CN115900580A - Structured light three-dimensional imaging system and nonlinear error suppression method - Google Patents
Structured light three-dimensional imaging system and nonlinear error suppression method Download PDFInfo
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Abstract
The invention relates to the technical field of structured light three-dimensional imaging, in particular to a structured light three-dimensional imaging system and a nonlinear error suppression method, and the technical scheme is as follows: the method comprises the following steps: s1, shooting an image of the target object by using the structured light three-dimensional imaging system; s2, processing the image of the target object by using a nonlinear error suppression method; and S3, reconstructing a high-definition three-dimensional image of the target object by adopting a four-step phase shift method. According to the method, after the gamma distortion model and the nonlinear errors in the structured light system are deeply analyzed and researched on the basis of harmonic analysis, a standard for evaluating the nonlinear distortion degree is provided, and an accurate gamma value can be estimated through iterative computation through the gamma value information contained in the stripe image by an algorithm without introducing the computation of a complex function.
Description
Technical Field
The invention relates to the technical field of structured light three-dimensional imaging, in particular to a structured light three-dimensional imaging system and a nonlinear error suppression method.
Background
With the development of electronic information technology in decades, the three-dimensional object reconstruction technology has been widely applied in the industry and daily life, and a series of three-dimensional reconstruction algorithms have been created. One representative class of three-dimensional measurement methods is structured light methods. The structured light measurement technology is an active optical measurement method, obtains three-dimensional information of a measured object by projecting a coding grating, and is widely researched in the fields of reverse engineering, digital modeling, calculation measurement and the like.
However, the actual measurement of the structured light is not an ideal and completely accurate process, and various factors influence the final imaging in the fringe grating projection and camera shooting processes. On one hand, electronic noise and photon noise generated by a camera during imaging are inevitable; on the other hand, the structural light image generates certain Gaussian noise due to the coefficient change of the element in the process of transmitting in the system. At present, the nonlinear error correction algorithm has the problems of complex preparation process, long running time and low precision. Therefore, the structured light three-dimensional imaging system and the nonlinear error suppression method are particularly important in the field of structured light three-dimensional imaging, and the development of an imaging algorithm which is more advanced and has stronger nonlinear error suppression is very beneficial to the application and development of a three-dimensional object reconstruction technology.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a structured light three-dimensional imaging system and a nonlinear error suppression method, which have the advantages of improving the quality of three-dimensional images and reducing the interference of nonlinear errors.
The technical purpose of the invention is realized by the following technical scheme: a structured light three-dimensional imaging system comprises a computer, a target object, a camera, a grating generator, a conveyor belt, a motion controller and a projection objective;
the computer is respectively connected with the camera, the grating generator and the motion controller, the camera and the projection objective are sequentially arranged on one side of the conveyor belt, and the grating generator is arranged on the top of the projection objective;
the motion controller is also connected with the conveyor belt, and the target is positioned on the conveyor belt.
In one embodiment, the two cameras are respectively positioned at two sides of the projection objective.
A structured light three-dimensional imaging nonlinear error suppression method comprises the following steps:
s1, shooting an image of the target object by using the structured light three-dimensional imaging system;
s2, processing the image of the target object by using a nonlinear error suppression method;
and S3, reconstructing a high-definition three-dimensional image of the target by adopting a four-step phase shift method.
In one embodiment, the step S2 includes the following steps:
s21, judging whether the image has gamma distortion or not and the gamma distortion degree of the image;
and S22, carrying out gamma correction on the gamma distortion of the image according to the gamma distortion degree of the image.
