CN104457607A - Depth-measurement-oriented sand clock code structure optical encoding and decoding methods - Google Patents
Depth-measurement-oriented sand clock code structure optical encoding and decoding methods Download PDFInfo
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Abstract
The invention discloses depth-measurement-oriented sand clock code structure optical encoding and decoding methods. The encoding method comprises the steps of adopting a sand-clock-shaped pattern as an encoding structure optical primitive pattern, configuring a codon for each graphic primitive, adopting the pseudorandom array encoding method, utilizing different graphic primitives for combination and permutation to form a graphic primitive array, correspondingly obtaining an encoding codon array, and determining an encode value for each graphic primitive in the graphic primitive array. The decoding method comprises the steps of conducting de-noising processing on captured images, conducting graphic edge extraction on the primitive patterns in the images, restoring the encoding structure optical graphic primitives in the images, correspondingly obtaining a graphic primitive array, and restoring encoding values of the encoding codon array and the graphic primitives. According to the depth-measurement-oriented sand clock code structure optical encoding and decoding methods, the primitive patterns are centrally symmetric, obvious feature points are obtained, accurate extraction is easy, interference resistance is high, decoding is easy, a projection pattern is composed of the black color and the white color, influences of other colored light are eliminated, and the coordinates of intersections can be easily and rapidly extracted by the adoption of an image processing algorithm.
Description
Technical field
The invention belongs to field of measuring technique, be specifically related to a kind of decoding method of the hourglass code structure light towards depth survey.
Background technology
In recent years, along with the fast development in the fields such as intelligent robot, depth survey has become domestic and international study hotspot.In the acquisition of three dimensions depth information, structured light is one effective method the most.Structured light is a kind of contactless active optical measuring technique, its ultimate principle is, by structured light projector, the project structured light of band model is caught pattern by video camera to the surface of object, by the identification to projective patterns information, the Rapid matching of realization character point.Due to the graded of body surface, projection mode distorts, imageing sensor (as charge-coupled image sensor, CCD) clap after this image, obtained the three-dimensional information of body surface by decoding.Research is early stage, and the active vision that researcher proposes is generally based on point, line-structured light scanning method.Its advantage identifies simply, but need to scan whole scene, and real-time is not high, is not suitable for large-scale depth survey.Along with going deep into of research, more active vision techniques based on coded structured light are suggested, and the difference of coding strategy is according to current structure light coding technology is mainly divided into time multiplex coding, direct coding and spatial neighborhood coding strategy three class.
Time multiplex coding strategy is by a group coding pattern successively chronologically, continues to project the surface of testee to produce code word.According to the code word of the sequence of pixel values composition setting pixel of projecting pattern.This kind of coding strategy has higher precision in 3-D scanning work, but not to be suitable for dynamic object measurement be its maximum limitation.
Direct coding strategy is that each point is encoded according to the value of self, needs periodically to set color-values for this reason.This strategy has high resolving power in theory, but, due between encoded colors relatively, the sensitivity therefore for noise is higher, by measured surface color interference larger.But the color of measured surface, except the color of projecting pattern, also has the color that measured surface self has, therefore, in order to reduce the impact of object self color, usually needing to obtain some reference pictures, measuring so direct coding strategy is not suitable for dynamic object yet.
Space field coding strategy is that all coded messages in a width or a few width pattern are compressed to a width pattern, in pattern, the code word of the code value of any one feature all representated by the primitive pattern of position forms jointly with other code words in its neighborhood, is applicable to dynamic object and detects.Meanwhile, this strategy considers the uniqueness of each code word in coding pattern.
Summary of the invention:
The defect existed for prior art and deficiency, the present invention proposes a kind of decoding method of the hourglass code structure light towards depth survey.
