CN104197861B - Three-dimension digital imaging method based on structure light gray scale vector - Google Patents
Three-dimension digital imaging method based on structure light gray scale vector Download PDFInfo
- Publication number
- CN104197861B CN104197861B CN201410422772.4A CN201410422772A CN104197861B CN 104197861 B CN104197861 B CN 104197861B CN 201410422772 A CN201410422772 A CN 201410422772A CN 104197861 B CN104197861 B CN 104197861B
- Authority
- CN
- China
- Prior art keywords
- gray scale
- coding
- coding pattern
- pattern sequence
- pixel
- 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.)
- Active
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 17
- 108091026890 Coding region Proteins 0.000 claims description 29
- 230000008859 change Effects 0.000 claims description 29
- 208000031481 Pathologic Constriction Diseases 0.000 claims description 12
- 210000001215 vagina Anatomy 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 7
- 238000005286 illumination Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 235000009508 confectionery Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012634 optical imaging Methods 0.000 description 3
- 108700026244 Open Reading Frames Proteins 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 241001270131 Agaricus moelleri Species 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a kind of three-dimension digital imaging method based on structure light gray scale vector, including：Structure light is encoded, the coding pattern sequence of generating structure light gray scale vector；Coding pattern sequence is projected body surface in order, and using binocular camera collection by the coding pattern sequence after body surface modulation, then stores the coding pattern sequence after modulation in computer；Coding pattern sequence after modulation is carried out with the gray scale vector decoding based on multiply-add operation, and finds out all corresponding point pair of binocular camera with reference to the epipolar geom etry constraint of binocular camera；Calibrating parameters according to 3 D digital imaging system and the corresponding point finding, to calculating, obtain three dimensional point cloud.The present invention has the advantages that high resolution, amount of calculation be little, measuring speed is fast, can be widely applied to 3 Dimension Image Technique field.
Description
Technical field
The present invention relates to 3 Dimension Image Technique field, especially a kind of 3 D digital imaging based on structure light gray scale vector
Method.
Background technology
Structural light measurement is a kind of noncontact, active measuring method.Its ultimate principle is will be encoded
Structure light arrives body surface by projector projects, is distorted after the depth information of body surface is modulated, then by scheming
As sensor acquisition deforms pattern, unique encoded radio is determined by decoding.If it is determined that left camera and this two, right camera are double
Position relationship between lens camera, then can solve the surface three dimension depth information of object using trigonometry principle.Structure light
3D vision technology has the advantages that noncontact, high precision, visual field be big, real-time is good and strong antijamming capability, widely should
For the quick design of industrial products and the neck such as detection, reverse-engineering, anthropometric dummy manufacture, historical relic contour reconstruction and 3 D-printing
Domain.
Existing structural light three-dimensional e measurement technology is broadly divided into two classes：Spatial domain coding and time domain coding.Spatial domain often encodes
Only need to project a width pattern, in pattern the code word of every bit can according to the information of point of proximity around it (as pixel, color and
Geological information etc.) draw.But in decoding stage, the information loss of space point of proximity can lead to the generation of error.Compile with time domain
Code-phase ratio, spatial domain coding is applied to the three-dimensional measurement of dynamic scene, but Measurement Resolution is low, and precision is poor.Time domain coding refers to
Sequentially in time Measuring Object is projected with several patterns, carry out encoding and decoding using several pattern-informations.The most frequently used time domain is compiled
Code method is fringe projection phase-shift measurement method, and the method is obtained in that higher spatial resolution and certainty of measurement.But its
Need to solve during solving phase place arctan function and and carry out phase unwrapping, computationally intensive and measuring speed is slow.
Content of the invention
In order to solve above-mentioned technical problem, the purpose of the present invention is：There is provided a kind of high precision, amount of calculation little and measuring speed
Fast, based on the three-dimension digital imaging method that structure light gray scale is vectorial.
