便携式数字相位光栅投影全貌测量系统的研究
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摘要
数字相位光栅投影法是非接触、整场测量技术,可以实现快速三维坐标测量。本文设计了基于数字相位光栅投影法的彩色轮廓测量系统,为了实现系统的便携式、快速全貌测量,深入研究了传感器设计、系统标定、靶标设计、全局标定和三维拼接等方面的内容。研究成果在工业设计、生产控制、医疗检测和虚拟现实等领域具有广阔的应用前景。论文的主要研究内容如下:
1.设计DLP投影仪和双摄像机组建的单传感器系统结构,其中DLP和单色摄像机组成三维轮廓测量系统,彩色摄像机用于彩色贴图;分析了物相关系模型,并提出基于立体视觉的颜色渲染模型;
2.研究基于相移法的相位调制和解调算法;分析了降低误差的方法,并对相位展开技术进行全面的介绍,深入研究了Huntley的时域展开技术,实现绝对相位提取;
3.研究物相模型和颜色渲染模型中的参数特性,提出测量模型分析方法,确定模型中的系统参数和变量参数,借助空间映射技术和绝对相位提取技术,建立多项式标定模型;提出新型虚拟空间靶标的设计思路,只需一个平面靶标即可确立空间点阵列;
4.设计新型方向性平面靶标,提出基于共线性规则的拓扑位置定位方法,利用矢量夹角量化三点的共线性,确定靶标像素坐标和世界坐标的对应关系;研究了适应于新型方向性靶标的处理算法。该项技术已申报发明专利;
5.研究了物体全貌测量技术,重点分析了多传感器全貌测量模式,使用平面靶标进行全局标定;提出基于平面靶标的测量数据重叠区域确定方法,提高三维拼接算法中的匹配点选取效率;研究基于Levenberg-Marquardt最优化的三维拼接算法,实现数据整合;
6.采用复杂多边形框选和系统判断结合的方法,对三维数据进行预处理,并提出基于RGB空间颜色边界约束的彩色点云缩减算法,该项技术已申报发明专利;研究了规则点云和杂乱点云的重构算法;设计并开发了基于OpenGL的彩色三维显示和处理平台;
论文在以下方面进行了创新性研究:
1.依据测量模型分析法,设计基于空间映射原理的系统标定算法,并设计新型虚拟空间靶标,仅使用一个平面靶标实现系统快速标定;
2.设计新型方向性平面靶标,提出基于共线性规则的拓扑位置定位方法,研究
了相应的图像处理算法和拓扑定位算法;
3.采用平面靶标对多传感器进行全局标定;并提出基于平面靶标确定重叠区域的方法,实现三维拼接算法中的匹配点快速查找,进行全貌数据的整合;
4.设计三维数据半自动化剔除杂点算法,并提出基于RGB空间颜色约束的点云缩减算法,实现对彩色点云数据的预处理。
The digital fringe projection profilomentry(DFPP) is non-conact and full-field 3D coordinate technique. To implement portable whole-profile measurement for color object, in this thesis a novel profile measurement method is developed based on the DFPP. The research efforts being made in this thesis include sensor design, system calibration, directional pattern design, global system calibration and 3D registration technique and etc. This is a promising method, which can be used in the fields of industrial design, quality control, medical inspection and virtual reality and etc. The major contributions of this thesis are listed as follows,
1. The structure of sensor is established using DLP projection and double-CCD cameras. The unicolor CCD and DLP take charge of the 3D coordinate measuring, and the color CCD captures the color information and renders the coordinated model. The model of coordinate-phase relation is analyzed. And the color rendering algorithm based on stereo vision theory is proposed.
2. The phase modulation and unwrapping algorithm of phase shifting technique is analyzed theoretically. The noise-reducing method of phase extraction is introduced as the decisional standard of phase shifting algorithm. The temporal phase unwrapping technique is emphasized in the paper because it can extract the absolute phase easily.
3. The parameters of coordinate-phase and color rendering model are divided into two kinds, system parameters and variable. According to the proposed analysis method based on measuring model, the simple space mapping model is established as a replacer with n-order polynomial. A novel virtual space pattern is proposed to provide the given points with only one-plane pattern.
4. A novel directional pattern is designed, and the mapping location algorithm for the proposed pattern is presented at the same time. The mapping relations of pixel coordinate and world coordinate can be defined by the collinear constrain. The process algorithm and flow for the novel pattern are designed.
5. The whole-scale measuring technique is researched. The emphasis is placed on the whole-scale measuring with multi-sensors, whose position relations are calibrated with one-plane globally. The overlap definition of measured data based on pattern is presented to improve the efficiency of matching in 3D registration algorithm. And the registration strategy based on Levenberg-Marquardt optimization is analyzed to merge data.
6. Automatic system decision and manual non-simple polygon selection methods are applied to eliminate unwanted and noise data successfully, which possibly makes improper color models reconstructed. A data reduction method is presented based on Grid reduction method considering color-boundary preservation. The reconstruction method is introduced in details, and the display and processing platform is developed based on OpenGL.
The creative work of this thesis includes:
1. The simple space mapping calibration model is established with n-order polynomial according to the proposed analysis method of measuring model. The novel virtual space pattern is designed to calibrate system rapidly only with one-plane pattern.
2. A novel directional pattern is presented with the mapping location algorithm based one the collinear constrain. The process algorithm and flow for the novel pattern are designed.
3. The same plane pattern is also applied to the global calibration of multi-sensors. The overlap definition of measured data based on pattern is presented for improving the efficiency of matching in 3D registration algorithm.
