基于编码点约束的线结构光扫描测量关键技术研究

发布时间：2018-01-11 18:00

本文关键词：基于编码点约束的线结构光扫描测量关键技术研究　出处：《中国民航大学》2017年硕士论文　论文类型：学位论文

【摘要】：视觉测量方法中,双目线扫描结构光测量因具备了双目测量系统标定便捷和线结构光测量系统精度高、速度快、测量点密集的优点,逐渐发展为工业工程中最便捷快速的逆向测量手段。其中十字光系统较一字光系统具有一定的先进性,但在技术实现上存在着一些问题。本文围绕双目线结构光测量技术,展开以下研究工作:阐述对比了常见视觉测量的几种技术方法,介绍了线结构光较其他测量方法的特点优势以及重要性。对双目测量系统和一字线结构光进行了研究,分析了一字线结构光技术就扫描效率问题和各向光顺性不佳的局限性进行了分析。同时分析了十字线结构光测量的优势,以及匹配存在多义性的技术难点,确定了十字线形式的结构光扫描测量方案。对相机参数化模型进行了分析,以实验验证的方式,对双目系统的相机内外参进行了标定。对几种图像滤波技术进行了阐述,以实验的方式进行了对比。结合十字光条成像特点与激光成像的特点,最终确定了激光十字线线结构光成像的滤波方案。研究了线结构光的一些光条中心提取方法,结合十字光条成像信息分布的特点确定了其光条中心提取方案,并进行了实验验证,实现了光条中心的提取。阐述了双目立体视觉的测量原理,分析了十字线结构光测量的优越性,以及其在双目立体匹配过程中存在的多义性问题。针对匹配多义性的问题提出了一种附加光平面约束的匹配方法,并通过实验验证了该方法的可行性鲁棒性以及精度的验证。对常用三维重建方法原理进行了研究,分析了其应用于线结构光点云拼接场景的可行性。针对人工非编码特征点在点云匹配中存在歧义性误匹配风险的问题引入了编码特征点,生成了点云数据,并通过实验进行了验证。
[Abstract]:In the vision measurement method, the binocular line scanning structured light measurement has the advantages of convenient calibration of the binocular measurement system, high precision of the line structured light measurement system, high speed and dense measuring points. It has gradually developed into the most convenient and rapid reverse measurement method in industrial engineering, in which the cross light system is more advanced than one word light system. But there are some problems in the realization of the technology. This paper focuses on the binocular line structured light measurement technology, and carries out the following research work: this paper describes and compares several common visual measurement techniques. The advantages and importance of line structured light compared with other measuring methods are introduced. The binocular measurement system and one word line structure light are studied. This paper analyzes the problems of scanning efficiency and the limitation of poor smoothness in each direction by using a word line structured light technology. At the same time, it analyzes the advantages of cross line structured light measurement and the technical difficulties of matching with ambiguity. The structural light scanning measurement scheme in the form of cross line is determined. The parameterized model of camera is analyzed and verified by experiment. The camera internal and external parameters of the binocular system are calibrated. Several image filtering techniques are described and compared by experiments. The characteristics of cross strip imaging and laser imaging are combined. Finally, the filtering scheme of laser cross line structured light imaging is determined, and some methods of extracting the center of line structured light are studied. Combining with the characteristics of the distribution of imaging information of cross light strip, the extraction scheme of optical strip center is determined. The experimental results show that the center of light strip can be extracted. The measurement principle of binocular stereo vision is expounded and the advantages of cross structure light measurement are analyzed. And the problem of polysemy in binocular stereo matching process. A matching method with optical plane constraint is proposed to solve the problem of matching polysemy. The feasibility, robustness and accuracy of the method are verified by experiments. The principle of the commonly used 3D reconstruction method is studied. This paper analyzes the feasibility of its application in line structure light point cloud mosaic, and introduces coding feature points to generate point cloud data in view of the risk of ambiguity mismatch of artificial non-coded feature points in point cloud matching. It is verified by experiments.
【学位授予单位】：中国民航大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41

【参考文献】