The technical solution adopted for the present invention to solve the technical problems is：
Based on structure light gray scale vector three-dimension digital imaging method, including：
A, structure light is encoded, the coding pattern sequence of generating structure light gray scale vector, described coding pattern is by structure
The periodicity gray scale gradual change striped becoming coding region and the two-value black and white strip composition constituting tag slot；
B, coding pattern sequence is projected body surface in order, and adjusted by body surface using binocular camera collection
Coding pattern sequence after system, then stores the coding pattern sequence after modulation in computer；
C, the gray scale vector decoding that the coding pattern sequence after modulation is carried out based on multiply-add operation, and combine binocular camera shooting
All corresponding point pair of binocular camera are found out in the epipolar geom etry constraint of machine；
D, the calibrating parameters according to 3 D digital imaging system and the corresponding point that find, to calculating, obtain three-dimensional point cloud
Data.
Further, described step A, it is specially：
The region division of every width coding pattern is coding region and tag slot, described coding region is compiled by periodicity gray scale gradual change
Code-bar stricture of vagina is constituted, and described tag slot is made up of two-value black and white strip, wherein, the periodicity gray scale of coding region in every width coding pattern
Gradual change strip encoding is corresponding with the two-value black and white strip in other pattern identification areas in coding pattern sequence, and black by these two-values
Informal voucher stricture of vagina presses coding pattern sequence composition unique encodings, to distinguish different periodicity gray scale gradual change strip encodings；In each week
Pixel in phase property gray scale gradual change strip encoding region, is encoded by its gray value, to distinguish each pixel.
Further, described step C, it specifically includes：
C1, the gray scale vector decoding carrying out based on multiply-add operation to the coding pattern sequence after modulation, then pass through striped
Region division and feature coding gray scale vector obtain, and calculate the gray feature encoded radio of each pixel in binocular camera；
Binocular camera is found out in the epipolar geom etry constraint of C2, the gray feature encoded radio that basis obtains and binocular camera
All corresponding point pair.
Further, described step C1, it specifically includes：
The tag slot border of every width pattern in coding pattern sequence after C11, extraction modulation, and be overlapped obtaining coding
The border of all periodicity gradual change strip encodings in pattern sequence, then according to the boundary demarcation cycle gradual change strip encoding obtaining
Region；
C12, the cycle gradual change strip encoding region according to division, determine its corresponding two-value black and white in pattern sequence
The sequence of mark striped, obtains its unique mark vector；
C13, each pixel is entered according to its corresponding tag slot gray value in pattern sequence and coding region gray value
Row normalized, obtains the encoded radio codevalue of this pixel, the calculating of the encoded radio codevalue of described pixel
Formula is：
Wherein, mark divides into black streaking tag slot and informal voucher stricture of vagina tag slot, GwFor pixel in informal voucher stricture of vagina tag slot
Gray value, GbFor gray value in black streaking tag slot for the pixel, G is gray scale in coding region for the normalized preceding pixel
Value；
C14, the encoded radio codevalue according to pixel and its variation tendency, and this pixel obtaining with reference to step C12
The mark vector in place cycle gradual change strip encoding region, obtains the feature coding gray scale vector of this pixel；
C15, dimension-reduction treatment is carried out to feature coding gray scale vector, obtain the ash for carrying out follow-up corresponding point matching process
Degree feature coding value.
Further, described step C2, it is specially：
According to the gray feature encoded radio obtaining, using the epipolar geom etry constraint of left and right binocular camera, to left video camera
On any point identical with this gray feature encoded radio or immediate point is found on polar curve as corresponding point, thus finding out
Whole corresponding point pair of left and right binocular camera.
The invention has the beneficial effects as follows：Coding pattern by the periodicity gray scale gradual change striped constituting coding region and constitutes mark
The two-value black and white strip composition in area, employs the time-space domain combined coding mode that gray-coded is combined, space with binary-coding
Resolution is higher, up to Pixel-level；Compared with the fringe projection phase-shift measurement method of time domain coding, the knot of the required projection of the present invention
Structure light pattern is less, and decoding process only need to carry out multiply-add operation, calculate simple, it is to avoid the complexity such as arc tangent and phase unwrapping
Computing, amount of calculation is little and time-consuming short, and computational efficiency is greatly improved, and to improving three-dimensional measurement speed, realizes quickly real-time three
Dimension measurement is significant.
