双目面结构光三重扫描测量系统温漂补偿方法  

Temperature drift compensation method for triple scan measuring system of binocular surface structured light

作　　者：杨濠铭 孙子杰 孙岩标 邾继贵[1] Yang Haoming;Sun Zijie;Sun Yanbiao;Zhu Jigui(State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,China;Beijing Spacecrafts Co.,Ltd,Beijing 100094,China)

机构地区：[1]天津大学精密测试技术及仪器全国重点实验室,天津300072 [2]北京卫星制造厂有限公司,北京100094

出　　处：《红外与激光工程》2024年第1期213-224,共12页Infrared and Laser Engineering

基　　金：国家自然科学基金项目(52075382)。

摘　　要：双目面结构光三重扫描是在条纹投影双目视觉重建的基础上,追加左、右相机与投影仪构成的单目视觉系统重建点云,在反光和凹凸起伏等表面测量应用上具有更好的点云完整性优势。但由于环境温度变化影响,投影仪产生较大温度漂移,导致双目重建点云与单目重建点云发生“分层”现象。为此,文中提出了一种基于正交条纹投影的三重扫描系统温漂在线补偿方法,通过投影仪投射正交条纹来构建双目重建点在投影仪图像中准确的映射关系,并基于双目重建点在投影仪图像中的重投影误差最小化目标函数来求解温漂补偿后的投影仪最优外参数。最后,以金属球和汽车零件作为被测对象进行实验验证,在不依靠标定板等先验信息及繁琐标定流程基础上,所提在线快速补偿方法可以使得双目点云与单目点云温漂量分别减小78.2%和94.3%,极大减轻了温度变化对于三重扫描点云数据拼接影响。Objective The triple scan of the binocular structured light sensors is based on the binocular vision reconstruction of fringe projection,with additional point cloud reconstructed from the monocular vision system consisting of the left or right camera and the projector.Therefore,it has the advantage of better point cloud integrity in the measurement applications of reflective and uneven objects.However,because of the change of ambient temperature which exerts temperature drift impact on the projector,the binocular reconstruction point cloud and monocular reconstruction point cloud are stratified,resulting in the wrong point cloud reconstruction results of the triple scan.To solve this,a temperature drift online compensation method based on the orthogonal fringe projection is provided for the triple scan system of binocular surface structured light.Methods A temperature drift compensation method based on the orthogonal fringe projection and binocular points constraint is provided in this paper.By projecting the orthogonal fringe patterns,the pixel coordinate in the projector image of points which are in the binocular and monocular imaging area can be determined simultaneously.Therefore,the accurate mapping relationship of binocular points in the image of the projector is established(Fig.3).Then based on the objective function of minimizing the reprojection error of the binocular reconstruction point in the projector image,the optimal external parameters of the projector after temperature drift compensation are solved to compensate temperature drift of the projector.Results and Discussions In order to demonstrate the effectiveness and practicability of the proposed method,metal spheres and car threshold base parts were tested.In metal spheres experiments,the spherical center distance between binocular point cloud and monocular point cloud at different temperature is used to quantitatively evaluate the temperature drift level(Tab.1-2).When the temperature drift of the sensor occurs at 28℃,the values of spherical ce

关 键 词：三重扫描 投影仪 正交条纹 温漂补偿 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]