4. Automatic system decision and manual non-simple polygon selection method is applied to eliminate unwanted and noise data. A data reduction method is presented based on Grid reduction method considering color-boundary preservation in RGB color space.
1.设计DLP投影仪和双摄像机组建的单传感器系统结构,其中DLP和单色摄像机组成三维轮廓测量系统,彩色摄像机用于彩色贴图;分析了物相关系模型,并提出基于立体视觉的颜色渲染模型;
2.研究基于相移法的相位调制和解调算法;分析了降低误差的方法,并对相位展开技术进行全面的介绍,深入研究了Huntley的时域展开技术,实现绝对相位提取;
3.研究物相模型和颜色渲染模型中的参数特性,提出测量模型分析方法,确定模型中的系统参数和变量参数,借助空间映射技术和绝对相位提取技术,建立多项式标定模型;提出新型虚拟空间靶标的设计思路,只需一个平面靶标即可确立空间点阵列;
4.设计新型方向性平面靶标,提出基于共线性规则的拓扑位置定位方法,利用矢量夹角量化三点的共线性,确定靶标像素坐标和世界坐标的对应关系;研究了适应于新型方向性靶标的处理算法。该项技术已申报发明专利;
5.研究了物体全貌测量技术,重点分析了多传感器全貌测量模式,使用平面靶标进行全局标定;提出基于平面靶标的测量数据重叠区域确定方法,提高三维拼接算法中的匹配点选取效率;研究基于Levenberg-Marquardt最优化的三维拼接算法,实现数据整合;
6.采用复杂多边形框选和系统判断结合的方法,对三维数据进行预处理,并提出基于RGB空间颜色边界约束的彩色点云缩减算法,该项技术已申报发明专利;研究了规则点云和杂乱点云的重构算法;设计并开发了基于OpenGL的彩色三维显示和处理平台;
论文在以下方面进行了创新性研究:
1.依据测量模型分析法,设计基于空间映射原理的系统标定算法,并设计新型虚拟空间靶标,仅使用一个平面靶标实现系统快速标定;
2.设计新型方向性平面靶标,提出基于共线性规则的拓扑位置定位方法,研究
了相应的图像处理算法和拓扑定位算法;
3.采用平面靶标对多传感器进行全局标定;并提出基于平面靶标确定重叠区域的方法,实现三维拼接算法中的匹配点快速查找,进行全貌数据的整合;
4.设计三维数据半自动化剔除杂点算法,并提出基于RGB空间颜色约束的点云缩减算法,实现对彩色点云数据的预处理。
The digital fringe projection profilomentry(DFPP) is non-conact and full-field 3D coordinate technique. To implement portable whole-profile measurement for color object, in this thesis a novel profile measurement method is developed based on the DFPP. The research efforts being made in this thesis include sensor design, system calibration, directional pattern design, global system calibration and 3D registration technique and etc. This is a promising method, which can be used in the fields of industrial design, quality control, medical inspection and virtual reality and etc. The major contributions of this thesis are listed as follows,
1. The structure of sensor is established using DLP projection and double-CCD cameras. The unicolor CCD and DLP take charge of the 3D coordinate measuring, and the color CCD captures the color information and renders the coordinated model. The model of coordinate-phase relation is analyzed. And the color rendering algorithm based on stereo vision theory is proposed.
2. The phase modulation and unwrapping algorithm of phase shifting technique is analyzed theoretically. The noise-reducing method of phase extraction is introduced as the decisional standard of phase shifting algorithm. The temporal phase unwrapping technique is emphasized in the paper because it can extract the absolute phase easily.
3. The parameters of coordinate-phase and color rendering model are divided into two kinds, system parameters and variable. According to the proposed analysis method based on measuring model, the simple space mapping model is established as a replacer with n-order polynomial. A novel virtual space pattern is proposed to provide the given points with only one-plane pattern.
4. A novel directional pattern is designed, and the mapping location algorithm for the proposed pattern is presented at the same time. The mapping relations of pixel coordinate and world coordinate can be defined by the collinear constrain. The process algorithm and flow for the novel pattern are designed.
5. The whole-scale measuring technique is researched. The emphasis is placed on the whole-scale measuring with multi-sensors, whose position relations are calibrated with one-plane globally. The overlap definition of measured data based on pattern is presented to improve the efficiency of matching in 3D registration algorithm. And the registration strategy based on Levenberg-Marquardt optimization is analyzed to merge data.
6. Automatic system decision and manual non-simple polygon selection methods are applied to eliminate unwanted and noise data successfully, which possibly makes improper color models reconstructed. A data reduction method is presented based on Grid reduction method considering color-boundary preservation. The reconstruction method is introduced in details, and the display and processing platform is developed based on OpenGL.
The creative work of this thesis includes:
1. The simple space mapping calibration model is established with n-order polynomial according to the proposed analysis method of measuring model. The novel virtual space pattern is designed to calibrate system rapidly only with one-plane pattern.
2. A novel directional pattern is presented with the mapping location algorithm based one the collinear constrain. The process algorithm and flow for the novel pattern are designed.
3. The same plane pattern is also applied to the global calibration of multi-sensors. The overlap definition of measured data based on pattern is presented for improving the efficiency of matching in 3D registration algorithm.
4. Automatic system decision and manual non-simple polygon selection method is applied to eliminate unwanted and noise data. A data reduction method is presented based on Grid reduction method considering color-boundary preservation in RGB color space.
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