Brief description
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall flow figure of the three-dimension digital imaging method based on structure light gray scale vector for the present invention；
Fig. 2 is the flow chart of step C of the present invention；
Fig. 3 is the flow chart of step C1 of the present invention；
Fig. 4 realizes process schematic for binocular stereo vision spatial point three-dimensional reconstruction；
Fig. 5 is the structural representation of structure light gray scale vector 3-D imaging system；
Fig. 6 is pixel intensity profile figure in the horizontal direction in the four-dimensional gray scale vector coding of the embodiment of the present invention two.
Specific embodiment
With reference to Fig. 1, based on the three-dimension digital imaging method of structure light gray scale vector, including：
A, structure light is encoded, the coding pattern sequence of generating structure light gray scale vector, described coding pattern is by structure
The periodicity gray scale gradual change striped becoming coding region and the two-value black and white strip composition constituting tag slot；
B, coding pattern sequence is projected body surface in order, and adjusted by body surface using binocular camera collection
Coding pattern sequence after system, then stores the coding pattern sequence after modulation in computer；
C, the gray scale vector decoding that the coding pattern sequence after modulation is carried out based on multiply-add operation, and combine binocular camera shooting
All corresponding point pair of binocular camera are found out in the epipolar geom etry constraint of machine；
D, the calibrating parameters according to 3 D digital imaging system and the corresponding point that find, to calculating, obtain three-dimensional point cloud
Data.
It is further used as preferred embodiment, described step A, it is specially：
The region division of every width coding pattern is coding region and tag slot, described coding region is compiled by periodicity gray scale gradual change
Code-bar stricture of vagina is constituted, and described tag slot is made up of two-value black and white strip, wherein, the periodicity gray scale of coding region in every width coding pattern
Gradual change strip encoding is corresponding with the two-value black and white strip in other pattern identification areas in coding pattern sequence, and black by these two-values
Informal voucher stricture of vagina presses coding pattern sequence composition unique encodings, to distinguish different periodicity gray scale gradual change strip encodings；In each week
Pixel in phase property gray scale gradual change strip encoding region, is encoded by its gray value, to distinguish each pixel.
Wherein, spatially encoding strip residing for its in coding pattern sequence (n width) for the gray feature encoded radio of pixel
The n-dimensional vector that 0,1 value of the mark striped corresponding to the gray value in stricture of vagina and this striped presses pattern sequence composition determines.
With reference to Fig. 2, it is further used as preferred embodiment, described step C, it specifically includes：
C1, the gray scale vector decoding carrying out based on multiply-add operation to the coding pattern sequence after modulation, then pass through striped
Region division and feature coding gray scale vector obtain, and calculate the gray feature encoded radio of each pixel in binocular camera；
Binocular camera is found out in the epipolar geom etry constraint of C2, the gray feature encoded radio that basis obtains and binocular camera
All corresponding point pair.
With reference to Fig. 3, it is further used as preferred embodiment, described step C1, it specifically includes：
The tag slot border of every width pattern in coding pattern sequence after C11, extraction modulation, and be overlapped obtaining coding
The border of all periodicity gradual change strip encodings in pattern sequence, then according to the boundary demarcation cycle gradual change strip encoding obtaining
Region；
C12, the cycle gradual change strip encoding region according to division, determine its corresponding two-value black and white in pattern sequence
The sequence of mark striped, obtains its unique mark vector；
C13, each pixel is entered according to its corresponding tag slot gray value in pattern sequence and coding region gray value
Row normalized, obtains the encoded radio codevalue of this pixel, the calculating of the encoded radio codevalue of described pixel
Formula is：
Wherein, mark divides into black streaking tag slot and informal voucher stricture of vagina tag slot, GwFor pixel in informal voucher stricture of vagina tag slot
Gray value, GbFor gray value in black streaking tag slot for the pixel, G is gray scale in coding region for the normalized preceding pixel
Value；
C14, the encoded radio codevalue according to pixel and its variation tendency, and this pixel obtaining with reference to step C12
The mark vector in place cycle gradual change strip encoding region, obtains the feature coding gray scale vector of this pixel；
C15, dimension-reduction treatment is carried out to feature coding gray scale vector, obtain the ash for carrying out follow-up corresponding point matching process
Degree feature coding value.