In one embodiment, the step S21 includes the following steps:
s211, projecting by using sine stripes, wherein if gamma distortion does not exist, the phase value of the sine reverse stripe image is 180 degrees different from the phase value of the original stripe pattern, namely the positions of the stripe wave crest and the wave trough are opposite, and the average light intensity value A obtained by summing a group of stripe patterns with different phase shift amounts is consistent; if gamma distortion exists, the characteristic of the sine stripe pattern is not satisfied, and the summation of a group of stripe patterns with gamma distortion can obtain:
where (x, y) is the coordinate of a pixel on the projection pattern, I n And
is a variable relating to (x, y), I n A light intensity value representing the point (x, y), and->
The light intensity values of the point (x, y) representing different phase shift amounts, A is the average light intensity value of the whole detected environment, gamma is the gamma value of the structured light system and describes the nonlinear distortion degree of the system, B is the light intensity modulation coefficient and reflects the reflectivity of the surface of the detected object, N is the phase shift step number and represents the total number of the stripe images, N is the phase shift serial number which is used for marking the number of a certain stripe image in the whole group of images and>
s212, projecting a plurality of different deltas n The resulting a 'of the raster image is subtracted and the resulting difference Δ a' can be expressed as:
in the above formula, Δ A' follows the sum of δ
When the gamma value γ in the formula in step 1 is equal to 1, that is, when the stripe image has no nonlinear distortion, the calculation formula substituted into Δ a 'can be obtained, the second order and higher harmonics in the stripe pattern are eliminated, and only then Δ a' is always equal to 0, so Δ a 'can be used to determine the degree of nonlinear distortion occurring in the stripe pattern, and when Δ a' =0, the stripe image has no nonlinear distortion; when Δ a' ≠ 0, there is nonlinear distortion of the fringe image.
In one embodiment, the step S212 further includes the following steps:
combining the harmonic terms in the step S212 to obtain:
in one embodiment, the step S22 includes the following steps:
s221, order
The four fringe patterns generated at this time are exactly fringe patterns in the four-step phase shift method, so that the correction process can be completed in the measurement process, the error correction speed is greatly improved, and Δ a' is obtained by using the four-step phase shift method, and can be expressed as follows:
s222, if the gamma coefficient used for correction is gamma ', the corrected structured light image I ' containing the target object ' n Can be written as:
I' n ＝(I n ) γγ′ ；
s223, calculating a gamma coefficient of the system in an iterative manner, and combining the step S221 and the step S222 to obtain an objective function J (γ') as follows:
the gamma coefficient of the system can be found out by reducing the target function to the minimum value; or the gamma coefficients in [ a, b ] can be substituted for comparison, and the corresponding minimum value of the target function is found out;
step S224, substituting the gamma coefficient γ' obtained in step S223 into the formula:
I' n ＝(I n ) γγ′
thus, a corrected structured light image I 'containing the object can be obtained' n 。
The structured light three-dimensional imaging system and the nonlinear error suppression method have the following beneficial effects:
firstly, after a gamma distortion model and nonlinear errors existing in a structured light system are deeply analyzed and researched on the basis of harmonic analysis, a standard for evaluating the nonlinear distortion degree is provided, and an accurate gamma value can be estimated through iterative calculation according to gamma value information contained in a stripe image by an algorithm without introducing complex function calculation;
secondly, a four-step phase shift method is adopted, so that the correction process can be completed in the measurement process, and the correction image does not need to be designed in advance to carry out pre-correction on the system, so that the error correction speed is greatly improved; compared with gamma correction based on a probability distribution function, the gamma correction does not need to be carried out on a standard plane, and the nonlinear correction process of the system is simplified.
Drawings
FIG. 1 is a schematic structural diagram of a structured light three-dimensional imaging system in this embodiment;
fig. 2 is a distorted simulated raster image with gaussian white noise.
In the figure: 1. a computer; 2. an object; 3. a camera; 4. a grating generator; 5. a conveyor belt; 6. a motion controller; 7. a projection objective.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1, a structured light three-dimensional imaging system includes a computer 1, an object 2, a camera 3, a grating generator 4, a conveyor belt 5, a motion controller 6, and a projection objective 7;
the computer 1 is respectively connected with the camera 3, the grating generator 4 and the motion controller 6, the camera 3 and the projection objective 7 are sequentially arranged on one side of the conveyor belt 5, and the grating generator 4 is arranged on the top of the projection objective 7;
the motion controller 6 is also connected to the conveyor 5, and the object 2 is positioned on the conveyor 5.
