3D线激光相机的激光条纹中心提取方法  

Laser Stripe Center Extraction Method for 3D Line Laser Cameras

作　　者：陈哲 王生怀 钟明 Chen Zhe;Wang Shenghuai;Zhong Ming

机构地区：[1]湖北汽车工业学院机械工程学院,湖北省十堰市442002 [2]武汉筑梦科技有限公司

出　　处：《工具技术》2023年第10期155-160,共6页Tool Engineering

基　　金：国家自然科学基金(51675167);湖北省重点研发计划(2021BAA056);湖北省高等学校优秀中青年科技创新团队计划(T2020018)。

摘　　要：线激光条纹中心提取是实现线激光相机三维扫描的关键,根据激光三角测量法研制了线激光相机,基于传统Steger法对其进行优化并提出一种适用于提取线激光相机光条中心的方法。对图像进行预处理,结合Canny算子找出光条边缘,求取光条边缘极值并计算确定ROI区域,利用高斯滤波处理提取后的图像,利用Hessian矩阵求取光条中心法线方向,在法线方向进行二阶泰勒展开确定光条中心点,最后对中心点连接并平滑处理,实现中心线精确提取。实验表明,采用本方法能够准确找到不同背景与光源环境下的光条中心,不同条件下的光条中心均方根误差平均值小于0.4,并能够准确扫描出零件三维点云。This paper develops a line laser camera based on laser triangulation,optimizes the traditional Steger method and proposes a method to extract the center of the light bar of the line laser camera.The image is pre-processed,the edge of the light bar is found by combining the canny operator,the extreme value of the edge of the light bar is obtained and the ROI region is determined by calculation,the extracted image is processed by Gaussian filtering,then the normal direction of the light bar center is obtained by using the hesssian matrix,the center point of the light bar is determined by second-order Taylor expansion in the normal direction,and the center points are connected and smoothed to achieve accurate extraction of the center line.The centerline is extracted accurately.The experiment shows that the method can accurately find the center of the light bar under different background and light source environments,and the root mean square error of the center of the light bar under different conditions is less than 0.4,and can accurately scan the 3D point cloud of the part.

关 键 词：线激光 三角测量 ROI Steger法 中心线 

分 类 号：TG87[金属学及工艺—公差测量技术] TH124[机械工程—机械设计及理论]