CN115900580B - 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, which have the technical scheme that: 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; s3, reconstructing a high-definition three-dimensional image of the target object by adopting a four-step phase shift method. According to the invention, after the gamma distortion model and nonlinear errors existing in the structural light system are subjected to deep analysis and research on the basis of harmonic analysis, a standard for evaluating the nonlinear distortion degree is provided, and an algorithm can estimate an accurate gamma value through iterative calculation through gamma value information contained in a stripe image without introducing complex function calculation.
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 last decades, three-dimensional object reconstruction technology is increasingly widely applied in industry and daily life, and a series of three-dimensional reconstruction algorithms are also created. One representative type of three-dimensional measurement method is structured light. The structured light measurement technology is an active optical measurement method, obtains three-dimensional information of a measured object by projecting a coded grating, and has wide research in the fields of reverse engineering, digital modeling, calculation and measurement and the like.
However, the actual measurement of structured light is not an ideal, perfectly accurate process, and various factors affect the final imaging during the projection of the fringe grating and the shooting of the camera. On the one hand, electronic noise and photon noise generated by the camera at the time of imaging are unavoidable; on the other hand, the structured light image can generate certain Gaussian noise due to the coefficient change of the element in the process of transmitting in the system. At present, any nonlinear error correction algorithm has the problems of complex preparation flow, 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 structured light three-dimensional imaging field, and the development of more advanced imaging algorithms with stronger nonlinear error suppression is very helpful for the application and development of three-dimensional object reconstruction technology.
Disclosure of Invention
Aiming at the defects existing 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 nonlinear error interference.
The technical aim 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 to the conveyor belt, and the object is located on the conveyor belt.
In one embodiment, the cameras are two, and 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;
s3, reconstructing a high-definition three-dimensional image of the target object by adopting a four-step phase shift method.
In one embodiment, the step S2 includes the steps of:
S21, judging whether the image has gamma distortion and the gamma distortion degree of the image;
S22, gamma correction is carried out on the gamma distortion of the image according to the gamma distortion degree of the image.
In one embodiment, the step S21 includes the steps of:
S211, projecting by using sine stripes, if gamma distortion does not exist, because the phase value of a sine reverse stripe image is 180 degrees different from the phase value of an original stripe pattern, namely the positions of stripe peaks and stripe troughs are opposite, and at the moment, 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 a sinusoidal fringe pattern is not satisfied, and the summation of a group of fringe patterns with gamma distortion can be obtained:
Wherein (x, y) is the coordinates of a pixel on the projection pattern, I n and Is a variable related to (x, y), I n represents the light intensity value at the point of (x, y), and/>The light intensity values representing the point of (x, y) of different phase shift amounts, A is the average light intensity value of the whole measured environment, gamma represents the gamma value of a structured light system, which describes the nonlinear distortion degree of the system, B is the light intensity modulation coefficient, reflects the reflectivity of the surface of the measured object, N is the phase shift step number, represents the total number of stripe images, N is the phase shift sequence number, is used for marking the number of a certain stripe image in the whole group of images, and/>
S212, subtracting A 'obtained by projecting a plurality of grating images of different delta n, wherein the obtained difference delta A' can be expressed as:
in the above formula, ΔA' follows the sum of delta When the gamma value gamma in the formula of the step 1 is equal to 1, that is, when the stripe image has no nonlinear distortion, the calculation formula of the delta A 'is obtained, the second order and more harmonics in the stripe pattern are eliminated, and only when the delta A' is equal to 0, therefore, the delta A 'can be used for judging the degree of nonlinear distortion of the stripe pattern, and when the delta A' =0, the stripe image has no nonlinear distortion; when Δa' noteq0, there is nonlinear distortion of the streak image.
In one embodiment, the step S212 further includes the steps of:
Combining the harmonic terms in the step S212 to obtain:
in one embodiment, the step S22 includes the steps of:
S221, order The four stripe patterns generated at this time are just stripe 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 the delta A 'and delta A' obtained by using the four-step phase shift method can be expressed as:
s222, let the gamma coefficient used for correction be γ ', then the corrected structured light image I' n containing the object may be written as:
I'n＝(In)γγ′；
s223, calculating the gamma coefficient of the system in an iterative mode, 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 objective function to the minimum value; the gamma coefficients in [ a, b ] can be brought into comparison, and the minimum value of the objective function can be found out;
step S224, the gamma coefficient γ' obtained in the step S223 is introduced into the formula:
I'n＝(In)γγ′
The corrected structured light image I' n containing the target object can be obtained.
The structured light three-dimensional imaging system and the nonlinear error suppression method have the following beneficial effects:
firstly, after deep analysis and research are carried out on a gamma distortion model and nonlinear errors existing in a structural light system on the basis of harmonic analysis, a standard for evaluating the nonlinear distortion degree is provided, an algorithm can estimate an accurate gamma value through iterative calculation through gamma value information contained in a stripe image, and calculation of a complex function is not required to be introduced;
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 perform pre-correction on the system, thereby greatly improving the error correction speed; compared with gamma correction based on probability distribution function, correction on a standard plane is not needed, and the flow of nonlinear correction of the system is simplified.
