彩色伪随机编码结构光解码方法研究  

Research on the decoding method for color pseudo-random coding structured light

作　　者：唐苏明[1] 张旭[1] 屠大维[1,2] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]上海市机械自动化及机器人重点实验室,上海200072

出　　处：《光电子．激光》2015年第3期548-558,共11页Journal of Optoelectronics·Laser

基　　金：国家自然科学基金(51205244);数字制造装备与技术国家重点实验室(华中科技大学)开放基金(DMETKF2013007)资助项目

摘　　要：在采用伪随机序列生成彩色条纹作为投影图像的基础上提出了一种对彩色伪随化编码结构光三步解码新方法。首先,建立向量梯度算子将Canny算子推广到彩色多通道图像,对彩色带状图像进行彩色边缘检测,确定边缘特征的位置信息;其次,采用引导式K-means聚类算法和颜色分辨能力较强的颜色不变量对图像进行颜色识别和分类,继而获得边缘特征的颜色信息;最后,提出分步窗口匹配算法对边缘特征序列进行匹配,从而确立拍摄图像和投射图像上的边缘特征的对应性。实验结果表明,提出的解码方法在不需要假定被测物体表面颜色和纹理结构的条件下,依然能够有效地提高解码的精度,具有较强的鲁棒性。In coded structured light measurement,color coded structured light possesses a distinct advantage that it has high speed of shape measurement,because it only needs to project one pattern.Encoding and decoding are its two key problems.The captured color stripe is easily affected by many factors,such as the ambient light,the texture,color,discontinuity and steep slope of the object,so the color is often identified incorrectly,thereby the low decoding accuracy is emerged.To improve the decoding accuracy of color stripe structured light which is generated from pseudo-random sequence,this paper proposes a new decoding method.It includes three steps.First,Canny algorithm based on color image is adopted to obtain the location information of the edge feature on the camera image.Second,the color classification of the camera image is conducted through the use of the guiding K-means clustering algorithm on a color invariant that has high discriminating power.Finally,the relations of edge features between the projector image and camera image are directly determined with a multi-step matching method based on the window property.The experimental results show that the proposed decoding method can effectively improve the accuracy of decoding without setting the surface color and texture structure of the measured object.Besides that,the method exhibits strong robustness.

关 键 词：彩色结构光 伪随机编码 解码 彩色边缘检测 颜色识别 匹配 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]