基于参考标准件的多结构光三维测量方法  

Multi⁃View Structured Light 3D Measurement Method Based on Reference Standard Parts

作　　者：冯创 罗明灵 邓高旭 伍世虔 Feng Chuang;Luo Mingling;Deng Gaoxu;Wu Shiqian(School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,Hubei,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,Hubei,China;School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,Shanxi,China)

机构地区：[1]武汉科技大学信息科学与工程学院,湖北武汉430081 [2]武汉科技大学机器人与智能系统研究院,湖北武汉430081 [3]太原科技大学机械工程学院,山西太原030024

出　　处：《中国激光》2024年第17期166-175,共10页Chinese Journal of Lasers

基　　金：国家自然科学基金(61775172)。

摘　　要：针对现有多结构光系统设备数量多、相邻相机间需要有较大重叠视角、标定流程繁琐的问题,提出了基于参考标准件的多结构光三维测量方法。首先,标定多个单相机单投影仪结构光系统;然后,使用立体标定板获取多相机外参的初始估计,并基于该外参进行点云坐标系的统一;最后,通过重建标准件来分别优化多相机初始外参的旋转向量和平移向量,提高多结构光系统的测量精度。实验结果表明,所提方法不需要多结构光系统的相邻相机间有重叠视角,多视角重建大体积球体的球面拟合误差为0.26 mm,可应用于冶金行业中管棒材面形特征检测等多视角三维在线测量场景。Objective Structured light systems based on phase measurement profilometry(PMP)are widely used in industrial measurements because of their good reconstruction accuracy and speed.A multi-view structured light system composed of multiple single-view structured light systems can achieve real-time multi-view 3D reconstruction,but its reconstruction accuracy is affected by the overall calibration accuracy of the system.Traditional multi-view structured light calibration needs to ensure that there is a large overlap between adjacent cameras because this is the premise of the commonly used multi-camera calibration scheme.However,the calibration area of the structured-light system determines the reconstruction area,and an excessive number of overlapping visual angle shrinks the reconstruction range of the multi-view structured light system.To reconstruct more areas,the amount of equipment required must be increased.Multi-camera calibration without overlapping visual angle can be realized with the help of a stereo target,manipulator,or rotating platform.However,high-precision stereo targets are difficult to fabricate,and high-precision auxiliary equipment is difficult to obtain.To solve the above problems,a multi-view structured light 3D measurement method based on reference standard parts is proposed,and it can be used to obtain the initial values of the external parameters between multiple cameras when there is an error in the default stereo target.The error in the external parameters is optimized by reconstructing the standard parts.The system can overcome the limitations of overlapping views and realize multi-view 3D reconstruction with no or fewer overlapping views,and its reconstruction accuracy is suitable for multi-view industrial measurement scenes.Methods The basic idea of this study was to first use a stereo target to obtain the initial estimation of the external parameters of the multi-camera and then carry out the multi-view 3D reconstruction of the standard plate and sphere based on the external parameters.T

关 键 词：测量 三维重建 结构光 重叠视角 标准件 

分 类 号：TN247[电子电信—物理电子学]