Drawings
FIG. 1 is a schematic diagram of a structured light three-dimensional imaging system in the present embodiment;
Fig. 2 is a distorted simulated raster image with gaussian white noise.
In the figure: 1. a computer; 2. a target; 3. a camera; 4. a grating generator; 5. a conveyor belt; 6. a motion controller; 7. and a projection objective.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, a structured light three-dimensional imaging system comprises a computer 1, a target 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 belt 5, and the object 2 is located on the conveyor belt 5.
The object 2 is located on the conveyor belt 5, the motion controller 6 controls the opening and closing 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 images of the object 2 with the grating and uploads the images to the computer 1, and the computer 1 generates three-dimensional images 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 further comprises the following steps:
S21, judging whether the image has gamma distortion and the gamma distortion degree of the image;
Specifically, S211, projecting by using sine stripes, if gamma distortion does not exist, because the phase value of a sine reverse stripe image is 180 degrees different from the phase value of the original stripe pattern, namely the positions of the stripe peaks and the stripe troughs 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 a sinusoidal fringe pattern is not satisfied, and the summation of a group of fringe patterns with gamma distortion can be obtained:
Wherein (x, y) is the coordinates of a pixel on the projection pattern, I n and Is a variable related to (x, y), I n represents the light intensity value at the point of (x, y), and/>The light intensity values representing the point of (x, y) of different phase shift amounts, A is the average light intensity value of the whole measured environment, gamma represents the gamma value of a structured light system, which describes the nonlinear distortion degree of the system, B is the light intensity modulation coefficient, reflects the reflectivity of the surface of the measured object, N is the phase shift step number, represents the total number of stripe images, N is the phase shift sequence number, is used for marking the number of a certain stripe image in the whole group of images, and/>
S212, subtracting A 'obtained by projecting a plurality of grating images of different delta n, wherein the obtained difference delta A' can be expressed as:
in the above formula, ΔA' follows the sum of delta When the gamma value gamma in the formula of the step 1 is equal to 1, that is, when the stripe image has no nonlinear distortion, the calculation formula of the delta A 'is obtained, the second order and more harmonics in the stripe pattern are eliminated, and only when the delta A' is equal to 0, therefore, the delta A 'can be used for judging the degree of nonlinear distortion of the stripe pattern, and when the delta A' =0, the stripe image has no nonlinear distortion; when Δa' noteq0, there is nonlinear distortion of the streak image.
Preferably, the harmonic terms in the above formula are combined to obtain:
S22, gamma correction is carried out on the gamma distortion of the image according to the gamma distortion degree of the image.
Specifically, S221, orderThe four stripe patterns generated at this time are just stripe 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 the delta A 'and delta A' obtained by using the four-step phase shift method can be expressed as:
S222, let the gamma coefficient used for correction be γ ', then the corrected structured light image I' n containing the object 2 can be written as:
I'n＝(In)γγ′；
s223, calculating the gamma coefficient of the system in an iterative mode, 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 objective function to the minimum value; the gamma coefficients in [ a, b ] can be brought into comparison, and the minimum value of the objective function can be found out;
Step S224, the gamma coefficient gamma' obtained in step S223 is introduced into the formula:
I'n＝(In)γγ′
The corrected structured light image I' n containing the object 2 can be obtained.
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, and the correction image does not need to be designed in advance to pre-correct the system, so that the error correction speed is improved.
As the only alternative embodiment, after the computer 1 obtains the image of the object 2 with sinusoidal fringe projection, if there is no gamma distortion, since the phase value of the sinusoidal inverted fringe image is 180 degrees different from the phase value of the original fringe pattern, that is, the positions of the fringe peaks and troughs 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 exists, the characteristic of a sinusoidal fringe pattern is not satisfied. Summing a set of fringe patterns with gamma distortion can result in:
Wherein (1, 1) is the coordinates of a pixel on the projection pattern, I 1 and Is a variable related to (1, 1), I 1 represents the light intensity value of the first stripe image in the whole set of images at this point (1, 1), and/>Representing the intensity value of the first stripe image in the whole set of images at the point (1, 1) of different phase shift amounts.
The average intensity A 'obtained in the above equation is obviously a function of (1, 1) and delta 1, A' also varying with delta 1 when delta 1 varies. And the differences Δa 'obtained by subtracting a' from the grating images of the different δ 1 can be expressed as:
In the above formula, delta A' is the sum of delta 1、δ2 When the gamma value gamma in the formula of step 1 is equal to 1, that is, when the stripe image has no nonlinear distortion, the calculation formula of the delta A 'can be obtained, the second order and above harmonic waves in the stripe pattern are eliminated, and only then the delta A' is equal to 0. Thus, Δa 'can be used to determine the degree of nonlinear distortion that occurs in the fringe pattern, where no nonlinear distortion exists in the fringe image when Δa' =0; when Δa' noteq0, there is nonlinear distortion of the streak image.
