三维结构光视觉测量设备研制
发布时间：2018-10-18 14:18
【摘要】：三维结构光视觉测量设备是实现非接触式三维测量的一种全自动高精度立体扫描测量设备。通过结构光扫描的方式测量物体表面上点的三维坐标值,得到物体表面上点的立体信息,并利用计算机软件处理后得到物体的三维模型。具有便携、非接触、精度高等优点,广泛应用于工业设计、质量检测、逆向工程等多个领域。测量设备的精度是其重要技术指标,而照明设备内参数标定问题和照明设备与成像设备之间空间位置关系标定问题、高光反射等对成像质量和精度有直接的影响,需要对设备进行相机内参数标定、光学投射器内参数标定以及二者之间空间位姿关系进行标定,对高光反射图像进行抑制高光反射处理与高光去除。本课题主要描述三维结构光视觉测量设备的设计与实现。本文首先论述了空间结构光原理及视觉测量设备的总体结构设计,介绍了结构光编码的两种方法,分析影响精度的因素,设计整个实验的测量流程,根据实验所需要的各项性能指标,对相机、光学投射器以及电气设备进行选型。本文论述了光学投射器和相机的成像控制,分析了对结构光编码、解码、匹配方法形式化,采用格雷码结合相位编码的照明方式,分析影响解码匹配精度的因素,实现了光学投射器触发与相机的同步控制和对光学投射器的信号源和光源进行了控制,为后续工作提供基础。本文分析了测量系统的特点和技术指标,对相机标定、投射器标定、相机和投射器空间关系标定算法进行形式化仿真,实现软件工程化,对视觉测量系统进行相机内参数标定、光学投射器内参数标定以及光学投射器与相机空间位姿关系标定。并对它们进行了精度评价和图像校正。本文最后对低反射物体及高光反射物体分别做测量实验,对测量结果进行分析,针对三维结构光视觉测量设备的特点提出了细节区域和高光反射区域的测量方法,对高光反射现象用插值填充图像区域的方法,恢复受损坏的图像、从图像中去除物体或降低图像噪声,最后测量实验结果精度达到目标要求。
[Abstract]:The 3D structured light vision measuring equipment is a kind of automatic and high precision stereoscopic scanning measuring equipment to realize the non-contact 3D measurement. The 3D coordinate values of the points on the surface of the object are measured by means of structured light scanning, and the three-dimensional information of the points on the surface of the object is obtained, and the three-dimensional model of the object is obtained after processing by the computer software. With the advantages of portable, non-contact and high precision, it is widely used in many fields, such as industrial design, quality detection, reverse engineering and so on. The accuracy of measuring equipment is an important technical index. However, the calibration problem of the parameters in the lighting equipment and the calibration of the spatial position relationship between the lighting equipment and the imaging equipment, and the high light reflection have a direct effect on the imaging quality and accuracy. It is necessary to calibrate the camera parameters, the parameters of the optical projector and the spatial orientation relationship between them, and to suppress the specular reflection and remove the speckle from the high light reflection image. This paper mainly describes the design and implementation of three-dimensional structured light vision measuring equipment. In this paper, the principle of spatial structure light and the overall structure design of vision measuring equipment are discussed, two methods of structure-light coding are introduced, the factors influencing the precision are analyzed, and the measuring flow of the whole experiment is designed. The camera, optical projector and electrical equipment are selected according to the performance index of the experiment. This paper discusses the imaging control of optical projectors and cameras, analyzes the formalization of structured light coding, decoding and matching methods, and analyzes the factors that affect the precision of decoding and matching by using the illumination mode of Graycode combined with phase coding. The synchronous control of the trigger of the optical projector and the camera and the control of the signal source and the light source of the optical projector are realized, which provides the basis for further work. In this paper, the characteristics and technical specifications of the measurement system are analyzed. The formal simulation of camera calibration, projector calibration, camera and projector spatial relationship calibration algorithm is carried out to realize software engineering, and the camera parameters are calibrated to the visual measurement system. The calibration of the internal parameters of the optical projector and the relationship between the optical projector and the camera spatial position and pose. The accuracy evaluation and image correction are carried out. In the end of this paper, the low reflection object and the high light reflection object are measured separately, and the measurement results are analyzed. According to the characteristics of 3D structured light vision measuring equipment, the measuring methods of the detail region and the high light reflection area are put forward. The method of filling the image region with interpolation is used to restore the damaged image, remove the object from the image or reduce the image noise. Finally, the precision of the experimental results reaches the target.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41
本文编号：2279390
[Abstract]:The 3D structured light vision measuring equipment is a kind of automatic and high precision stereoscopic scanning measuring equipment to realize the non-contact 3D measurement. The 3D coordinate values of the points on the surface of the object are measured by means of structured light scanning, and the three-dimensional information of the points on the surface of the object is obtained, and the three-dimensional model of the object is obtained after processing by the computer software. With the advantages of portable, non-contact and high precision, it is widely used in many fields, such as industrial design, quality detection, reverse engineering and so on. The accuracy of measuring equipment is an important technical index. However, the calibration problem of the parameters in the lighting equipment and the calibration of the spatial position relationship between the lighting equipment and the imaging equipment, and the high light reflection have a direct effect on the imaging quality and accuracy. It is necessary to calibrate the camera parameters, the parameters of the optical projector and the spatial orientation relationship between them, and to suppress the specular reflection and remove the speckle from the high light reflection image. This paper mainly describes the design and implementation of three-dimensional structured light vision measuring equipment. In this paper, the principle of spatial structure light and the overall structure design of vision measuring equipment are discussed, two methods of structure-light coding are introduced, the factors influencing the precision are analyzed, and the measuring flow of the whole experiment is designed. The camera, optical projector and electrical equipment are selected according to the performance index of the experiment. This paper discusses the imaging control of optical projectors and cameras, analyzes the formalization of structured light coding, decoding and matching methods, and analyzes the factors that affect the precision of decoding and matching by using the illumination mode of Graycode combined with phase coding. The synchronous control of the trigger of the optical projector and the camera and the control of the signal source and the light source of the optical projector are realized, which provides the basis for further work. In this paper, the characteristics and technical specifications of the measurement system are analyzed. The formal simulation of camera calibration, projector calibration, camera and projector spatial relationship calibration algorithm is carried out to realize software engineering, and the camera parameters are calibrated to the visual measurement system. The calibration of the internal parameters of the optical projector and the relationship between the optical projector and the camera spatial position and pose. The accuracy evaluation and image correction are carried out. In the end of this paper, the low reflection object and the high light reflection object are measured separately, and the measurement results are analyzed. According to the characteristics of 3D structured light vision measuring equipment, the measuring methods of the detail region and the high light reflection area are put forward. The method of filling the image region with interpolation is used to restore the damaged image, remove the object from the image or reduce the image noise. Finally, the precision of the experimental results reaches the target.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41
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