255 of each passage, promptly uses three primary colours red (255,0,0), green (0,255,0), blue (0,0,255) to encode.This makes in the stripe pattern of shooting between the shades of colour, system noise is that effect of nonlinear all significantly reduces, and helps image and is correctly decoded and obtains reliable deal with data.
The color gray encoding technology of utilizing an IOU issued by a post office line center is improved on the coding method basis of scale-of-two gray scale Gray code.Fig. 1 is the coding method of scale-of-two gray scale Gray code, and t1, t2, t3 represent to throw order, and the code value of black and white strip is designated as 0 and 1, throws three width of cloth images and can produce 23 different code value representative projection stripeds.All code values are pressed the layout of Gray code mode, have only a transformed error in the code value of its every adjacent two row.This coding is reliable, is the minimized coding of a kind of mistake.The possibility of significant error appears in its circulation, single step characteristic when having eliminated direct access.But because the characteristic that the oriented dark areas of striped of taking based on the video camera of CCD moves produces black and white strip boundary alignment error when making decoding.Therefore, this coding method replaces gray scale to encode with color.Fig. 2 replaces black, white among Fig. 1 with red, blue stripe, and corresponding code value is designated as 0 and 1 equally.In every adjacent red Blue Streak line, insert an IOU issued by a post office line that pixel is wide, in all adjacent red Blue Streak lines, get its last pixel projection an IOU issued by a post office line as shown in Figure 3.The code value of an IOU issued by a post office line is not unique as seen from the figure, and desirable 0 or 1, its concrete judgment formula is:
i＝1，2，3，...，M；j＝2，3，4，...，N (1)
Wherein T is the code value (0 or 1) of i row striped in every width of cloth projective patterns, and M is an an IOU issued by a post office line sum, and N is projection candy strip width of cloth number.
Fig. 4 has 2 row an IOU issued by a post office lines for the situation of 4 16 row an IOU issued by a post office lines of projection in first width of cloth, ignore last row and be incident upon an IOU issued by a post office line on the background, only the 8th row an IOU issued by a post office line of centre is put 0.When j=2, the 4th, 12 classify an IOU issued by a post office line as, identical with the code value of last width of cloth respective column according to their code value of formula (1); When j=3, the 2nd, 6,10,14 classify an IOU issued by a post office line as, are that preceding two width of cloth projective patterns respective column code value XORs obtain according to their code value of formula (1), are respectively 0,1,0,1; Obtain the code value of the 1st, 3,5,7,9,11,13,15 row an IOU issued by a post office lines in the 4th width of cloth equally, their code value is obtained by the XOR value of first three width of cloth pattern.Just the encoded radio of j width of cloth an IOU issued by a post office line be by preceding [1 ..., j-1] the XOR value decision of red blue coding in the width of cloth projective patterns.From Fig. 2 d) find out all an IOU issued by a post office line encoded radios still for Gray code, the code value between the unique and adjacent two an IOU issued by a post office lines of the coding of each row an IOU issued by a post office line has only a transformed error.Before the code value of an IOU issued by a post office line only depends on during decoding [1 ..., j-1] the red Blue Streak line code value of the width of cloth, it doesn't matter to be adjacent the color of pixel value, this can avoid when body surface when discontinuous or very precipitous since the striped compression seriously or lose the code error of separating of generation.And with an IOU issued by a post office line with territory, red blue area separately, be the same because the red, green, blue striped throws its intensity of illumination simultaneously, can avoid striped that ccd video camera occurs when shooting gray scale striped to the shortcoming that dark areas moves, obtain fringe location accurately.
The time can run into the situation of code value mistake based on decoding in the color Gray code structure light coding technology of an IOU issued by a post office line center.When measured surface is very precipitous, the color fringe of projection can be compressed widely.Under some situation, one or more color fringes can be lost, and the code value of this moment decoding no longer meets the gray encoding rule, because of noise and other error component can produce the color code value of a mistake, thus the reconstruction result that leads to errors.