The delta A' of the stripe patterns can be obtained by projecting a plurality of groups of stripe patterns with different delta, the distortion degree is further judged, and the gamma coefficient gamma of the structured light system is finally determined. In order to accurately determine the gamma coefficient, the peak value of Δa' should be as large as possible, and the harmonic terms in the formula of step 2 are combined to obtain:
Order the The four stripe patterns generated at this time are just stripe 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 the delta A 'and delta A' obtained by using the four-step phase shift method can be expressed as:
Preferably, assuming that the gamma coefficient used for correction is γ ', the corrected structured-light image I' 1 containing the object 2 can be written as:
I′1＝(I1)1.2×γ′
The gamma coefficient of the system is calculated in an iterative mode, and The objective function J (γ ') available in conjunction with I' 1＝(I1)1.2×γ′ is as follows:
The gamma coefficient of the system can be found out by reducing the objective function to the minimum value; the gamma coefficients in [0,5] can be brought to be compared, the minimum value of the objective function is found out, the implementation of the minimum value of the objective function is simpler, correction on a standard plane is not needed, and therefore the accurate gamma value can be estimated quickly through iterative calculation, and the nonlinear correction flow of the system is greatly simplified.
The gamma value 1.9 for correction obtained by iterative calculation in the above formula is introduced into the formula:
I′1＝(I1)1.2×1.9
The corrected structured light image I' 1 containing the object 2 can be obtained.
The nonlinear error suppression method is respectively carried out on the images acquired by the two cameras 3 in the structured light imaging system, so that nonlinear suppression of the structured light stripe image can be realized. After the nonlinear error suppression is completed, a four-step phase shift method is adopted to realize the high-definition three-dimensional image reconstruction of the target object 2.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (2)
1. The method for suppressing nonlinear errors of structured light three-dimensional imaging is characterized by comprising the following steps of:
s1, constructing a structured light three-dimensional imaging system, and shooting an image of a 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;
s3, reconstructing a high-definition three-dimensional image of the target object by adopting a four-step phase shift method;
The 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 target object;
The motion controller is also connected with the conveyor belt, and the target object is positioned on the conveyor belt;
the step S2 includes the steps of:
S21, judging whether the image has gamma distortion and the gamma distortion degree of the image;
S22, gamma correction is carried out on gamma distortion of the image according to the gamma distortion degree of the image;
the step S21 includes the steps of:
S211, projecting by using sine stripes, if gamma distortion does not exist, because the phase value of a sine reverse stripe image is 180 degrees different from the phase value of an original stripe pattern, namely the positions of stripe peaks and stripe troughs are opposite, and at the moment, 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 a sinusoidal fringe pattern is not satisfied, and a group of fringe patterns with gamma distortion is summed to obtain:
(x, y) is the coordinates of a pixel on the projected pattern, I n and Is a variable related to (x, y), I n represents the light intensity value at the point of (x, y), and/>The light intensity values representing the point of (x, y) of different phase shift amounts, A is the average light intensity value of the whole measured environment, gamma represents the gamma value of a structured light system, which describes the nonlinear distortion degree of the system, B is the light intensity modulation coefficient, reflects the reflectivity of the surface of the measured object, N is the phase shift step number, represents the total number of stripe images, N is the phase shift sequence number, is used for marking the number of a certain stripe image in the whole group of images, and/>
S212, subtracting A 'obtained by projecting a plurality of grating images of different delta n, wherein the obtained difference delta A' is expressed as:
in the above formula, ΔA' follows the sum of delta When the gamma value gamma in the formula of the step 1 is equal to 1, that is, when the stripe image has no nonlinear distortion, the calculation formula of the delta A 'is obtained, the second order and more harmonics in the stripe pattern are eliminated, and only when the delta A' is equal to 0, therefore, the delta A 'can be used for judging the degree of nonlinear distortion of the stripe pattern, and when the delta A' =0, the stripe image has no nonlinear distortion; when deltaa' noteq0, there is a nonlinear distortion of the streak image;
The step S212 further includes the steps of:
Combining the harmonic terms in the step S212 to obtain:
the step S22 includes the steps of:
S221, order The four stripe patterns generated at this time are just stripe 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 the four-step phase shift method is used for obtaining delta A ', delta A' which is expressed as:
S222, let the gamma coefficient used for correction be gamma ', then the corrected structured light image I' n containing the target object is written as:
I'n＝(In)γγ′；
S223, calculating the gamma coefficient of the system in an iterative mode, and combining the step S221 and the step S222 to obtain an objective function J (gamma') as follows:
the gamma coefficient of the system is found out by reducing the objective function to the minimum value;
step S224, the gamma coefficient γ' obtained in the step S223 is introduced into the formula:
I'n＝(In)γγ′
And obtaining a corrected structured light image I' n containing the target object.
2. The structured light three-dimensional imaging nonlinear error suppression method according to claim 1, characterized by: the number of the cameras is two, and the cameras are respectively positioned at two sides of the projection objective.
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