CN106595502A - Structured light-based motion compensation 3D measurement method - Google Patents
Structured light-based motion compensation 3D measurement method Download PDFInfo
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- CN106595502A CN106595502A CN201611091296.8A CN201611091296A CN106595502A CN 106595502 A CN106595502 A CN 106595502A CN 201611091296 A CN201611091296 A CN 201611091296A CN 106595502 A CN106595502 A CN 106595502A
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- image
- moving target
- peeled
- rhizoma dioscoreae
- motion compensation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0691—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of objects while moving
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a structured light-based motion compensation 3D measurement method. The method includes the following steps that: S1, image acquisition is performed: an image acquisition module acquires the image of a moving object according to the principle of a structural light method and obtains a light bar three-dimensional image, an projection module obtains the light bar two-dimensional distortion image of the moving object at the same time point, the light bar three-dimensional image and the light bar two-dimensional distortion image are transmitted to a computer processing module through a data transmission module; S2, the computer processing module encodes the light bar three-dimensional image and the light bar two-dimensional distortion image, demodulates the light bar two-dimensional distortion image so as to obtain phase change containing height information, and calculates the height of the moving target according to the principle of a triangle method; S3, the motion parameters of the moving target are measured through a scanning device; and S4, and the 3D data of the moving target are obtained according to the motion parameters of the moving target. With the structured light-based motion compensation 3D measurement method of the invention adopted, rapid 3D imaging can be performed on the moving target, the efficiency of a production line can be improved, and a lot of labor can be saved. The method can be widely applied to production.
Description
Technical field
The present invention relates to 3D field of measuring technique, more particularly to a kind of motion compensation 3D measuring methods based on structure light.
Background technology
In recent years, three-dimensional measurement technology is in Human Modeling, pattern recognition, industrial detection, reverse-engineering and target recognition
It is widely applied Deng field, shows powerful commercial promise.With computer technology and optical semiconductor technology
Development, the structural light three-dimensional morphometry technology based on computer vision with its measurement process be not directly contacted with testee,
The advantages such as measurement efficiency height achieve huge development.Structure light coding mode can generally be divided into spatial structure pumped FIR laser mode
With space structure pumped FIR laser mode, spatial structure pumped FIR laser mode often projects several coded images and obtains object to testee
Three-dimensional configuration information, certainty of measurement is high, but it is often only applicable to stationary body three-dimensional measurement.And space structure pumped FIR laser
Mode only needs to project single raster image to testee, goes for moving object three-dimensional measurement, but its encoding and decoding
Algorithm is complicated, and measurement efficiency, precision are relatively low.
At present automatic production line 3D detection technique inefficiencies, can only carry out high precision test to static target, be this
We have invented a kind of motion compensation 3D measuring methods based on structure light.
The content of the invention
Based on the technical problem that background technology is present, the present invention proposes a kind of motion compensation 3D based on structure light and measures
Method.
A kind of motion compensation 3D measuring methods based on structure light proposed by the present invention, comprise the following steps：
S1, gathers image：Image capture module gathers the image of moving target according to the principle of Structure light method, obtains Rhizoma Dioscoreae (peeled) three-dimensional
Image, and projection module synchronization obtain moving target Rhizoma Dioscoreae (peeled) two dimension fault image, the Rhizoma Dioscoreae (peeled) 3-D view and
Rhizoma Dioscoreae (peeled) two dimension fault image is transferred to computer processing module by data transmission module；
S2, computer processing module is encoded to Rhizoma Dioscoreae (peeled) 3-D view and Rhizoma Dioscoreae (peeled) two dimension fault image, and abnormal to Rhizoma Dioscoreae (peeled) two dimension
Become image and be demodulated the phase place change for obtaining including elevation information, the height of moving target is calculated according to trigonometry principle,
S3, by scanning device the kinematic parameter of moving target is measured；
S4, according to the kinematic parameter of moving target, is carried out by entering motion of the line translation to moving target to reconstruction image array
Compensation, obtains the 3D data of moving target；
S5, computer processing module analyzes the 3D data of moving target, you can complete the measurement of moving target.
Preferably, in the S4, the motion to moving target is compensated specially：First in moment t2On setting object
Certain point coordinate points (x, y), then according to speed of moving body information v x, v yA moment t1 is predicted positioned at coordinate points (x-
v xΔ t, y-vyΔ t), wherein Δ t=t2-t1, if now speed of moving body v x、vy, it is known that then can directly utilize
Movement compensating algorithm obtains precision encoding value.
Preferably, described image acquisition module is one or more video cameras.
