基于De Bruijn序列的彩色结构光编解码方法研究  

Research on color structured light coding and decoding method based on the De Bruijn sequences

作　　者：陆军[1] 张鑫[1] 高乐[2] 董东来 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]中国航空无线电电子研究所,上海200233 [3]中国石油集团东北炼化工程有限公司吉林设计院,吉林132002

出　　处：《光电子．激光》2014年第1期147-155,共9页Journal of Optoelectronics·Laser

基　　金：黑龙江省自然科学基金(F201123);中央高校基本科研业务费专项资金(HEUCFX41304);人力资源和社会保障部留学人员科技活动择优资助项目

摘　　要：在编码结构光视觉测量中,捕获的彩色投射条纹易受环境光等因素的影响,容易造成对颜色条纹的误识别,并且随着采用颜色数的增加,误识别的概率会变大。在保证一定测量分辨率的前提下,本文基于De Bruijn序列,引入了颜色的强度与周期属性,只使用4种颜色,设计出了具有128个条纹的投射模式,既方便了后续的解码,又满足了高分辨的要求。在L*a*b*空间中,通过对L值的线性滤波差分实现彩色条纹的准确分割。结合主成分分析及K均值聚类的思想,设计了一种自适应颜色聚类方法,克服了颜色串扰给颜色识别带来的困难,能够准确地对高低强度彩色条纹进行颜色分类。最后利用De Bruijn序列的窗口唯一性,生成匹配点集,根据三角测量原理,得到物体表面的三维信息,实现物体三维表面重构。在对圆柱直径的测量实验中,测量误差在1.5mm左右,相对误差在0.5%左右,实验结果验证了上述方法的有效性。In the coded structured light vision measurement,as a kind of spat ial code,color coded structured light has good properties,such as high speed of shape measurement,because it only needs to proje ct one or a few patterns.Coding and decoding are its key problems.The captured color stripe is easily affected by environmental fact ors,such as light,so the color is often recognized incorrectly. As the number of colors increases,the probability of error becomes bigger.With good measurement resolution,introducing color intensity and period properties and using 4colors,a color pattern with 128stripes is designed based on De Bruijn sequences in this paper.The pattern is convenient for subsequently decoding and meeting the requirements of the high measurement resolution at the same time.Color stripes are precisely segmented by means of applying linear filter difference to L channel value in L＊a ＊b＊ color space.An adaptive color clustering method is designed by employing principal com ponent analysis and K means clustering,which overcomes the difficulty of color identifying caused by the color crosstalk an d is able to accurately classify colors of stripes with high or low intensity.Matching points set is produced by using the window′s uniquen ess of De Bruijn sequences.The 3D information on the surface of the object is obtained according to the principle of triangulatio n.The 3D object surface is reconstructed finally.This method is used to measure a cylinder diameter.The measurement error is about 1.5mm.The relevant error is about 0.5%.The effectiveness of the proposed method is validated by the experimental results.

关 键 词：解码 条纹分割 中心线提取 颜色聚类 三维重构 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]