It is further used as preferred embodiment, described step C2, it is specially：
According to the gray feature encoded radio obtaining, using the epipolar geom etry constraint of left and right binocular camera, to left video camera
On any point identical with this gray feature encoded radio or immediate point is found on polar curve as corresponding point, thus finding out
Whole corresponding point pair of left and right binocular camera.
With reference to Figure of description and specific embodiment, the present invention is described in further detail.
Embodiment one
The three-dimension digital imaging device that the present embodiment pair is matched with the method for the present invention illustrates.
The three-dimension digital imaging device matching with the method for the present invention, main inclusion digital projection illumination emitters, figure
As sensing receiver and image processor.Wherein, digital projection illumination emitters can be that (LCD throws digital lcd projection arrangement
Shadow instrument), digital micro mirror projection device (DMD projector) or silicon chip liquid crystal projection apparatus (LCOS projector), available computer
Image processing system is conveniently generated the candy strip of gray-coded and binary-coding combination and writes digital projection device.Image
Sensing receiver includes optical imaging lens and photodetector, optical imaging lens can for focus away from or zoom imaging
Lens or lens group, binary optical imaging system, diffraction element imaging system or micro imaging system.And photoelectric detector can
Think charge-coupled image sensor, liquid crystal device, spatial light modulation device, cmos device or digital camera.Image processor is numeral
Signal processor and programmable asic combine or general image processes the combination of card and computer.This
The candy strip being combined with gray-coded and binary-coding of the digital projection illumination emitters transmitting of invention, image sensing connects
Receive deforming stripe pattern after the modulation of testee depth information for the device reception, then do corresponding solution through image processor
Code, finds out all corresponding point pair of binocular camera, is calculated according to binocular triangle image-forming principle in conjunction with epipolar geom etry constraint
The three dimensional depth picture of object, as shown in Figure 4.
Embodiment two
The imaging system of structure light gray scale vector as shown in Figure 5, at the computer of image processor 104 or digital signal
Reason device produces the projection code bar graph based on gray scale vector three-dimension digital imaging method.Every width coding pattern is by constituting coding region
Strip encoding and constitute tag slot two-value black and white mark striped composition；It is incremented by for gray value in coding region and successively decrease alternately
Strip encoding, can use the different pixels point in same strip encoding for the transition region office of gray value.The present invention by each
Strip encoding width is referred to as a cycle.In tag slot, gray scale value only has 0 (black) and two kinds of 1 (white) situation, and its effect is knot
The gray value closing coding region is collectively forming a uniquely vector, thus the pixel being pointed to be in different cycles carries out area
Point.In pattern sequence, the coding region of every width pattern is strip encoding, and to identify striped relative with the tag slot of other patterns
Should, the figuratum coding region of institute adds up the whole space encoder of covering.Ensured that by this coded system and become in striped
The encoded radio changing all pixels point on direction is all different, in conjunction with the epipolar geom etry constraint of binocular camera, achievable binocular
The matched and searched of the corresponding point of video camera.The dimension of gray scale vector of the present invention is determined by the pattern number constituting coding pattern sequence
Fixed, according to the size of coding region, it can be one-dimensional above Arbitrary Dimensions.
, it needs to be formed four width coding patterns, each width figure taking the three-dimension digital imaging method of four-dimensional gray scale vector as a example
Case resolution is 1024 × 768.The present embodiment is encoded using vertical striped, and the gray scale of its 1024 pixel of horizontal direction is divided
Cloth is as shown in Figure 6.All some is that coding region (comprises six gray scales to be incremented by each width pattern (coding Fig. 1 to encode Fig. 4)
Zigzag strip encoding), remainder is the tag slot that value is 0 or 1.The coding region of every width pattern only accounts for code pattern
The position that in 1/4, and every width pattern, coding region is located is all different.The coding region of four width patterns adds up just covering all pixels
Point.These candy strips project on object 105 by digital projection illumination emitters 103 in order, and strip encoding light passes through
Produce deformation after the high modulation of object 105, then gathered the pattern through ovennodulation by left camera 101 and right camera 102.Zuo Xiang
The deforming stripe figure of machine 101 and right camera 102 collection is sent to image processor 104 and is decoded.Image processor 104 obtains
After four width deformation patterns, to each pixel, the gray value collecting in order according to camera, obtain intensity profile { I1, I2, I3,
I4}.Then, need to be decoded according to the distribution of gray scale, determine each component representative is tag slot (0 or 1) or encoding strip
Stricture of vagina area (code).The process of decoding includes：
First, the cycle boundary of structure light is extracted, divide fringe period.The intersection of sawtooth waveforms can produce gray scale
Saltus step, that is, gray value be changed into 0 from 1.First derivative is asked for respectively to four width images, obtains the border of each width in figure coding region.