In order to eliminate this error, the image that obtains at CCD has proposed a kind of code value from detection algorithm when decoding.This code value is only realized according to decoded picture self from detection algorithm.This be because in the decoded picture in certain delegation the code value size of each pixel be that the monotonically increasing rule is arranged.Therefore, the code value of each pixel can be detected by the code value of its adjacent image point,
If a spike (size of code value be not accordant to the old routine situation) in decode procedure, occurs, make the code value of pixel increase suddenly or reduce a lot, this situation can judge according to the code value of its adjacent image point, and can revise it according to the mean value of its adjacent image point code value.
During correction, begin to come self check with the code value of its two adjacent pixels, if the result of self check is wrong code value as previously shown, then get the modified value of the mean value of adjacent image point code value as wrong code value, whether correctly utilize more adjacent image point to put again to detect, be corrected up to the code value of mistake.
Figure 5 shows that the self-detection result of certain delegation's pixel in the decoded picture.Dotted line is represented the code value of original image among the figure, and solid line can be clear that the image pixel code value monotone increasing of handling from detection algorithm by code value for through the correct code value of code value from the detection algorithm acquisition, meets the gray encoding rule.Utilize the pixel code value after such self check can reconstruct correct result.
Claims (3)
1. color coding structural light three-dimensional measurement method based on an IOU issued by a post office line center, it is characterized in that: replace gray scale to encode with color, color adopts three primary colours red, green, blue, make the difference between every kind of color reach maximum, red Blue Streak line coding is pressed the layout of Gray code mode in the projection striped, red striped is put 0 Blue Streak line and is put 1 during decoding, in every adjacent red Blue Streak line, insert an IOU issued by a post office line that pixel is wide, be about to get in all adjacent red Blue Streak lines its last pixel projection an IOU issued by a post office line, an IOU issued by a post office line code value is not unique during decoding, the code value of j width of cloth medium green striped only depends on preceding [1, ..., j-1] width of cloth red Blue Streak line code value and determine that it is irrelevant to be adjacent the color of pixel value.
2. the color coding structural light three-dimensional measurement method based on an IOU issued by a post office line center according to claim 1, it is characterized in that: the pattern that adopts an IOU issued by a post office line centre code to take, because the projection light intensity is identical, the an IOU issued by a post office line to red, territory, blue area diffusion is identical, adopt inferior pixel technology to extract an IOU issued by a post office line center, obtain accurate fringe location and improve the three-dimensional measurement precision.
3. the color coding structural light three-dimensional measurement method based on an IOU issued by a post office line center according to claim 1 and 2 is characterized in that: the image that obtains at CCD has proposed a kind of code value from detection algorithm when decoding, this algorithm is only realized according to decoded picture self.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101605124A CN101290217A (en) | 2007-04-17 | 2007-12-19 | Color coding structural light three-dimensional measurement method based on green stripe center |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710072036 | 2007-04-17 | ||
| CN200710072036.0 | 2007-04-17 | ||
| CNA2007101605124A CN101290217A (en) | 2007-04-17 | 2007-12-19 | Color coding structural light three-dimensional measurement method based on green stripe center |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101290217A true CN101290217A (en) | 2008-10-22 |
Family
ID=40034577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101605124A Pending CN101290217A (en) | 2007-04-17 | 2007-12-19 | Color coding structural light three-dimensional measurement method based on green stripe center |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101290217A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101738172B (en) * | 2008-11-05 | 2011-09-21 | 哈尔滨理工大学 | Method for three-dimensional measurement of high sampling density color structured light based on green stripe segmentation |
| CN101871773B (en) * | 2009-04-22 | 2012-08-29 | 陈亮嘉 | Synchronous hue shift conversion method and three-dimensional appearance measurement system thereof |
| CN102944187A (en) * | 2012-10-18 | 2013-02-27 | 北京航空航天大学 | Method for acquiring phase position of fast bright reflection surface on basis of color stripe permutation projection |