Technical scheme of the present invention is achieved in that
Towards a coding method for the hourglass code structure light of depth survey, comprise following content:
Towards a coding method for the hourglass code structure light of depth survey, content is as follows: the constraint condition setting up primitive pattern; According to the constraint condition of primitive pattern, adopt hourglass-shaped pattern as the primitive pattern of coded structured light; Using the unique point of the summit intersection point of two Hourgrass Touching Triangles in hourglass-shaped primitive pattern as primitive pattern; Select the multiple graphic primitive of hourglass-shaped primitive pattern as coded structured light with different directions angle; For often kind of graphic primitive configuration code word; According to project structured light range requirement, adopt pseudorandom arrays coding method, utilize different graphic primitives to carry out assembled arrangement, form the graphic primitive array of corresponding scale, correspondence obtains coding codeword array; Based on space encoding strategy and the coding codeword array of neighborhood, for each graphic primitive in graphic primitive array determines code value of encoding; The structured light be made up of graphic primitive array will be projected onto on object under test and carry out depth survey;
The constraint condition of described primitive pattern is:
(1) a width coding structure light pattern is only projected when obtaining space object depth information;
(2) project monochromatic light, namely projected coding structure light pattern is made up of black-and-white two color:
The uniqueness of primitive pattern on unit location in (3) one width coding structure light patterns;
(4) primitive pattern center is symmetrical, has obvious unique point;
The center line that described deflection is primitive pattern turns clockwise and angle formed by standard shaft forward along standard shaft forward; The center line of described primitive pattern is the straight line dividing two Hourgrass Touching Triangle drift angles through hourglass-shaped primitive pattern characteristics point equally; Described standard shaft is the longitudinal axis of graphic primitive array, i.e. the unique point line of every row graphic primitive in graphic primitive array.
According to the coding method of the described hourglass code structure light towards depth survey, preferably 4 deflections are respectively 4 graphic primitives of hourglass-shaped primitive pattern as coded structured light of 0 °, 45 °, 90 ° and 135 °.
Towards a coding/decoding method for the hourglass code structure light of depth survey, for the coding method of the described hourglass code structure light towards depth survey, comprise the steps:
Step 1: utilize Wavelet Algorithm, carries out denoising to the image of the target area captured, realizes image enhaucament;
Step 2: pattern edge is carried out to each primitive pattern in image after denoising and extracts operation, extract the edge feature of each primitive pattern, obtain the profile of each primitive pattern;
Step 3: unique point step 2 having been obtained to the primitive pattern of profile is extracted;
Step 3.1: the center-of-mass coordinate asking for primitive pattern, carries out primitive pattern characteristics point and slightly extracts;
Step 3.2: the essence based on the primitive pattern characteristics point of shade of gray is extracted;
Step 4: the profile of each primitive pattern obtained according to step 2 and the unique point of each primitive pattern of step 3 extraction, determines the center line of each primitive pattern;
Step 5: according to the center line of primitive pattern, determines the deflection of primitive pattern, and namely reduction obtains each graphic primitive of coded structured light in image, correspondingly obtains graphic primitive array;
Step 6: the graphic primitive array obtained according to step 5, restores the coding code value of coding codeword array and each graphic primitive.
Beneficial effect: the decoding method of the hourglass code structure light towards depth survey of the present invention compared with prior art has following advantage:
(1) primitive pattern center is symmetrical, has obvious unique point, is easy to accurate extraction, strong interference immunity, and decoding is simple;
(2) projective patterns is made up of black-and-white two color, eliminates the impact of other coloured light, and contrast significantly;
(3) be easy to adopt image processing algorithm rapid extraction intersecting point coordinate, thus improve the precision of extraction of depth information and measurement
Efficiency;
(4) in a width coding structure light pattern, the uniqueness of the interval primitive pattern of guarantor unit.
