本文選題：三維掃描測量　切入點：圖像處理　出處：《吉林大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：本文對于三維激光測量儀的關(guān)鍵技術(shù)進(jìn)行了研究，包括系統(tǒng)結(jié)構(gòu)、二維圖像處理、三維坐標(biāo)重建、點云后期處理等幾個技術(shù)方面。針對每一項關(guān)鍵技術(shù)都說明了其技術(shù)路線，制定了解決方案，并且實現(xiàn)了每一部分的功能，完成了三維激光測量儀的整體設(shè)計與關(guān)鍵技術(shù)的研究工作。 采用上下位機串口通信的方式建立了系統(tǒng)結(jié)構(gòu)，設(shè)計了基于步進(jìn)電機的掃描式測量方式，基于線激光光源采用了光刀掃描的測量方法，運用CCD相機獲取結(jié)構(gòu)光圖像，從而完成了三維激光測量儀的結(jié)構(gòu)設(shè)計。 在二維圖像處理中，采用經(jīng)典的steger算法對于結(jié)構(gòu)光圖像的條紋中心進(jìn)行了提取，又利用網(wǎng)格分割的方式減少了圖像處理的計算量，簡化了算法，并輸出了二維坐標(biāo)集合的結(jié)果形式。在論文中，對于一幅結(jié)構(gòu)光照射于人體的圖像進(jìn)了二維圖像處理，測量結(jié)果比較理想，驗證了算法的可行性。 在三維重建中，利用已知尺寸參數(shù)的黑白棋盤格定標(biāo)板對系統(tǒng)的圖像放大倍數(shù)進(jìn)行了標(biāo)定，根據(jù)旋轉(zhuǎn)掃描測量的結(jié)構(gòu)，結(jié)合空間立體幾何相關(guān)知識，推導(dǎo)出二維像素點坐標(biāo)的三維尺寸坐標(biāo)重建算法。設(shè)計了三個傳感器的測量結(jié)構(gòu)，實現(xiàn)對被測物體側(cè)面的360度測量，利用坐標(biāo)系的旋轉(zhuǎn)推導(dǎo)了三個傳感器的三維重建算法，獲取了點云的初始數(shù)據(jù)。 在對點云進(jìn)行后期處理的研究工作中，分析了系統(tǒng)模型和算法的誤差來源，，根據(jù)旋轉(zhuǎn)式掃描中物距為變參量這一問題，指出了三維重建算法存在的不足，提出了修改方案。采用了變物距的迭代修正算法，對點云初始數(shù)據(jù)進(jìn)行迭代修正，并通過實驗對算法進(jìn)行驗證。實驗中，對原始點云數(shù)據(jù)抽樣，利用抽樣點計算目標(biāo)函數(shù)，將計算的函數(shù)值與測量真實值進(jìn)行對比。通過多次修正，驗證了該算法可以減小測量誤差，并且具有收斂性。對于多點云的拼接問題，在經(jīng)典的ICP算法原理基礎(chǔ)上，采用改進(jìn)的ICP算法，計算“點對”的權(quán)重，提高了運算效率。采用M-估計改進(jìn)了目標(biāo)函數(shù)，從而去掉了空間異常點的干擾，使得點云數(shù)據(jù)更加精確，提高了三維測量儀的測量精度。 最后對于三維測量儀的關(guān)鍵技術(shù)進(jìn)行了總結(jié)與展望，提出了測量儀的改進(jìn)空間和發(fā)展前景。本文從結(jié)構(gòu)、各組件的參數(shù)、技術(shù)路線、算法原理與驗證等多方面對三維激光測量儀的關(guān)鍵技術(shù)進(jìn)行了研究，分析了各個關(guān)鍵技術(shù)的優(yōu)點與不足，提出并實現(xiàn)了其解決方案，系統(tǒng)全面地研究論證了三維激光測量儀的實現(xiàn)方案，為三維激光測量儀的產(chǎn)業(yè)化生產(chǎn)研發(fā)提供了有效的技術(shù)依據(jù)。希望通過本文對于三維測量技術(shù)的研究工作，能讓人們了解三維激光測量儀的構(gòu)造，原理和功能，能給相關(guān)領(lǐng)域的科學(xué)工作者帶來借鑒的意義，推動促進(jìn)三維測量產(chǎn)業(yè)的發(fā)展。
[Abstract]:In this paper, the key technologies of 3D laser measuring instrument are studied, including system structure, 2D image processing, 3D coordinate reconstruction, point cloud post-processing and so on. The solution is made and the function of each part is realized. The whole design of 3D laser measuring instrument and the research of key technology are completed. The structure of the system is established by serial communication between upper and lower computers. The scanning measurement method based on stepping motor is designed. The scanning method of optical knife is used based on the line laser light source, and the structured light image is obtained by CCD camera. Thus, the structure design of the three-dimensional laser measuring instrument is completed. In two-dimensional image processing, the classic steger algorithm is used to extract the fringe center of structured light image, and the grid segmentation is used to reduce the computation of image processing and simplify the algorithm. The result form of two-dimensional coordinate set is outputted. In this paper, an image of human body irradiated by structured light is processed, and the measurement result is ideal, which verifies the feasibility of the algorithm. In 3D reconstruction, the image magnification of the system is calibrated by using the black-and-white checkerboard calibration board with known size parameters. According to the structure of the rotational scanning measurement and the related knowledge of spatial solid geometry, the image magnification of the system is calibrated. The 3D dimension coordinate reconstruction algorithm of two-dimensional pixel coordinate is derived. The measurement structure of three sensors is designed to measure 360 degrees of the measured object side, and the 3D reconstruction algorithm of the three sensors is deduced by the rotation of coordinate system. The initial data of the point cloud is obtained. In the research of point cloud post-processing, the error source of the system model and algorithm is analyzed. According to the problem that the distance is variable parameter in rotary scanning, the deficiency of 3D reconstruction algorithm is pointed out. A modified scheme is proposed. The point cloud initial data is modified iteratively by using the variable distance iterative correction algorithm, and the algorithm is verified by experiments. In the experiment, the object function is calculated by sampling the original point cloud data, using the sampling point to calculate the objective function, The calculated function value is compared with the measured real value. Through several revisions, it is verified that the algorithm can reduce the measurement error and has convergence. For the multi-point cloud splicing problem, on the basis of the classical ICP algorithm principle, By using the improved ICP algorithm, the weight of "point pair" is calculated, and the operation efficiency is improved. The objective function is improved by using M- estimation, which eliminates the interference of the spatial outliers and makes the point cloud data more accurate. The measuring accuracy of the three-dimensional measuring instrument is improved. Finally, the key technology of the 3D measuring instrument is summarized and prospected, and the improvement space and development prospect of the measuring instrument are put forward. In this paper, the structure, the parameters of each component and the technical route are discussed. In this paper, the key technology of 3D laser measuring instrument is studied from the aspects of algorithm principle and verification, the advantages and disadvantages of each key technology are analyzed, and the solution is put forward and realized. The realization scheme of 3D laser measuring instrument is studied and demonstrated systematically and comprehensively, which provides an effective technical basis for the industrial production and development of 3D laser measuring instrument. It is hoped that through the research work of 3D measurement technology in this paper, It can make people understand the structure, principle and function of 3D laser measuring instrument, can bring reference significance to scientists in related fields, and promote the development of 3D measurement industry.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP391.41;TN249

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本文編號：1578557