单摄像机单投影仪三维测量系统标定技术  

Calibration of a 3D measurement system having one camera and one projector

作　　者：韦争亮[1] 钟约先[1] 袁朝龙[1] 焦玮[1] 

机构地区：[1]清华大学机械工程系,先进成形制造教育部重点实验室,北京100084

出　　处：《清华大学学报（自然科学版）》2009年第2期202-205,209,共5页Journal of Tsinghua University(Science and Technology)

摘　　要：结构光三维测量能够实现物体型面快速精准的重构,系统标定是其基础和关键的一环。针对单摄像机和单投影仪组成的系统结构,依靠具有黑底白色圆点图案的单平面标定块,采用Tsai两步法及非线性优化完成摄像机标定。通过双方向解相实现标志点在投影平面上的反向成像,把投影仪作为虚拟摄像机采用同样方法进行标定。解相时采用基于伪随机彩色条纹序列展开的时空域编码和3步相移法。标定设备简单,操作方便自动化。实验结果证明具有较高的标定精度。Structured light 3D measurements can quickly and accurately reconstruct object surface once they are accurately calibrated. This paper presents a calibration method for a system having one camera and one projector. The camera calibration use the Tsai two-step method and non-linear optimization using a single plane calibration block with a pattern of white circular points on a black background. The projector is calibrated in the same way as a virtual camera by capturing the calibration points in the projecting plane using two-dimensional phase demodulation. Phase demodulation uses space-time coding based on unfolding of color stripes in pseudo random sequence and three-step phase shifting. The calibration is simple, convenient and automatic. The tests show that the calibration is very accurate.

关 键 词：结构光 系统标定 时空域编码 伪随机序列 

分 类 号：O29[理学—应用数学] TB11[理学—数学]