Accompanying drawing explanation
Fig. 1 is the 4 graphic primitive schematic diagram of one embodiment of the present invention;
Fig. 2 is the graphic primitive array schematic diagram of one embodiment of the present invention;
Fig. 3 is a width coded structured light schematic diagram of one embodiment of the present invention;
Fig. 4 (a) is for carrying out the panorama hourglass code structure light image of being taken by video camera when certain scene depth is measured in one embodiment of the present invention, (b) is the hourglass code structure light image on some directions of (a);
Fig. 5 (a), (b), (c), (d), the graphic primitive Array Construction process schematic that (e) is one embodiment of the present invention;
Fig. 6 is the coding/decoding method process flow diagram of the hourglass code structure light towards depth survey of one embodiment of the present invention;
Fig. 7 be one embodiment of the present invention from catch image extract the graphic primitive array schematic diagram after pattern edge;
Fig. 8 is other graphic primitive positioning feature point schematic diagram of sub-pixel of one embodiment of the present invention;
Fig. 9 is certain graphic primitive of one embodiment of the present invention and the graphic primitive array schematic diagram of eight neighborhood graphic primitive formation thereof;
Figure 10 is the eight neighborhood code word array corresponding with Fig. 9.
Embodiment
Below in conjunction with accompanying drawing, specific embodiment of the invention is elaborated.
The coding method of the hourglass code structure light towards depth survey of present embodiment, first based on the constraint condition of primitive pattern, using the primitive pattern of hourglass-shaped pattern as coded structured light; The constraint condition of the primitive pattern of present embodiment is: only project a width coding structure light pattern when (1) obtains space object depth information; (2) project monochromatic light, namely projection pattern is made up of black-and-white two color: the uniqueness of unit interval primitive pattern in (3) one width coding structure light patterns; (4) primitive pattern center is symmetrical, has obvious unique point.
Using the unique point of the summit intersection point of two Hourgrass Touching Triangles in hourglass-shaped pattern as primitive pattern, be different graphic primitives by the hourglass-shaped primitive pattern definition with different directions angle, 4 graphic primitives are defined in present embodiment, as shown in Figure 1, the deflection of these 4 graphic primitives is respectively 0 °, 45 °, 90 °, 135 °, and the center line that described deflection is graphic primitive turns clockwise and angle formed by standard shaft forward along standard shaft forward, the center line of described graphic primitive is through unique point and divides the straight line of two Hourgrass Touching Triangle drift angles of hourglass-shaped primitive pattern equally, described standard shaft is the longitudinal axis of graphic primitive array, and the unique point line of the often row graphic primitive namely in coding structure light pattern can be parallel to each other as standard shaft, according to project structured light range requirement, adopt pseudorandom sequence coding method, 4 of the some of definition graphic primitives are carried out assembled arrangement, form the graphic primitive array of corresponding scale, as shown in Figure 2, the structured light be made up of graphic primitive array, as shown in Figure 3, to be projected onto on object under test and carry out depth survey, by omnidirectional's hourglass code structure light image of certain tested scene of cameras capture after on structured light as shown in Fig. 4 (a) to object, Fig. 4 (b) is the object hourglass code structure light image on directions some in Fig. 4 (a), set the element value of graphic primitive as { 0, 1, 2, 3}, namely 0 is had, 1, 2, 3 totally 4 different coding elements, these 4 different coding element values are mated from described 4 different graphic primitive one_to_one corresponding respectively, obtain the code word of graphic primitive, as shown in Figure 1, deflection is the code word of the graphic primitive of 0 ° is 0, deflection is the code word of the graphic primitive of 45 ° is 1, deflection is the code word of the graphic primitive of 90 ° is 2, deflection is the code word of the graphic primitive of 135 ° is 3, then each graphic primitive array correspond to a coding codeword array, if table 1 is coding codeword array corresponding to the graphic primitive array shown in Fig. 2.According to coding codeword array, based on the space encoding strategy of neighborhood, a code value can be determined for each graphic primitive in corresponding graphic primitive array;
The coding codeword array of the graphic primitive array shown in table 1 Fig. 2
| 1 | 3 | 2 | 2 | 1 | 3 | 2 |
| 2 | 1 | 2 | 2 | 1 | 2 | 2 |
| 2 | 1 | 3 | 1 | 1 | 2 | 1 |