Preferably, described image acquisition module, projection module, scanning device are work simultaneously, and will within the same time
The feedback of the information collected is to computer processing module.
Preferably, in the S4, by being to rebuilding image array and entering motion of the line translation to moving target and compensate
Realize in FBP and ART algorithms.
In the present invention, image capture module gathers the image of moving target according to the principle of Structure light method, obtains Rhizoma Dioscoreae (peeled) three
Dimension image, and projection module obtains the Rhizoma Dioscoreae (peeled) two dimension fault image of moving target in synchronization, by Rhizoma Dioscoreae (peeled) 3-D view
Quickly it can be encoded with Rhizoma Dioscoreae (peeled) two dimension fault image, and calculate the height of moving target in image, further according to motion mesh
Target kinematic parameter carries out motion compensation so that measurement result is more accurate, realizes the balance of scan efficiency and scanning accuracy,
In successive projection and image acquisition procedures, a frame projected image is often obtained, you can encoding and decoding are carried out to testee, improve fortune
Moving-target 3D measurement efficiencies, the present invention can realize that the quick 3D to moving target is imaged, and improve production line efficiency, save a large amount of
Manually, can be widely used in productive life, it is suitable to promote.
Description of the drawings
Fig. 1 is a kind of code pattern of motion compensation 3D measuring methods based on structure light proposed by the present invention.
Specific embodiment
The present invention is made with reference to specific embodiment further explain.
With reference to Fig. 1, a kind of motion compensation 3D measuring methods based on structure light proposed by the present invention are comprised the following steps：
S1, gathers image：Image capture module gathers the image of moving target according to the principle of Structure light method, obtains Rhizoma Dioscoreae (peeled) three-dimensional
Image, and projection module synchronization obtain moving target Rhizoma Dioscoreae (peeled) two dimension fault image, the Rhizoma Dioscoreae (peeled) 3-D view and
Rhizoma Dioscoreae (peeled) two dimension fault image is transferred to computer processing module by data transmission module；
S2, computer processing module is encoded to Rhizoma Dioscoreae (peeled) 3-D view and Rhizoma Dioscoreae (peeled) two dimension fault image, and abnormal to Rhizoma Dioscoreae (peeled) two dimension
Become image and be demodulated the phase place change for obtaining including elevation information, the height of moving target is calculated according to trigonometry principle,
S3, by scanning device the kinematic parameter of moving target is measured；
S4, according to the kinematic parameter of moving target, is carried out by entering motion of the line translation to moving target to reconstruction image array
Compensation, obtains the 3D data of moving target；
S5, computer processing module analyzes the 3D data of moving target, you can complete the measurement of moving target.
In the present invention, in the S4, the motion to moving target is compensated specially：First in moment t2Setting object
Upper certain point coordinate points (x, y), then according to speed of moving body information v x, v yA moment t1 is predicted positioned at coordinate points
(x-v xΔ t, y-vyΔ t), wherein Δ t=t2-t1, if now speed of moving body v x、vy, it is known that then can be directly sharp
Precision encoding value is obtained with movement compensating algorithm.Described image acquisition module is one or more video cameras.Described image is gathered
Module, projection module, scanning device to work simultaneously, and within the same time by the feedback of the information collected to computer disposal
Module.In the S4, by being in FBP and ART to rebuilding image array and enter motion of the line translation to moving target compensating
Realize in algorithm.
In the present invention, image capture module gathers the image of moving target according to the principle of Structure light method, obtains Rhizoma Dioscoreae (peeled) three
Dimension image, and projection module obtains the Rhizoma Dioscoreae (peeled) two dimension fault image of moving target in synchronization, by Rhizoma Dioscoreae (peeled) 3-D view
Quickly it can be encoded with Rhizoma Dioscoreae (peeled) two dimension fault image, and calculate the height of moving target in image, further according to motion mesh
Target kinematic parameter carries out motion compensation so that measurement result is more accurate, realizes the balance of scan efficiency and scanning accuracy,
In successive projection and image acquisition procedures, a frame projected image is often obtained, you can encoding and decoding are carried out to testee, improve fortune
Moving-target 3D measurement efficiencies.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, all should be included within the scope of the present invention.