Due to width graph code zone position difference every during coding and the whole code pattern of covering that stacks up, so four width images correspondences are asked one
It is superimposed after order derivative, then obtain complete cycle boundary component after binaryzation.
Then, it is determined that mark vector in pattern sequence for each strip encoding region dividing, specific as follows：To pixel institute
Period zones seek its average gray and its residing region determined according to gray average, average near 1 be in 1 value mark
Know area, average near 0 be in 0 value tag slot, remaining situation is in strip encoding area.For example, for certain pixel, if its
The the first width collection in figure obtaining is in coding region, gathers in figure in the second width and is in 1 value tag slot, at the 3rd width collection in figure
It is worth tag slot in 0, the 4th width collection in figure is in 1 value tag slot, then the identification code vector of formation can be expressed as
{ code, 1,0,1 }.
Followed by according to the gray value G in 0,1 tag slot for this pixelb、GwIts gray value G in strip encoding is carried out
Normalized, obtains the encoded radio codevalue of this point, and is obtained with the code in codevalue replacement strip encoding vector
Feature coding vector { codevalue, 1,0,1 } to this point.
Finally, dimension-reduction treatment is carried out to feature coding gray scale vector, when implementing can by this feature encoded gray scale to
Amount is considered as a ternary number, is then translated into a metric coding using ternary and decimal scale transformation rule
It is worth, conversion formula is：
Wherein, gray feature encoded radio ImatchMap one by one with gray scale vector, after gray scale vector can be replaced to carry out
Continuous coupling.
Embodiment three
The present embodiment is illustrated based on the corresponding point search procedure of epipolar geom etry constraint and encoded radio to the present invention.
There is geometry epipolar-line constraint in binocular stereo vision.The polar curve of left images is by the photocentre of binocular camera and sky
Between put the optical plane of determination and intersect with imaging plane and formed.All through limit, limit is two to all polar curves of each image
Video camera photocentre line and the intersection point of its imaging plane.Any pixel point of left image, its match point in right image must
On its corresponding polar curve, vice versa.
If m1And m2Subpoint on two images for 1 point of the space M, then m1And m2For corresponding point, meet epipolar-line constraint side
Journey：
m2 TFm1=0,
Wherein, matrix based on F, its element is determined by the Intrinsic Matrix of two video cameras and relatively outer parameter.
F=A2 -TSRA1 -1,
Wherein, R and T is the relative rotation matrices between two video cameras and translation vector, and S is the antisymmetric matrix of T.
Therefore, the internal reference matrix A of two video cameras is can get according to camera calibration result2、A1With two between video camera
Evolution R, T, thus according to A2、A1, R, T set up epipolar-line constraint equation, by left images coupling region of search from two dimension
It is down to one-dimensional.Followed by, according to left and right cameras gray feature encoded radio I a littlematchLeft and right cameras can uniquely be determined
Corresponding point.
By left and right cameras corresponding point to the position and calibrating parameters A2, A1 of two video cameras and two video cameras between
Conversion R, T, reconstructing the equation that three-dimensional data points (i.e. three dimensional point cloud) are solved is：
Wherein, i=1,2 represent left and right two width images, substitute into above-mentioned solving equation and can obtain 4 equations, and coordinate is unknown
Number is 3, therefore 3 equations optionally therein can be solved, method of least square may also be employed, obtain the overall situation and most preferably approach
Solution.
It is more than that the preferable enforcement to the present invention is illustrated, but the invention is not limited to described enforcement
Example, those of ordinary skill in the art also can make a variety of equivalent variations without prejudice on the premise of present invention spirit or replace
Change, these equivalent deformation or replacement are all contained in the application claim limited range.