The object 2 is positioned on the conveyor belt 5, the motion controller 6 controls the switch of the conveyor belt 5, the object 2 can move to different positions, the grating generator 4 projects the grating on the object 2, the camera 3 shoots the image of the object 2 with the grating and uploads the image to the computer 1, and the computer 1 generates a three-dimensional image of the object 2 after processing a plurality of images of the object 2.
Preferably, there are two cameras 3, one on each side of the projection objective 7. The images of the object 2 at different angles are added.
A structured light three-dimensional imaging nonlinear error suppression method comprises the following steps:
s1, shooting an image of a target object 2 by using a structured light three-dimensional imaging system;
s2, processing the image of the target object 2 by using a nonlinear error suppression method;
wherein, step S2 also includes the following steps:
s21, judging whether the image has gamma distortion or not and judging the gamma distortion degree of the image;
specifically, S211, projecting with sine stripes, if there is no gamma distortion, because the phase value of the sine reverse stripe image is 180 degrees different from the phase value of the original stripe pattern, that is, the positions of the stripe peaks and the stripe valleys are opposite, the average light intensity value a obtained by summing a group of stripe patterns with different phase shift amounts is the same; if gamma distortion exists, the characteristic of the sine stripe pattern is not satisfied, and the summation of a group of stripe patterns with gamma distortion can obtain:
where (x, y) is the coordinate of a pixel on the projection pattern, I n And
is a variable relating to (x, y), I n A light intensity value representing the point (x, y), and->
The light intensity value of the point (x, y) representing different phase shift amounts, A is the average light intensity value of the whole measured environment, gamma is the gamma value of the structured light system, which describes the nonlinear distortion degree of the system, B is the light intensity modulation coefficient, which reflects the reflectivity of the measured object surface, and N is the phase shift step number, which represents the fringe patternThe total number of images, n is the number of phase shift, which is used to mark the number of a certain stripe image in the whole group of images and->
S212, projecting a plurality of different deltas n The resulting a 'of the raster image is subtracted and the resulting difference Δ a' can be expressed as:
in the above formula,. DELTA.A' follows.delta.and
When the gamma value γ in the formula of step 1 is equal to 1, that is, when the stripe image has no nonlinear distortion, the calculation formula substituted into Δ a 'can be obtained, the second order and higher harmonics in the stripe pattern are eliminated, and Δ a' is always equal to 0 only at this time, so Δ a 'can be used to determine the degree of nonlinear distortion occurring in the stripe pattern, and when Δ a' =0, the stripe image has no nonlinear distortion; when Δ a' ≠ 0, there is nonlinear distortion of the fringe image.
Preferably, the harmonic terms in the above formula are combined to obtain:
and S22, carrying out gamma correction on the gamma distortion of the image according to the gamma distortion degree of the image.
Specifically, S221, order
The four fringe patterns generated at this time are exactly fringe patterns in the four-step phase shift method, so that the correction process can be completed in the measurement process, the error correction speed is greatly improved, and Δ a 'is obtained by using the four-step phase shift method, and Δ a' can be expressed as:
s222, if the gamma coefficient used for correction is gamma ', the corrected structured light image I ' containing the target object 2 ' n Can be written as:
I' n ＝(I n ) γγ′ ；
s223, calculating the gamma coefficient of the system in an iterative manner, and combining the step S221 and the step S222 to obtain an objective function J (gamma') as follows:
the gamma coefficient of the system can be found out by reducing the target function to the minimum value; or the gamma coefficients in [ a, b ] can be substituted for comparison, and the corresponding minimum value of the target function is found out;
step S224, substituting the gamma coefficient γ' obtained in step S223 into the formula:
I' n ＝(I n ) γγ′
thus, a corrected structured light image I 'containing the object 2 can be obtained' n 。
And S3, reconstructing a high-definition three-dimensional image of the target object 2 by adopting a four-step phase shift method.
Because the four-step phase shift method is adopted in the reconstruction process, the correction process can be completed in the measurement process, the correction image does not need to be designed in advance to carry out pre-correction on the system, and the error correction speed is improved.