| CN103697815A (en) * | 2014-01-15 | 2014-04-02 | 西安电子科技大学 | Method for acquiring three-dimensional information of frequency mixing structured light based on phase encoding |
| CN110044294A (en) * | 2018-01-17 | 2019-07-23 | 欧姆龙株式会社 | Image testing device and lighting device |
| CN113375803A (en) * | 2021-06-08 | 2021-09-10 | 河北工业大学 | Method and device for measuring radial chromatic aberration of projector, storage medium and equipment |
| CN113405461A (en) * | 2021-04-23 | 2021-09-17 | 封泽希 | Structured light encoding and decoding method and encoding and decoding device for depth detection |
-
2007
- 2007-12-19 CN CNA2007101605124A patent/CN101290217A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101738172B (en) * | 2008-11-05 | 2011-09-21 | 哈尔滨理工大学 | Method for three-dimensional measurement of high sampling density color structured light based on green stripe segmentation |
| CN101871773B (en) * | 2009-04-22 | 2012-08-29 | 陈亮嘉 | Synchronous hue shift conversion method and three-dimensional appearance measurement system thereof |
| CN102944187A (en) * | 2012-10-18 | 2013-02-27 | 北京航空航天大学 | Method for acquiring phase position of fast bright reflection surface on basis of color stripe permutation projection |
| CN102944187B (en) * | 2012-10-18 | 2014-12-31 | 北京航空航天大学 | Method for acquiring phase position of fast bright reflection surface on basis of color stripe permutation projection |
| CN103697815A (en) * | 2014-01-15 | 2014-04-02 | 西安电子科技大学 | Method for acquiring three-dimensional information of frequency mixing structured light based on phase encoding |
| CN103697815B (en) * | 2014-01-15 | 2017-03-01 | 西安电子科技大学 | Mixing structural light three-dimensional information getting method based on phase code |
| CN110044294A (en) * | 2018-01-17 | 2019-07-23 | 欧姆龙株式会社 | Image testing device and lighting device |
| CN113405461A (en) * | 2021-04-23 | 2021-09-17 | 封泽希 | Structured light encoding and decoding method and encoding and decoding device for depth detection |
| CN113375803A (en) * | 2021-06-08 | 2021-09-10 | 河北工业大学 | Method and device for measuring radial chromatic aberration of projector, storage medium and equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103069250B (en) | 3-D measuring apparatus, method for three-dimensional measurement | |
| CN101290217A (en) | Color coding structural light three-dimensional measurement method based on green stripe center | |
| CN107607040B (en) | Three-dimensional scanning measurement device and method suitable for strong reflection surface | |
| CN102878950B (en) | System and method for 3D profile measurement | |
| CN101504277B (en) | Method for acquiring object three-dimensional image by optical three-dimensional sensing | |
| AU2003250787B2 (en) | Method and device for three-dimensionally detecting objects and the use of this device and method | |
| CN201218726Y (en) | Cultural relics three-dimensional reconstruction apparatus based on colorful structured light | |
| CN100570278C (en) | The structure light 3 D measuring method of moving based on edge gray code and line | |
| JP5576726B2 (en) | Three-dimensional measuring apparatus, three-dimensional measuring method, and program | |
| JP5815940B2 (en) | Distance measuring device, distance measuring method, and program | |
| CN100573040C (en) | The scaling method of object surface three-dimensional contour structure light measurement system | |
| CN101608906B (en) | Method for measuring optical three-dimensional contour of space coding | |
| CN101738172B (en) | Method for three-dimensional measurement of high sampling density color structured light based on green stripe segmentation | |
| CN104838228A (en) | Three-dimensional scanner and method of operation | |
| CN201138194Y (en) | Color encoded light three-dimensional measuring apparatus based on center of green fringe | |
| CN201181204Y (en) | Structured light three-dimensional measuring apparatus based on gray code and line shift stripe | |
| JP5032889B2 (en) | Three-dimensional measurement method and apparatus using spatial coding method | |
| CN110849290B (en) | Three-dimensional measurement method for segmented quantization coding intensity based on morphological operation | |
| CN106643562A (en) | Time domain and space domain hybrid coding based structured light fringe projection method | |
| JP6351201B2 (en) | Distance measuring device and method | |
| CN113345039B (en) | Three-dimensional reconstruction quantization structure optical phase image coding method | |
| Pagès et al. | Implementation of a robust coded structured light technique for dynamic 3D measurements | |
| Cheng et al. | 3D object scanning system by coded structured light | |
| Zhang et al. | Evaluation of coded structured light methods using ground truth | |
| TWI719588B (en) | Method of two-dimensional fringe-encoded pattern projection for instantaneous profile measurements |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20081022 |