| 2 | 2 | 1 | 2 | 1 | 0 | 0 |
| 1 | 0 | 1 | 2 | 3 | 1 | 2 |
| 3 | 1 | 1 | 0 | 0 | 3 | 0 |
| 3 | 2 | 1 | 2 | 0 | 2 | 3 |
The method utilizing 4 described graphic primitives to be combined to form graphic primitive array in present embodiment is: to construct the graphic primitive array that 10 row 20 arrange, first from first row the first row, the random subarrays of 3 × 3 is first formed in the upper left corner, as shown in Fig. 5 (a), then the random column vector adding 3 × 1 is continuously arranged along this subarray the 3rd, as shown in Fig. 5 (b), often add the random column vector of 3 × 1, then can obtain new 3 × 3 subarrays, the size of Hamming distance between 3 × 3 more newly-generated subarrays and the subarray existed, judge whether Hamming distance is 0, be, then continue the random column vector adding 3 × 1 to next column, no, the random column vector of one 3 × 1 is then newly added at current column weight, random column vector add when prostatitis all 3 × 1 does not meet Hamming distance when being 0, then prostatitis is added again to the random column vector of 3 × 1, according to preceding method until after the 20th row interpolation, then the random row vector of 1 × 3 is added continuously along initial 3 × 3 subarray the third lines, as shown in Fig. 5 (c), often add the random row vector of 1 × 3, then can obtain new 3 × 3 subarrays, the size of Hamming distance between more newly-generated subarray and the subarray existed, judge whether Hamming distance is 0, be, then continue the random row vector adding 1 × 3 to next line, no, the random row vector of one 1 × 3 is then again added at current line, current line add all 3 × 1 random column vector not meet Hamming distance be 0 time, then lastrow is added again to the random row vector of 1 × 3, according to preceding method, until after the 10th row interpolation, as shown in Fig. 5 (d), again according to once inserting a graphic primitive at random, as shown in Fig. 5 (e), often insert a graphic primitive, then can obtain new 3 × 3 subarrays, the size of Hamming distance between 3 × 3 more newly-generated subarrays and 3 × 3 subarrays existed, judge whether Hamming distance is 0, be, then continue to insert random figure primitive, no, then again substitute into other graphic primitives in current location, when not meet Hamming distance be 0 to all graphic primitives substituted into, then random figure primitive is inserted again to a upper position, all fill up until 10 row 20 arrange, obtain satisfactory graphic primitive array.
In the present invention, the position of coded structured light unique point and the regional area of unique point is information-related, impact by shade and remainder region disappearance is less, and primitive pattern wherein one jiao to there is disappearance because blocking time, the position of unique point still can not change.
The coding/decoding method of the hourglass code structure light towards depth survey of present embodiment, as shown in Figure 6, comprises the steps:
Step 1: utilize Wavelet Algorithm, carries out denoising to the image of the target area captured, realizes image enhaucament;
Wavelet Algorithm main thought is: wavelet transformation has energy compression, and namely image is after wavelet transformation, most of concentration of energy on the wavelet coefficient that minority amplitude is larger, the key character of these coefficient correspondence image; And most of wavelet coefficient amplitude is very little, generally correspond to picture noise.Wavelet coefficient and threshold value by arranging certain threshold value, compare by wavelet threshold denoising method exactly, then, revise wavelet coefficient according to certain threshold function table.Therefore, in wavelet threshold denoising algorithm research, two key problems are the selection of threshold function table and the determination of threshold value.
Wavelet threshold denoising method is generally described as: y=x+n, the wavelet coefficient that wherein y represents signals and associated noises in wavelet field, x represents actual signal, n represents noise; Wherein n is independent identically distributed Gaussian noise, n ~ N (0, σ
2), σ
2for signal variance.If T (y, λ) represents threshold function table, λ is threshold value, then utilize wavelet threshold denoising, obtains actual signal wavelet coefficient and estimates:
Wavelet threshold denoising concrete steps are as follows:
(1) noisy image is carried out wavelet decomposition on each yardstick, retain the whole wavelet coefficients under large scale low resolution;
(2) for the wavelet coefficient under each yardstick high resolving power, set a threshold value, amplitude sets to 0 lower than the wavelet coefficient of this threshold value, and the wavelet coefficient higher than this threshold value then retains;
(3) image after denoising is utilized inverse wavelet transform to be reconstructed the wavelet coefficient that obtains after process to obtain.