As the only alternative embodiment, after the computer 1 obtains the image of the target 2 with the sinusoidal fringe projection, if there is no gamma distortion, since the phase value of the sinusoidal inverse fringe image is 180 degrees different from the phase value of the original fringe pattern, that is, the positions of the fringe peak and the fringe trough are opposite, the average light intensity value a obtained by summing a group of fringe patterns with different phase shift amounts should be consistent; if gamma distortion is present, the characteristic of a sinusoidal fringe pattern is not satisfied. Summing a set of fringe patterns with gamma distortion, one can obtain:
in the above formula (1, 1) is the coordinate of a certain pixel on the projection pattern, I 1 And
is a variable relating to (1, 1), I 1 Indicates the light intensity value at the point (1, 1) of the first stripe image in the whole set of images, and->
The intensity values representing the point (1, 1) of the first fringe image in the entire set of images at different amounts of phase shift.
The average intensity A' obtained in the above formula is apparently about (1, 1) and delta 1 Function of when 1 When varied, A' also follows delta 1 And (4) changing. But is different from delta 1 The resulting a 'of the raster image is subtracted and the resulting difference Δ a' can be expressed as:
in the above formula,. DELTA.A' follows.delta 1 、δ 2 And
when the gamma value gamma in the formula of step 1 is equal to 1, that is, when there is no non-linear distortion in the fringe image, the calculation formula of Δ a 'is substituted to obtain that the second order and higher harmonics in the fringe pattern are eliminated, and only then Δ a' is always equal to 0. Therefore, Δ a 'can be used to judge the degree of nonlinear distortion occurring in the stripe pattern, and when Δ a' =0, there is no nonlinear distortion in the stripe image; when Δ a' ≠ 0, there is nonlinear distortion of the fringe image.
The delta A' of the stripe pattern can be obtained by projecting a plurality of groups of stripe patterns with different deltas, the distortion degree is further judged, and the gamma coefficient gamma of the structured light system is finally determined. In order to accurately judge the gamma coefficient, the peak value of Δ a' should be as large as possible, and the harmonic terms in the formula of step 2 are combined to obtain:
order to
The four fringe patterns generated at this time are exactly fringe patterns in the four-step phase shift method, so that the correction process can be completed in the measurement process, the error correction speed is greatly improved, and Δ a 'is obtained by using the four-step phase shift method, and Δ a' can be expressed as:
preferably, assuming that the gamma coefficient for correction is γ ', the corrected structured light image I ' containing the object 2 ' 1 Can be written as:
I′ 1 ＝(I 1 ) 1.2×γ′
the gamma coefficient of the system is calculated in an iterative manner
And l' 1 ＝(I 1 ) 1.2×γ′ The objective function J (γ') can be derived simultaneously as follows:
the gamma coefficient of the system can be found out by reducing the target function to the minimum value; the gamma coefficients in [0,5] can be brought in for comparison, and the minimum value of the target function is found out to correspond to the minimum value, the implementation of the latter is simpler, and the correction is not required to be carried out on a standard plane, so that the accurate gamma value can be quickly estimated through iterative computation, and the nonlinear correction process of the system is greatly simplified.
The gamma value 1.9 for correction, which is obtained by iterative calculation in the above equation, is substituted into the equation:
I′ 1 ＝(I 1 ) 1.2×1.9
thus, a corrected structured light image I 'containing the object 2 can be obtained' 1 。
The images collected by the two cameras 3 in the structured light imaging system are respectively processed by the nonlinear error suppression method, so that the nonlinear suppression of the structured light stripe images can be realized. And after the nonlinear error suppression is finished, reconstructing a high-definition three-dimensional image of the target object 2 by adopting a four-step phase shift method.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A structured light three-dimensional imaging system is characterized by comprising a computer, an object, a camera, a grating generator, a conveyor belt, a motion controller and a projection objective;
the computer is respectively connected with the camera, the grating generator and the motion controller, the camera and the projection objective are sequentially arranged on one side of the conveyor belt, and the grating generator is arranged on the top of the target object;
the motion controller is also connected to the conveyor belt on which the object is positioned.
