面向空间遥操作的成像与条纹投影相融合的三维测量方法  

Three⁃dimensional Measurement Method Integrating Imaging and Fringe Projection for Space Teleoperation

作　　者：胡慧然 宋爱国[1] 魏林琥 毛婧超 谢雨臻 HU Huiran;SONG Aiguo;WEI Linhu;MAO Jingchao;XIE Yuzhen(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《载人航天》2024年第6期798-804,共7页Manned Spaceflight

基　　金：国防基础科研项目(JCKY2022110C040);南京市科技计划项目(202208018)。

摘　　要：为解决单一视觉传感器在空间遥操作任务中的三维测量精度不高、完整性不足,以及成本和精度无法兼顾的问题,提出了一种结合条纹投影与RGB⁃D相机的三维测量方法。该方法通过将相位数据与深度数据相结合,采用相位深度二阶差分的质量引导解包裹算法进行绝对相位提取,最终通过多项式拟合对相位差和深度数据进行融合。实验结果表明:在球面测量与阶梯型标准件测量中,该融合方法显著提高了测量数据的完整性和精度,相比单独使用RGB⁃D测量,测量精度提高了3%。同时,实验确认三次多项式拟合具有最优的测量结果融合效果。To address the issues of low accuracy,insufficient completeness,and the inability to balance cost and precision in 3D measurements using a single visual sensor in space teleoperation tasks,a 3D measurement method combining fringe projection and RGB-D camera was proposed in this study.This method integrated phase data with depth data and employed a quality-guided unwrapping algorithm based on second-order phase-depth differences to extract absolute phase.Finally,polynomial fitting was used to fuse the phase difference and depth data.Experimental results showed that in both spherical and stepped standard part measurements,this fusion method could significantly improve the completeness and accuracy of the measurement data,and the accuracy was increased by 3%as compared to single RGB-D measurement.Additionally,the experiments confirmed that cubic polynomial fitting could provide the optimal measurement data fusion results.

关 键 词：条纹投影 RGB⁃D 三维测量 数据融合 空间遥操作 

分 类 号：V248.1[航空宇航科学与技术—飞行器设计] TH7[机械工程—仪器科学与技术]