Claims (5)
1. based on structure light gray scale vector three-dimension digital imaging method it is characterised in that：Including：
A, structure light is encoded, the coding pattern sequence of generating structure light gray scale vector, in described coding pattern sequence
Every width coding pattern is made up of the periodicity gray scale gradual change striped constituting coding region and the two-value black and white strip constituting tag slot；
B, coding pattern sequence is projected body surface in order, and using binocular camera collection by after body surface modulation
Coding pattern sequence, then by modulation after coding pattern sequence store in computer；
C, the gray scale vector decoding that the coding pattern sequence after modulation is carried out based on multiply-add operation, and combine binocular camera
All corresponding point pair of binocular camera are found out in epipolar geom etry constraint；
D, the calibrating parameters according to 3 D digital imaging system and the corresponding point that find, to calculating, obtain three-dimensional point cloud number
According to.
2. according to claim 1 based on structure light gray scale vector three-dimension digital imaging method it is characterised in that：Described
Step A, it is specially：
The region division of the every width coding pattern in coding pattern sequence is coding region and tag slot, described coding region is by the cycle
Property gray scale gradual change strip encoding constitute, described tag slot is made up of two-value black and white strip, wherein, every width in coding pattern sequence
The two-value in other pattern identification areas in the periodicity gray scale gradual change strip encoding of coding region and coding pattern sequence in coding pattern
Black and white strip is corresponding, and forms unique encodings by these two-value black and white strips by coding pattern sequence, to distinguish different weeks
Phase property gray scale gradual change strip encoding；Pixel in each periodicity gray scale gradual change strip encoding region, is carried out by its gray value
Coding, to distinguish each pixel.
3. according to claim 2 based on structure light gray scale vector three-dimension digital imaging method it is characterised in that：Described
Step C, it specifically includes：
C1, the gray scale vector decoding carrying out based on multiply-add operation to the coding pattern sequence after modulation, then pass through fringe area
Divide and feature coding gray scale vector obtains, calculate the gray feature encoded radio of each pixel in binocular camera；
The all of binocular camera are found out in the epipolar geom etry constraint of C2, the gray feature encoded radio that basis obtains and binocular camera
Corresponding point pair.
4. according to claim 3 based on structure light gray scale vector three-dimension digital imaging method it is characterised in that：Described
Step C1, it specifically includes：
The tag slot border of every width pattern in coding pattern sequence after C11, extraction modulation, and be overlapped obtaining coding pattern
The border of all periodicity gray scale gradual change strip encodings in sequence, then compiles according to the boundary demarcation periodicity gray scale gradual change obtaining
Code fringe area；
C12, the periodicity gray scale gradual change strip encoding according to division, determine its corresponding two-value black and white mark in pattern sequence
Know the sequence of striped, obtain its unique mark vector；
C13, each pixel is entered according to its corresponding tag slot gray value in coding pattern sequence and coding region gray value
Row normalized, obtains the encoded radio codevalue of this pixel, the calculating of the encoded radio codevalue of described pixel
Formula is：
Wherein, mark divides into black streaking tag slot and informal voucher stricture of vagina tag slot, GwFor gray scale in informal voucher stricture of vagina tag slot for the pixel
Value, GbFor gray value in black streaking tag slot for the pixel, G is gray value in coding region for the normalized preceding pixel；
C14, the encoded radio codevalue according to pixel and its variation tendency, and this pixel place obtaining with reference to step C12
The mark vector in periodicity gray scale gradual change strip encoding region, obtains the feature coding gray scale vector of this pixel；
C15, dimension-reduction treatment is carried out to feature coding gray scale vector, the gray scale obtaining for carrying out follow-up corresponding point matching process is special
Assemble-publish code value.