Step 2: pattern edge is carried out to each graphic primitive in image after denoising and extracts operation, extract the pattern edge feature of each graphic primitive, obtain the pattern contour of each graphic primitive;
Present embodiment adopts Canny operator to carry out edge extraction operation to the graphic primitive in denoising image, can obtain the edge contour of each graphic primitive, as shown in Figure 7.
Specific algorithm step based on Canny operator extraction graphic primitive edge is as follows:
(1) with single order local derviation finite difference formulations gradient magnitude and direction;
(2) non-maxima suppression is carried out to gradient magnitude;
(3) detect with dual threshold algorithm and be connected edge.
Step 3: the unique point of the graphic primitive obtaining pattern contour in step 2 is extracted;
Step 3.1: ask for graphic primitive center-of-mass coordinate, carries out graphic primitive unique point and slightly extracts;
Present embodiment carries out center-of-mass coordinate calculating to all graphic primitives respectively by barycenter formula, center-of-mass coordinate (x
c, y
c) be:
Wherein, m
pqrepresent the geometric moment on the p+q rank of image, p, q=0,1,2 ..., computing formula is as follows:
Wherein, k × l represents picture size; I and j represents pixel coordinate; F (i, j) represents the pixel value of relevant position;
Step 3.2: the graphic primitive unique point essence based on shade of gray is extracted;
The barycenter of the graphic primitive obtained using step 3.1, as center, carries out the accurate location of graphic primitive unique point, makes feature point extraction reach sub-pix rank, as shown in Figure 8 in its eight neighborhood according to shade of gray change.
Concrete steps based on shade of gray unique point essence extracting method are as follows:
The barycenter obtained using thick extraction step is as barycenter to be measured, and using barycenter to be measured and around 8 neighborhood territory pixels o'clock are as the unit surveyed area of 3 × 3, the shade of gray calculation procedure of barycenter to be measured is as follows:
1) set shade of gray initial value m=0, calculate the gray-scale value of each pixel in the unit surveyed area of described 3 × 3 respectively;
2) calculate barycenter to be measured and the difference of the gray-scale value of certain neighborhood territory pixel point around it, and judge whether the difference of this gray-scale value is less than the gray threshold of setting in advance, is then go to step 3), no, then go to step 4);
3)m＝m+1，m∈[0,8]；
4) having judged whether barycenter to be measured and the calculating of the difference of the gray-scale value of 8 neighborhood territory pixel points around it, is then exported by shade of gray value m; No, then turn and perform step 2).
5) if m is ∈ [2,6], then barycenter to be measured is the unique point of graphic primitive, based on above shade of gray computing method, if n ∈ is { 0,1,7,8}, then successively using 8 neighborhood territory pixel points as barycenter to be measured, according to step 1) to step 4) method, find satisfactory unique point.
Step 4: the profile of each graphic primitive obtained according to step 2 and the unique point of each graphic primitive of step 3 extraction, determines the center line of each graphic primitive; Be through unique point due to center line and divide the straight line of primitive pattern two Hourgrass Touching Triangle drift angles equally, therefore, after the profile of each graphic primitive and unique point are determined, also just can determine center line.
Step 5: according to the center line of primitive pattern, determines the deflection of primitive pattern, and namely reduction obtains each graphic primitive of coded structured light in image, correspondingly obtains graphic primitive array; Turn clockwise and angle formed by standard shaft forward along standard shaft forward according to the center line that deflection is graphic primitive, thus easily obtain the deflection of each graphic primitive;
Step 6: the graphic primitive array obtained according to step 5, correspondence restores the code value of coding codeword array and each graphic primitive;
Present embodiment uses the space encoding strategy in field to decode to coded structured light, and the space encoding strategy based on field refers to that the code value of each primitive is determined by the code word of himself code word with its eight neighborhood.The code value coding/decoding method of the feature to be measured that present embodiment adopts is: according to a certain graphic primitive to be decoded, graphic primitive in dotted line frame as shown in Figure 9, and the code word that around eight neighborhood graphic primitive (8 graphic primitives as shown in Figure 9 outside dotted line frame) is corresponding can draw its code word array, as shown in Figure 10.
