多灰度级格雷码三维测量方法  

Multiple Grayscales Gray Code Three Dimensional Measurement Method

作　　者：孟凡辰[1,2] 陈德运[1,2] 王莉莉[1,2] 于双[1,3] 于晓洋[1] 

机构地区：[1]哈尔滨理工大学测控技术与仪器黑龙江省高校重点实验室,黑龙江哈尔滨150080 [2]哈尔滨理工大学计算机科学与技术学院,黑龙江哈尔滨150080 [3]哈尔滨工程大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《哈尔滨理工大学学报》2015年第5期97-102,共6页Journal of Harbin University of Science and Technology

基　　金：黑龙江省自然科学基金(F201020;QC2012C059)

摘　　要：针对两灰度级格雷码三维测量方法存在编码图案多、测量效率低的问题,研究多灰度级格雷码的三维测量方法。与两灰度级格雷码方法相比,该方法采用多个灰度级形成编码图案,同等条件下能有效减少编码图案数量、明显提高测量效率。通过m幅N（N∈Z,N≥3）灰度级格雷码图案将被测空间分为Nm个区域,编码图案中的条纹平行、宽度相同。根据格雷码编码图像将N灰度级格雷码转换为N进制数,进而转化为十进制数,从而得到编码图像中每个像素点在编码图案中所对应的区域序号,并结合光学三角法的数学模型得到被测表面的三维坐标。实验结果表明,该方法对深度距离为850～1150 mm平面的方差小于2 mm2,测量误差小于2 mm,最大绝对误差小于5 mm,该方法适用于具有复杂和不连续表面的被测对象,测量结果能较好地体现被测表面的细节特征。Multiple grayscales Gray code 3d measurement method was researched for the problems of two grayscales Gray code three dimensional measurement method which are more coding patterns and low measuring ef- ficiency. The method used multiple grayscales to form coding patterns, and can effectively to reduce the numbers of coding pattern, significantly improve the measurement efficiency under the same conditions compared with two grayscales Gray code method. The measured space is divided into Nmregions through m N （N∈Z,N≥3 ）grayscales Gray code patterns, the stripes in coded patterns are parallel, and the widths of the stripes are the same. N grayscales gray code is converted to N-nary number according to Gray code coded images, and then N-nary number is converted to decimal number, the corresponding region order in the coded patterns of each pixel in coded images can be obtained, and the 3d coordinates on the measured surface can be obtained by combined with the mathemati- cal model of optical triangulation. The experimental results show that variance of the plane whose depth distance is 850 N 1150 mm is less than 2 mm2, and measurement error is less than 2 mm, and maximum absolute error is less than 5 mm, this method is applicable to the measured object whose surface is complex and discontinuous, the measurement results can well reflect the details of the measured surface characteristics.

关 键 词：三维测量 结构光 两灰度级格雷码 多灰度级格雷码 格雷码多值化 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]