Claims (5)
1. a kind of motion compensation 3D measuring methods based on structure light, it is characterised in that comprise the following steps：
S1, gathers image：Image capture module gathers the image of moving target according to the principle of Structure light method, obtains Rhizoma Dioscoreae (peeled) three-dimensional
Image, and projection module synchronization obtain moving target Rhizoma Dioscoreae (peeled) two dimension fault image, the Rhizoma Dioscoreae (peeled) 3-D view and
Rhizoma Dioscoreae (peeled) two dimension fault image is transferred to computer processing module by data transmission module；
S2, computer processing module is encoded to Rhizoma Dioscoreae (peeled) 3-D view and Rhizoma Dioscoreae (peeled) two dimension fault image, and abnormal to Rhizoma Dioscoreae (peeled) two dimension
Become image and be demodulated the phase place change for obtaining including elevation information, the height of moving target is calculated according to trigonometry principle,
S3, by scanning device the kinematic parameter of moving target is measured；
S4, according to the kinematic parameter of moving target, is carried out by entering motion of the line translation to moving target to reconstruction image array
Compensation, obtains the 3D data of moving target；
S5, computer processing module analyzes the 3D data of moving target, you can complete the measurement of moving target.
2. a kind of motion compensation 3D measuring methods based on structure light according to claim 1, it is characterised in that the S4
In, the motion to moving target is compensated specially：First in moment t2Certain point coordinate points (x, y) on setting object, connects
According to speed of moving body information v x, v yA moment t1 is predicted positioned at coordinate points (x-v xΔ t, y-vyΔ t),
Wherein Δ t=t2-t1, if now speed of moving body v x、vy, it is known that then directly can obtain accurate using movement compensating algorithm
Encoded radio.
3. a kind of motion compensation 3D measuring methods based on structure light according to claim 1, it is characterised in that the figure
As acquisition module is one or more video cameras.
4. a kind of motion compensation 3D measuring methods based on structure light according to claim 1, it is characterised in that the figure
As acquisition module, projection module, scanning device are calculated to work, and giving the feedback of the information collected within the same time simultaneously
Machine processing module.
5. a kind of motion compensation 3D measuring methods based on structure light according to claim 1, it is characterised in that the S4
In, by rebuild image array enter motion of the line translation to moving target to compensate being realized in FBP and ART algorithms
's.
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| CN201611091296.8A CN106595502A (en) | 2016-12-01 | 2016-12-01 | Structured light-based motion compensation 3D measurement method |
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| CN201611091296.8A CN106595502A (en) | 2016-12-01 | 2016-12-01 | Structured light-based motion compensation 3D measurement method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109084701A (en) * | 2018-08-06 | 2018-12-25 | 清华大学 | A kind of moving object measurement Error Compensation method based on structure light |
| CN111401194A (en) * | 2020-03-10 | 2020-07-10 | 北京百度网讯科技有限公司 | Data processing method and device for automatic driving vehicle |
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| US20070206204A1 (en) * | 2005-12-01 | 2007-09-06 | Peirong Jia | Full-field three-dimensional measurement method |
| CN101608907A (en) * | 2009-07-21 | 2009-12-23 | 华中科技大学 | A kind of three-dimensional topography of surface of moving object measuring method and device |
| CN101667303A (en) * | 2009-09-29 | 2010-03-10 | 浙江工业大学 | Three-dimensional reconstruction method based on coding structured light |
| CN104034263A (en) * | 2014-07-02 | 2014-09-10 | 北京理工大学 | Non-contact measurement method for sizes of forged pieces |
| CN104833307A (en) * | 2015-04-14 | 2015-08-12 | 中国电子科技集团公司第三十八研究所 | Method of high-frame-rate motioning object three-dimensional measurement |
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2016
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070206204A1 (en) * | 2005-12-01 | 2007-09-06 | Peirong Jia | Full-field three-dimensional measurement method |
| CN101608907A (en) * | 2009-07-21 | 2009-12-23 | 华中科技大学 | A kind of three-dimensional topography of surface of moving object measuring method and device |
| CN101667303A (en) * | 2009-09-29 | 2010-03-10 | 浙江工业大学 | Three-dimensional reconstruction method based on coding structured light |
| CN104034263A (en) * | 2014-07-02 | 2014-09-10 | 北京理工大学 | Non-contact measurement method for sizes of forged pieces |
| CN104833307A (en) * | 2015-04-14 | 2015-08-12 | 中国电子科技集团公司第三十八研究所 | Method of high-frame-rate motioning object three-dimensional measurement |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109084701A (en) * | 2018-08-06 | 2018-12-25 | 清华大学 | A kind of moving object measurement Error Compensation method based on structure light |
| CN111401194A (en) * | 2020-03-10 | 2020-07-10 | 北京百度网讯科技有限公司 | Data processing method and device for automatic driving vehicle |
| CN111401194B (en) * | 2020-03-10 | 2023-09-22 | 北京百度网讯科技有限公司 | Data processing method and device for automatic driving vehicle |
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Application publication date: 20170426 |