相机投影仪结构光三维扫描系统标定  

Calibration of 3D Scanning System for Structured Light of Camera Projector

作　　者：周波 刘小飞[1] 李明杰[1] ZHOU Bo;LIU Xiao-fei;LI Ming-jie(School of Information&Intelligence Engineering,University of Sanya,Hainan Sanya 572022,China;Academician Workstation of Chen Guoliang,University of Sanya,Hainan Sanya 572022,China)

机构地区：[1]三亚学院信息与智能工程学院,海南三亚572022 [2]三亚学院陈国良院士工作站,海南三亚572022

出　　处：《新一代信息技术》2019年第23期77-83,共7页New Generation of Information Technology

基　　金：海南省自然科学基金“基于机器学习的农作物虫害识别方法研究”(项目编号:619MS076)。

摘　　要：单相机投影仪组成的结构光三维测量系统,需要将投影仪看作反向相机与相机构成主动双目立体视觉系统,针对反向相机——投影仪的标定。本文提出相机投影仪结构光三维扫描系统标定,标定靶标为原点阵列,投影仪投射棋盘格图像到作为幕布的靶标上,相机获取靶标上的棋盘格和圆点阵列图像,由靶标圆点三维坐标和图像上提取的圆点图像坐标对相机进行标定。对图像进行校正,由校正后的圆点图像二维坐标和靶标三维圆点坐标建立平面投影映射,根据映射关系,确定靶标上棋盘格角点的三维坐标。置靶标与不同姿态位置,获取多组靶标上棋盘格角点的三维坐标,投影仪投射的棋盘格图像为已知,由此构成投影仪靶标所需三维点集合和二维点集合,采用相机的标定法对投影仪进行标定。该方法首先对相机进行标定,将校正后的图像用于投影仪标定,消除了相机畸变对投影仪标定的影响。减少了投影仪与相机的联合误差。A structured light three-dimensional measurement system consisting of a single-camera projector needs to consider the projector as an inverse camera and the camera to form an active binocular stereo vision system for the inversion camera-projector calibration.This paper proposes a camera projector structured light 3D scanning system calibration.The calibration target is an origin array.The projector projects a checkerboard image of the target as the curtain.The camera obtains the checkerboard and dot array images on target.And the coordinate of the dot image extracted from the image to calibrate the camera.The image is corrected,and a two-dimensional coordinate of the corrected dot image and the target's three-dimensional dot coordinate are used to establish a plane projection mapping.According to the mapping relationship,the three-dimensional coordinates of the checkerboard corners on the target are determined.Position the target and different attitude positions to obtain the three-dimensional coordinates of the checkerboard corners on multiple sets of targets.The checkerboard image projected by the projector are known,thereby forming the three-dimensional point set and two-dimensional point set required by the projector target.The calibration method is used to calibrate the projector.This method first calibrates the camera and uses the corrected image of projector calibration,eliminating the effect of camera distortion on projector calibration.Reduce joint error between projectors and camera.

关 键 词：棋盘格 三维扫描系统 单相机投影仪 三维坐标 三维点集合 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]