2. A structured light imaging system according to claim 1, wherein there are two of said cameras, one on each side of said projection objective.
3. A structured light three-dimensional imaging nonlinear error suppression method, which is characterized in that the structured light three-dimensional imaging system of any one of claims 1-2 is adopted, and the method comprises the following steps:
s1, shooting an image of the target object by using the structured light three-dimensional imaging system;
s2, processing the image of the target object by using a nonlinear error suppression method;
and S3, reconstructing a high-definition three-dimensional image of the target object by adopting a four-step phase shift method.
4. The method for suppressing nonlinear error in structured light three-dimensional imaging according to claim 3, wherein the step S2 includes the steps of:
s21, judging whether the image has gamma distortion or not and the gamma distortion degree of the image;
and S22, carrying out gamma correction on the gamma distortion of the image according to the gamma distortion degree of the image.
5. The method for suppressing nonlinear error in structured light three-dimensional imaging according to claim 4, wherein the step S21 comprises the steps of:
s211, projecting by using sine stripes, wherein if gamma distortion does not exist, the phase value of the sine reverse stripe image is 180 degrees different from the phase value of the original stripe pattern, namely the positions of the stripe wave crest and the wave trough are opposite, and the average light intensity value A obtained by summing a group of stripe patterns with different phase shift amounts is consistent; if gamma distortion exists, the characteristic of the sine stripe pattern is not satisfied, and the summation of a group of stripe patterns with gamma distortion can obtain:
wherein (x, y) is a pixel on the projection patternCoordinates of (A) and (B), I n And
is a variable relating to (x, y), I n A light intensity value representing the point (x, y), and->
The light intensity values of the point (x, y) representing different phase shift amounts, A is the average light intensity value of the whole detected environment, gamma is the gamma value of the structured light system and describes the nonlinear distortion degree of the system, B is the light intensity modulation coefficient and reflects the reflectivity of the surface of the detected object, N is the phase shift step number and represents the total number of the stripe images, N is the phase shift serial number which is used for marking the number of a certain stripe image in the whole group of images and>
s212, projecting a plurality of different deltas n The resulting a 'of the raster image is subtracted and the resulting difference Δ a' can be expressed as:
in the above formula, Δ A' follows the sum of δ
When the gamma value γ in the formula in step 1 is equal to 1, that is, when the stripe image has no nonlinear distortion, the calculation formula substituted into Δ a 'can be obtained, the second order and higher harmonics in the stripe pattern are eliminated, and only then Δ a' is always equal to 0, so Δ a 'can be used to determine the degree of nonlinear distortion occurring in the stripe pattern, and when Δ a' =0, the stripe image has no nonlinear distortion; when Δ a' ≠ 0, there is nonlinear distortion of the fringe image.
6. The method for suppressing nonlinear error in structured light three-dimensional imaging according to claim 5, wherein the step S212 further comprises the steps of:
combining the harmonic terms in the step S212 to obtain:
7. the method for suppressing nonlinear error in structured light three-dimensional imaging according to claim 6, wherein the step S22 comprises the steps of:
s221, order
The four fringe patterns generated at this time are exactly fringe patterns in the four-step phase shift method, so that the correction process can be completed in the measurement process, the error correction speed is greatly improved, and Δ a' is obtained by using the four-step phase shift method, and can be expressed as follows:
s222, if the gamma coefficient used for correction is gamma ', the corrected structured light image I ' containing the target object ' n Can be written as:
I' n ＝(I n ) γγ’ ；
s223, calculating a gamma coefficient of the system in an iterative manner, and combining the step S221 and the step S222 to obtain an objective function J (γ') as follows:
the gamma coefficient of the system can be found out by reducing the target function to the minimum value; or the gamma coefficients in [ a, b ] can be brought in for comparison, and the corresponding minimum value of the target function is found out;
step S224, substituting the gamma coefficient γ' obtained in step S223 into the formula:
I' n ＝(I n ) γγ’
thus, a corrected structured light image I 'containing the object can be obtained' n 。
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