5. according to claim 3 based on structure light gray scale vector three-dimension digital imaging method it is characterised in that：Described
Step C2, it is specially：
According to the gray feature encoded radio obtaining, using the epipolar geom etry constraint of left and right binocular camera, on left video camera
Any point finds identical with this gray feature encoded radio or immediate point as corresponding point on polar curve, thus finding out left and right
Whole corresponding point pair of binocular camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410422772.4A CN104197861B (en) | 2014-08-25 | 2014-08-25 | Three-dimension digital imaging method based on structure light gray scale vector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410422772.4A CN104197861B (en) | 2014-08-25 | 2014-08-25 | Three-dimension digital imaging method based on structure light gray scale vector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104197861A CN104197861A (en) | 2014-12-10 |
| CN104197861B true CN104197861B (en) | 2017-03-01 |
Family
ID=52083189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410422772.4A Active CN104197861B (en) | 2014-08-25 | 2014-08-25 | Three-dimension digital imaging method based on structure light gray scale vector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104197861B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111566440A (en) * | 2018-02-14 | 2020-08-21 | 欧姆龙株式会社 | Three-dimensional measurement device, three-dimensional measurement method, and program |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104634323B (en) * | 2015-02-15 | 2016-10-12 | 四川川大智胜软件股份有限公司 | A kind of multistage shooting tri-dimensional photographing system and method |
| CN104596444B (en) * | 2015-02-15 | 2017-03-22 | 四川川大智胜软件股份有限公司 | Three-dimensional photographic system and three-dimensional photographic method based on coding pattern projection |
| CN104713885B (en) * | 2015-03-04 | 2017-06-30 | 中国人民解放军国防科学技术大学 | A kind of structure light for pcb board on-line checking aids in binocular measuring method |
| CN104835158B (en) * | 2015-05-05 | 2016-03-23 | 中国人民解放军国防科学技术大学 | Based on the three-dimensional point cloud acquisition methods of Gray code structured light and epipolar-line constraint |
| CN106643562B (en) * | 2016-10-27 | 2019-05-03 | 天津大学 | Structural light stripes projective techniques based on time domain airspace hybrid coding |
| CN106979757B (en) * | 2017-03-03 | 2019-03-26 | 浙江华睿科技有限公司 | A kind of method for three-dimensional measurement and device |
| CN108986177A (en) * | 2017-05-31 | 2018-12-11 | 华为技术有限公司 | Structure light coding method, apparatus and terminal device |
| CN108985119A (en) * | 2017-05-31 | 2018-12-11 | 华为技术有限公司 | The method and apparatus of structured light decoding |
| CN107909591B (en) * | 2017-09-29 | 2021-06-01 | 华北水利水电大学 | Boundary extraction method and system based on structured light illumination and single-pixel imaging |
| CN108038898B (en) * | 2017-11-03 | 2020-06-30 | 华中科技大学 | Single-frame binary structure optical coding and decoding method |
| WO2020047863A1 (en) * | 2018-09-07 | 2020-03-12 | 深圳配天智能技术研究院有限公司 | Distance measurement method and apparatus |
| CN111489382B (en) * | 2019-01-28 | 2023-03-31 | 合肥美亚光电技术股份有限公司 | Method and device for obtaining coded fringe pattern and reconstructing based on structured light |
| CN110675499B (en) * | 2019-07-23 | 2023-04-11 | 电子科技大学 | Three-dimensional modeling method based on binocular structured light three-dimensional scanning system |
| CN110415201B (en) * | 2019-07-30 | 2022-03-22 | 北京理工大学 | Single-exposure super-resolution imaging method and device based on structured light and deep learning |
| EP4187197A4 (en) * | 2020-07-22 | 2023-12-20 | Shanghai Percipio Technology Limited | Depth data measurement device and structured light projection apparatus |
| CN113405461B (en) * | 2021-04-23 | 2023-03-21 | 封泽希 | Structured light encoding and decoding method and encoding and decoding device for depth detection |
| CN113808017B (en) * | 2021-08-24 | 2024-06-28 | 北京理工大学 | Structured light imaging method and device based on illumination optimization |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6754370B1 (en) * | 2000-08-14 | 2004-06-22 | The Board Of Trustees Of The Leland Stanford Junior University | Real-time structured light range scanning of moving scenes |
| WO2005010825A2 (en) * | 2003-07-24 | 2005-02-03 | Cognitens Ltd. | Method and sytem for the three-dimensional surface reconstruction of an object |