Each code word in this code word array can be got a code value according to a definite sequence arrangement, first code word that code value in present embodiment is code value with the code word of graphic primitive to be decoded, all the other 8 code words arrange according to the order of the code word of the graphic primitive of the upside adjacent with graphic primitive to be decoded, right side, downside, left side, upper left side, upper right side, lower right side, lower left side respectively, as shown in Figure 10, show that the code value of graphic primitive to be measured is 123200103.By the method, graphic primitive each in graphic primitive array is all decoded.
Claims (3)
1., towards a coding method for the hourglass code structure light of depth survey, it is characterized in that:
Set up the constraint condition of primitive pattern; Adopt hourglass-shaped pattern as the primitive pattern of coded structured light; Using the unique point of the summit intersection point of two Hourgrass Touching Triangles in hourglass-shaped primitive pattern as primitive pattern; Select the multiple graphic primitive of hourglass-shaped primitive pattern as coded structured light with different directions angle; For often kind of graphic primitive configuration code word; According to project structured light range requirement, adopt pseudorandom arrays coding method, utilize different graphic primitives to carry out assembled arrangement, form the graphic primitive array of corresponding scale, correspondence obtains coding codeword array; Based on space encoding strategy and the coding codeword array of neighborhood, for each graphic primitive in graphic primitive array determines code value of encoding; The structured light be made up of graphic primitive array will be projected onto on object under test and carry out depth survey;
The constraint condition of described primitive pattern is:
(1) a width coding structure light pattern is only projected when obtaining space object depth information;
(2) project monochromatic light, namely projected coding structure light pattern is made up of black-and-white two color:
The uniqueness of primitive pattern on unit location in (3) one width coding structure light patterns;
(4) primitive pattern center is symmetrical, has obvious unique point;
The center line that described deflection is primitive pattern turns clockwise and angle formed by standard shaft forward along standard shaft forward; The center line of described primitive pattern is the straight line dividing two Hourgrass Touching Triangle drift angles through hourglass-shaped primitive pattern characteristics point equally; Described standard shaft is the longitudinal axis of graphic primitive array, i.e. the unique point line of every row graphic primitive in graphic primitive array.
2. the coding method of the hourglass code structure light towards depth survey according to claim 1, is characterized in that: preferably 4 deflections are respectively 4 graphic primitives of hourglass-shaped primitive pattern as coded structured light of 0 °, 45 °, 90 ° and 135 °.
3., towards a coding/decoding method for the hourglass code structure light of depth survey, for the coding method of the hourglass code structure light towards depth survey according to claim 1, it is characterized in that: comprise the steps:
Step 1: utilize Wavelet Algorithm, carries out denoising to the image of the target area captured;
Step 2: pattern edge is carried out to each primitive pattern in image after denoising and extracts operation, extract the edge feature of each primitive pattern, obtain the profile of each primitive pattern;
Step 3: unique point step 2 having been obtained to the primitive pattern of profile is extracted;
Step 3.1: the center-of-mass coordinate asking for primitive pattern, carries out primitive pattern characteristics point and slightly extracts;
Step 3.2: the essence based on the primitive pattern characteristics point of shade of gray is extracted;
Step 4: the profile of each primitive pattern obtained according to step 2 and the unique point of each primitive pattern of step 3 extraction, determines the center line of each primitive pattern;
Step 5: according to the center line of primitive pattern, determines the deflection of primitive pattern, and namely reduction obtains each graphic primitive of coded structured light in image, correspondingly obtains graphic primitive array;
Step 6: the graphic primitive array obtained according to step 5, restores the coding code value of coding codeword array and each graphic primitive.
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Application publication date: 20150325 |