【摘要】：三維結構光視覺測量設備是實現(xiàn)非接觸式三維測量的一種全自動高精度立體掃描測量設備。通過結構光掃描的方式測量物體表面上點的三維坐標值,得到物體表面上點的立體信息,并利用計算機軟件處理后得到物體的三維模型。具有便攜、非接觸、精度高等優(yōu)點,廣泛應用于工業(yè)設計、質量檢測、逆向工程等多個領域。測量設備的精度是其重要技術指標,而照明設備內參數(shù)標定問題和照明設備與成像設備之間空間位置關系標定問題、高光反射等對成像質量和精度有直接的影響,需要對設備進行相機內參數(shù)標定、光學投射器內參數(shù)標定以及二者之間空間位姿關系進行標定,對高光反射圖像進行抑制高光反射處理與高光去除。本課題主要描述三維結構光視覺測量設備的設計與實現(xiàn)。本文首先論述了空間結構光原理及視覺測量設備的總體結構設計,介紹了結構光編碼的兩種方法,分析影響精度的因素,設計整個實驗的測量流程,根據(jù)實驗所需要的各項性能指標,對相機、光學投射器以及電氣設備進行選型。本文論述了光學投射器和相機的成像控制,分析了對結構光編碼、解碼、匹配方法形式化,采用格雷碼結合相位編碼的照明方式,分析影響解碼匹配精度的因素,實現(xiàn)了光學投射器觸發(fā)與相機的同步控制和對光學投射器的信號源和光源進行了控制,為后續(xù)工作提供基礎。本文分析了測量系統(tǒng)的特點和技術指標,對相機標定、投射器標定、相機和投射器空間關系標定算法進行形式化仿真,實現(xiàn)軟件工程化,對視覺測量系統(tǒng)進行相機內參數(shù)標定、光學投射器內參數(shù)標定以及光學投射器與相機空間位姿關系標定。并對它們進行了精度評價和圖像校正。本文最后對低反射物體及高光反射物體分別做測量實驗,對測量結果進行分析,針對三維結構光視覺測量設備的特點提出了細節(jié)區(qū)域和高光反射區(qū)域的測量方法,對高光反射現(xiàn)象用插值填充圖像區(qū)域的方法,恢復受損壞的圖像、從圖像中去除物體或降低圖像噪聲,最后測量實驗結果精度達到目標要求。
[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.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP391.41

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