| CN101126633A (en) * | 2007-09-11 | 2008-02-20 | 东南大学 | Colorful stripe encoding method based on ring-shape arrangement |
| CN201181204Y (en) * | 2007-04-17 | 2009-01-14 | 哈尔滨理工大学 | Structured light three-dimensional measuring apparatus based on gray code and line shift stripe |
| CN103033147A (en) * | 2013-01-09 | 2013-04-10 | 中航华东光电有限公司 | Structured light 3-dimensional measurement device and measurement method thereof |
| 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 |
-
2014
- 2014-08-25 CN CN201410422772.4A patent/CN104197861B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6754370B1 (en) * | 2000-08-14 | 2004-06-22 | The Board Of Trustees Of The Leland Stanford Junior University | Real-time structured light range scanning of moving scenes |
| WO2005010825A2 (en) * | 2003-07-24 | 2005-02-03 | Cognitens Ltd. | Method and sytem for the three-dimensional surface reconstruction of an object |
| CN201181204Y (en) * | 2007-04-17 | 2009-01-14 | 哈尔滨理工大学 | Structured light three-dimensional measuring apparatus based on gray code and line shift stripe |
| CN101126633A (en) * | 2007-09-11 | 2008-02-20 | 东南大学 | Colorful stripe encoding method based on ring-shape arrangement |
| CN103033147A (en) * | 2013-01-09 | 2013-04-10 | 中航华东光电有限公司 | Structured light 3-dimensional measurement device and measurement method thereof |
| 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 |
Non-Patent Citations (2)
| Title |
|---|
| 一种三维数字成像***的多视点姿态估计方法;丁雅斌等;《光学学报》;20070331;第27卷(第3期);第451-456页 * |
| 位错点阵投影的三维数字成像;田劲东等;《光学学报》;20051031;第25卷(第10期);第1319-1323页 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111566440A (en) * | 2018-02-14 | 2020-08-21 | 欧姆龙株式会社 | Three-dimensional measurement device, three-dimensional measurement method, and program |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104197861A (en) | 2014-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104197861B (en) | Three-dimension digital imaging method based on structure light gray scale vector | |
| CN107945268B (en) | A kind of high-precision three-dimensional method for reconstructing and system based on binary area-structure light | |
| US6341016B1 (en) | Method and apparatus for measuring three-dimensional shape of object | |
| CN111563564B (en) | Speckle image pixel-by-pixel matching method based on deep learning | |
| US7103212B2 (en) | Acquisition of three-dimensional images by an active stereo technique using locally unique patterns | |
| CN105844633B (en) | Single frames structure optical depth acquisition methods based on De sequence and phase code | |
| CN105890546A (en) | Structured light three-dimensional measurement method based on orthogonal Gray code and line shift combination | |
| CN107917701A (en) | Measuring method and RGBD camera systems based on active binocular stereo vision | |
| US20140078264A1 (en) | Absolute three-dimensional shape measurement using coded fringe patterns without phase unwrapping or projector calibration | |
| US20130329018A1 (en) | 3d geometric modeling and 3d video content creation | |
| CN101794461B (en) | Three-dimensional modeling method and system | |
| CN105120257A (en) | Vertical depth sensing device based on structured light coding | |
| CN104596439A (en) | Speckle matching and three-dimensional measuring method based on phase information aiding | |
| JP5633058B1 (en) | 3D measuring apparatus and 3D measuring method | |
| CN108088391A (en) | A kind of method and system of measuring three-dimensional morphology | |
| CN106225676B (en) | Method for three-dimensional measurement, apparatus and system | |
| CN104390608A (en) | Projection grating phase method based structured light three-dimensional shape construction method | |
| CN101482398B (en) | Fast three-dimensional appearance measuring method and device | |
| CN105303572B (en) | Based on the main depth information acquisition method passively combined | |
| CN108955571A (en) | The method for three-dimensional measurement that double frequency heterodyne is combined with phase-shift coding | |
| CN113506348B (en) | Gray code-assisted three-dimensional coordinate calculation method | |
| CN107860337A (en) | Structural light three-dimensional method for reconstructing and device based on array camera | |
| CN112595263A (en) | Binocular vision three-dimensional point cloud reconstruction measuring method for sinusoidal grating and speckle mixed pattern projection | |
| CN112945141A (en) | Structured light rapid imaging method and system based on micro-lens array | |
| CN113643436A (en) | Depth data splicing and fusing method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |