CN109916336A - High dynamic range method for three-dimensional measurement based on spectral modulation and multispectral imaging - Google Patents
High dynamic range method for three-dimensional measurement based on spectral modulation and multispectral imaging Download PDFInfo
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Abstract
The invention discloses the high dynamic range method for three-dimensional measurement based on spectral modulation and multispectral imaging, comprising the following steps: building includes the fringe projection system of projecting cell and imaging unit, obtains system parameter by system calibrating；Projecting cell generates and projects several phase shift candy strips to object under test surface, and imaging unit obtains the multispectral stripe pattern sequence being reflected by the object；Based on multispectral stripe pattern sequence, pixel saturation judgement is carried out to each spectrum channel image；The fusion of multichannel stripe pattern is carried out based on saturation judging result, obtains fusion stripe pattern sequence；The calculating of wrapped phase is carried out based on fusion stripe pattern sequence, and by phase-unwrapping algorithm, obtains absolute phase information；Based on system parameter and absolute phase, restore the three-dimensional appearance of testee.The present invention can fast implement striped imaging and the three-dimensional measurement of high dynamic range under single exposure, avoid the multiple shooting of the more exposure methods of tradition, improve measurement efficiency.
Description
Technical field
The present invention relates to field of optical measuring technologies, particularly relate to it is a kind of based on spectral modulation and it is multispectral at
The high dynamic range method for three-dimensional measurement of picture.
Background technique
Structural light three-dimensional measurement method belongs to active optical measuring technique, measurement convenience, speed simple with structure
Fastly, the features such as precision is high is widely used in numerous areas such as industrial detection, reverse-engineering and virtual realities
With research.Although structural light three-dimensional measuring technique is highly developed, the object of measurement high dynamic range is still one
Very stubborn problem.Such as the body surfaces reflectivity changes range such as metal parts, porcelain historical relic is larger, if directly to this
Type component carries out three-dimensional measurement, then can have high anti-glare effect problem, and the influence to measurement result includes two sides
Face: (1) there are supersaturations for highlight regions, cause phase that can not accurately extract with depth information；(2) low bright area striped
Contrast decline, cause phase error to increase reduces with measurement accuracy.
Currently, for high anti-glare effect problem, there are several types of solutions, are the side adjusted based on light exposure respectively
Method, the measurement method based on adaptive drop shadow intensity and the method based on polarization light modulation.The method adjusted based on light exposure
By changing camera aperture or time for exposure, a series of stripe pattern of different light exposures is acquired, is then selected pixel-by-pixel most bright
And unsaturated pixel synthesizes to obtain the stripe pattern of high s/n ratio, and carries out phase resolving and three-dimensionalreconstruction based on this.It should
Method there are problems that taking long time due to needing using more different light exposure, be not suitable for dynamic scene measurement；
Based on the measurement method of adaptive drop shadow intensity, established by projection sequence difference light intensity pattern the projection-of glossy surface at
As model, then automatic Prediction and the best projection gray value of each pixel is adjusted, to overcome testee surface reflection
The influence of rate and ambient lighting.Such method has the advantages such as fitness is strong, fringe quality is high, however due to needing step by step
Brightness regulation and optimization are carried out, and needs to carry out projector-camera pixel matching, therefore, there is also projection pattern quantity
The mostly problem long with time of measuring.Polariscope is added in projecting light path and imaging optical path in method based on polarization light modulation, passes through
The angle adjusted between the two realizes high reflective inhibition.This method can preferably remove mirror-reflection light, but right
In diffusing reflection object high dynamic range measurement there are still limitations.
Summary of the invention
To solve the problems mentioned above in the background art, the purpose of the present invention is to provide one kind to be based on spectral modulation
With the high dynamic range method for three-dimensional measurement of multispectral imaging, it can be convenient and high dynamic range effectively is carried out to dynamic scene
Three-dimensional measurement.
To achieve the above object, the technical scheme adopted by the invention is as follows:
The present invention provides a kind of high dynamic range method for three-dimensional measurement based on spectral modulation and multispectral imaging, packet
Include following steps:
Step 1: a set of fringe projection system comprising projecting cell and multispectral imaging unit of building, and by existing
System calibrating method fringe projection system is demarcated, and obtain fringe projection system parameter；
Step 2: being generated by projecting cell and projecting several phase shift candy strips to object under test surface；Pass through simultaneously
Imaging unit is obtained by the multispectral stripe pattern sequence of object under test surface reflection；
Step 3: the image intensity I of the multispectral stripe pattern sequence obtained based on step 2k,n, wherein k represents more
The image channel serial number of spectrum picture, n represent the serial number by phase shift sequence；Pixel saturation is carried out to each spectrum channel image
Judgement obtains unsaturation image, obtains most bright unsaturation spectrum channel serial number kmax；
Step 4: most bright unsaturation spectrum channel serial number k obtained by the saturation judging result based on step 3max, carry out more
The fusion of channel stripe pattern, obtains the fusion stripe pattern sequence I of high qualityn；
Step 5: the fusion stripe pattern sequence I obtained based on step 4n, the meter of wrapped phase is carried out using phase shift method
It calculates；And by phase-unwrapping algorithm, absolute phase information is obtained；
Step 6: the absolute phase of the fringe projection system parameter and step 5 acquisition obtained based on step 1, is recovered
The three-dimensional appearance of testee.
In above-mentioned technical proposal, the fringe projection system also includes data processing system, and the projecting cell includes throwing
Shadow light source, Digital Micromirror Device, projection lens and optical filter, the projection light source turn on into throwing by Digital Micromirror Device
Shadow camera lens, and object under test surface is projected after filtering by optical filter；
The multispectral imaging unit is multispectral camera.
In above-mentioned technical proposal, the projection light source uses single or multiple monochromatic sources.
In above-mentioned technical proposal, the image intensity I of the multispectral stripe pattern sequencek,nMathematic(al) representation are as follows:
Ik,n(x, y)=∫λL(λ)R(λ)C(λ)dλ (1)
Wherein, k represents the image channel serial number of multispectral image；N represents the serial number by phase shift sequence；λ represents different
Wavelength；L (λ) represents projected light beam and filters modulated curve of spectrum distribution by monochromatic；R (λ) represents modulated projected light
Beam reaches the reflected beams on object under test surface, the reflection spectrum characteristic comprising body surface；C (λ) represents the reflected beams process
The modulated curve of spectrum of multispectral camera imaging unit.
In above-mentioned technical proposal, in step 3, pixel saturation judgement method particularly includes:
The image intensity I for the multispectral stripe pattern sequence that (3-1) obtains step 2k,nSeek k channel spectrum image
Supersaturated mask Mk, supersaturated mask MkCalculation formula are as follows:
As the image intensity I of multispectral stripe pattern sequencek,nMiddle pixel value is greater than the pixel of preset threshold, referred to as satiates
And pixel；In supersaturated mask, the pixel value of supersaturated pixel corresponding position is set as 0, and other positions are set as 1；Wherein, in advance
If threshold value value range is 250~255；
(3-2) is by the image intensity I of the multispectral stripe pattern sequence in k channelk,nMultiplied by the supersaturation of corresponding channel
Mask Mk, obtain its unsaturation image；For each pixel, each spectrum channel is ranked up by brightness height, finds it
Most bright unsaturation spectrum channel serial number kmax。
In above-mentioned technical proposal, in step 4, stripe pattern sequence I is mergednCalculation formula are as follows:
In above-mentioned technical proposal, in step 5, the calculation method of absolute phase are as follows:
It is δ that (5-1), which obtains phase shift,nN width sine streak image light distribution, obtain light intensity ideally point
Cloth are as follows:
In(x, y)=A (x, y)+B (x, y) cos (φ+δn), n=1,2,3 ..., N (4)
Wherein, A (x, y) is average intensity, and B (x, y) is modulation light intensity, and φ (x, y) is relative phase to be asked；
(5-2) solves wrapped phase by least-squares algorithm, i.e.,
Wherein, φ (x, y) is since the property of arctan function is without continuity；
(5-3) obtains fringe order in order to remove the discontinuous point of wrapped phase, using three wavelength time phase developing methods
Information k (x, y), and then obtain continuous absolute phase distribution:
φ (x, y)=φ (x, y)+k*2 π (6).
Compared with prior art, the beneficial effects of the present invention are:
Using spectral modulation and multispectral imaging, high dynamic range can be fast implemented in the case where single exposure
Striped imaging and three-dimensional measurement, avoid the multiple shooting of the more exposure methods of tradition, improve measurement efficiency.In addition, this hair
Bright method hardware realization is simple, and spectral modulation is easier to realize with multispectral imaging, so as to easily to high dynamic range
Object carries out three-dimensional measurement.
Detailed description of the invention
Fig. 1 is that the present invention is based on the processes of spectral modulation and the high dynamic range method for three-dimensional measurement of multispectral imaging to show
It is intended to；
Fig. 2 is the schematic illustration of constructed structured-light system in embodiment of the present invention；
Fig. 3 is that projected light beam passes through the modulated curve of spectrum distribution of monochromatic filtering in embodiment of the present invention；
Fig. 4 is that the reflected beams pass through the modulated curve of spectrum of multispectral camera imaging unit in embodiment of the present invention；
Fig. 5 is the light distribution of different spectrum channels in embodiment of the present invention；
Fig. 6 is the three-dimensional reconstruction result in embodiment of the present invention to the single spectrum channel of mobile phone metal back side.Wherein
(a)-(d) stripe pattern in the representative channel 4,5,6,7 of captured four is represented；(e)-(h) represents its corresponding Three-dimensional Gravity
Build result；(i)-(l) represents its corresponding thin portion enlarged drawing；
Fig. 7 is the Multi-spectral image fusion three-dimensional reconstruction result in embodiment of the present invention to mobile phone metal back side.Wherein (a)
Represent the high dynamic range fusion stripe pattern of mobile phone metal back side；(b) the high adverse effect of mobile phone back is represented；(c)-(d) generation
Its corresponding three-dimensional reconstruction result of table and detail view.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
The drawings and specific embodiments are closed, how the present invention is further explained implements.
Specific embodiment:
As shown in Figure 1, present embodiments providing a kind of three-dimensional based on spectral modulation and the high dynamic range of multispectral imaging
Measurement method, comprising the following steps:
Step 1: construct a set of fringe projection system, as shown in Fig. 2, comprising projecting cell, multispectral imaging unit and
Computer data processing system.By existing system calibrating method respectively to projecting cell in fringe projection system and more
Light spectrum image-forming unit is demarcated.Specifically, multispectral imaging unit be multispectral camera, the camera spectral region used for
400-700nm includes 8 channels.Projecting cell is projector, specifically, projector includes projection light source, digital micromirror device
Part, projection lens and optical filter, projection light source are to have R/G/B three-color LED light source, using monochromatic source or can pass through tune
System realizes monochromatic illumination.Digital Micromirror Device is one kind of photoswitch, and the folding of photoswitch is realized using rotating mirror, is opened
It closes the time slightly to grow, is musec order.Mechanism very simple, light come out from optical fiber, the reflecting optics of directive DMD, DMD
When opening, light can enter other end optical fiber by symmetrical optical path；When DMD is closed, i.e. the reflecting mirror of DMD produces
A raw small rotation, light cannot be introduced into the symmetrical other end after reflection, also just reach the effect of photoswitch closing
Fruit.Projection light source realizes whether enter projection lens by Digital Micromirror Device closure or openness, and is filtered by optical filter
After project object under test surface.
Fringe projection system scaling method is referring to Zhang Song (S.Zhang, " Novel method for structured
Light system calibration. " Optical Engineering 45.8 (2006): 083601-083601) He Zhangzheng
Friend (Z.Zhang, " A flexible new technique for camera calibration. " IEEE
Transactions on pattern analysis andmachine intelligence.22(11),1330-1334
(2000))。
Step 2: several phase shift candy strip sequences are generated by projecting cell and using single in projecting cell or
Multiple monochromatic sources carry out fringe projection to object under test surface, while the mostly light in multiple channels is obtained by multispectral camera
Compose stripe pattern sequence.The image intensity I of multispectral stripe pattern sequencek,nIt can indicate are as follows:
Ik,n(x, y)=∫λL(λ)R(λ)C(λ)dλ (1)
K represents the image channel serial number of multispectral image；N represents the serial number by phase shift sequence；λ represents different wavelength；
L (λ) represents projected light beam and filters modulated curve of spectrum distribution by monochromatic, as shown in Fig. 3, monochromatic source generally in
Narrow band spectrum distribution；R (λ) represents the reflected beams that modulated projected light beam reaches object under test surface, includes body surface
Reflection spectrum characteristic；C (λ) represents the reflected beams and passes through the modulated curve of spectrum of multispectral camera imaging unit, such as attached
Shown in Fig. 4, different spectrum channels have different central wavelength.Finally, the method proposed based on the present embodiment, multispectral phase
The intensity distribution that machine obtains is as shown in attached drawing 5, it can be seen that different spectrum channels can obtain the image of different light intensity.
Step 3, to the image intensity I for the multispectral stripe pattern sequence that step 2 obtainsk,n, seek k channel spectrum figure
The supersaturated mask M of picturek.As the image intensity I of multispectral stripe pattern sequencek,nMiddle pixel value is greater than the picture of preset threshold
Element, referred to as supersaturated pixel.In supersaturated mask, the pixel value of supersaturated pixel corresponding position is set as 0, and other positions are set
It is 1.It is recommended that preset threshold value range is 250~255.
By the image intensity I of the multispectral stripe pattern sequence in k channelk,nMultiplied by the supersaturated mask of corresponding channel
Mk, obtain its unsaturation image；For each pixel, each spectrum channel is ranked up by brightness height, it is most bright to find it
Unsaturation spectrum channel serial number kmax。
Step 4, the most bright unsaturation channel position information k based on step 3maxImage co-registration is carried out, high quality is obtained
Fusion stripe pattern sequence In, i.e.,
Step 5, to the fusion stripe pattern sequence I of acquisitionnRelative phase is calculated using multistep phase shift method.
(5-1) is δ for phase shiftnN width sine streak image, light distribution ideally is
In(x, y)=A (x, y)+B (x, y) cos (φ+δn), n=1,2,3 ..., N (4)
Wherein, A (x, y) is average intensity, and B (x, y) is modulation light intensity, and Φ (x, y) is relative phase to be asked.
(5-2) solves wrapped phase by least-squares algorithm, i.e.,
Wherein, Φ (x, y) is since the property of arctan function is without continuity.
(5-3) obtains fringe order in order to remove the discontinuous point of wrapped phase, using three wavelength time phase developing methods
Information k (x, y), and then obtain continuous absolute phase distribution.
φ (x, y)=φ (x, y)+k*2 π (6)
Step 6 recovers the three-dimensional appearance of testee finally, being based on fringe projection system calibrating parameters.
As shown in fig. 6, one metallic mobile phone reverse side of measurand.It does not use described in the present embodiment based on spectral modulation
Phase-shifted grating is directly projected due to the properties of specular reflection of metal with the high dynamic range method for three-dimensional measurement of multispectral imaging
When on to its surface, it will lead in the image that the certain channels of camera collect there are a large amount of light intensity saturated pixel point, occur
The highlight area as shown in 6 (a)-(d) in figure.Since saturated pixel point is lost phase information, this causes to calculate by phase shift
The absolute phase and three-dimensional data that method solves have very big error in highlight area, as shown in Fig. 6 (e)-(h).In addition, for
Surface dark portion region then has that fringe contrast is low in certain channels, will lead to the phase information and three recovered
Dimension data error is larger, as shown in Fig. 6 (i)-(l).
By the high dynamic range method for three-dimensional measurement application described in the present embodiment based on spectral modulation and multispectral imaging
To the measurement of the object, shown in stripe pattern such as Fig. 7 (a) that high quality is obtained by the fusion in multispectral channel, Fig. 7 (b) is
Body surface reflectivity distribution.It can be seen that original saturated pixel point has been entirely removed, highlight area disappears, while dark
The grating fringe contrast in portion region is still relatively good.Absolute phase is solved using the phase shift algorithm in step 5, it is last extensive
Shown in the three-dimensional appearance appeared again such as Fig. 7 (c) and 7 (d), it can be seen that because of the whole quilts of hole error caused by light intensity saturation
Removal, and dark portion region has also obtained the three-dimensional data of good quality.This illustrates the reconstruct knot obtained using the method for the present invention
Fruit obviously has higher dynamic range, and the dark portion region of body surface and highlight area have obtained preferable measurement.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (7)
1. the high dynamic range method for three-dimensional measurement based on spectral modulation and multispectral imaging, which is characterized in that including following step
It is rapid:
Step 1: a set of fringe projection system comprising projecting cell and multispectral imaging unit of building, and pass through existing system
System scaling method demarcates fringe projection system, and obtains fringe projection system parameter；
Step 2: being generated by projecting cell and projecting several phase shift candy strips to object under test surface；Pass through imaging simultaneously
Unit is obtained by the multispectral stripe pattern sequence of object under test surface reflection；
Step 3: the image intensity I of the multispectral stripe pattern sequence obtained based on step 2k,n, wherein k represents multispectral figure
The image channel serial number of picture, n represent the serial number by phase shift sequence；Pixel saturation judgement is carried out to each spectrum channel image to obtain
Unsaturation image obtains most bright unsaturation spectrum channel serial number kmax；
Step 4: most bright unsaturation spectrum channel serial number k obtained by the saturation judging result based on step 3max, carry out multichannel item
Print image fusion, obtains the fusion stripe pattern sequence I of high qualityn；
Step 5: the fusion stripe pattern sequence I obtained based on step 4n, the calculating of wrapped phase is carried out using phase shift method；And
By phase-unwrapping algorithm, absolute phase information is obtained；
Step 6: the absolute phase of the fringe projection system parameter and step 5 acquisition obtained based on step 1, using phase locating depth
Degree correlation model recovers the three-dimensional appearance of testee.
2. the high dynamic range method for three-dimensional measurement according to claim 1 based on spectral modulation and multispectral imaging,
It is characterized in that, the fringe projection system also includes data processing system, and the projecting cell is projector, the projector packet
Projection light source, Digital Micromirror Device, projection lens and optical filter are included, the projection light source is turned on by Digital Micromirror Device
Projection lens, and object under test surface is projected after filtering by optical filter；
The multispectral imaging unit is multispectral camera.
3. the high dynamic range method for three-dimensional measurement according to claim 2 based on spectral modulation and multispectral imaging,
It is characterized in that, the projection light source uses single or multiple monochromatic sources.
4. the high dynamic range method for three-dimensional measurement according to claim 1 based on spectral modulation and multispectral imaging,
It is characterized in that, the image intensity I of the multispectral stripe pattern sequencek,nMathematic(al) representation are as follows:
Ik,n(x, y)=∫λL(λ)R(λ)C(λ)dλ (1)
Wherein:
K represents the image channel serial number of multispectral image；
N represents the serial number by phase shift sequence；
λ represents different wavelength；
L (λ) represents the curve of spectrum distribution of projection monochromatic source；
R (λ) represents the reflected beams that modulated projected light beam reaches object under test surface, the reflectance spectrum comprising body surface
Feature；
C (λ) represents the reflected beams by the modulated curve of spectrum of multispectral camera imaging unit.
5. the high dynamic range method for three-dimensional measurement according to claim 1 based on spectral modulation and multispectral imaging,
It is characterized in that, in step 3, pixel saturation judgement method particularly includes:
The image intensity I for the multispectral stripe pattern sequence that (3-1) obtains step 2k,n, seek the mistake of k channel spectrum image
It is saturated mask Mk, supersaturated mask MkCalculation formula are as follows:
As the image intensity I of multispectral stripe pattern sequencek,nMiddle pixel value is greater than the pixel of preset threshold, referred to as supersaturated picture
Element；In supersaturated mask, the pixel value of supersaturated pixel corresponding position is set as 0, and other positions are set as 1；Wherein, preset threshold
Value range is 250~255；
(3-2) is by the image intensity I of the multispectral stripe pattern sequence in k channelk,nMultiplied by the supersaturated mask M of corresponding channelk,
Obtain its unsaturation image；For each pixel, each spectrum channel is ranked up by brightness height, it is most bright non-full to find it
With spectrum channel serial number kmax。
6. the high dynamic range method for three-dimensional measurement according to claim 1 based on spectral modulation and multispectral imaging,
It is characterized in that, in step 4, merges stripe pattern sequence InCalculation formula are as follows:
7. the high dynamic range method for three-dimensional measurement according to claim 1 based on spectral modulation and multispectral imaging,
It is characterized in that,
In step 5, the calculation method of absolute phase are as follows:
It is δ that (5-1), which obtains phase shift,nN width sine streak image light distribution, obtain light distribution ideally:
In(x, y)=A (x, y)+B (x, y) cos (φ+δn), n=1,2,3 ..., N (4)
Wherein, A (x, y) is average intensity, and B (x, y) is modulation light intensity, and φ (x, y) is relative phase to be asked；
(5-2) solves wrapped phase by least-squares algorithm, i.e.,
Wherein, φ (x, y) is since the property of arctan function is without continuity；
(5-3) obtains fringe order information k (x, y) in order to remove the discontinuous point of wrapped phase, using phase developing method, in turn
Obtain continuous absolute phase distribution:
φ (x, y)=φ (x, y)+k*2 π (6).
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