基于法线引导的结冰模型激光条纹中心线提取  

Structured Light Centerline Extraction Method for Ice Surface Based on Normal Guidance

作　　者：宋涛 刘桂华[1,2] 黄会明 龚云鑫[1,2] 钦付平 谢昊 Song Tao;Liu Guihua;Huang Huiming;Gong Yunxing;Qin Fuping;Xie Hao(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China;Robot Technology Used for Special Environment Key Laboratory of Sichuan Province,Mianyang 621010,Sichuan,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010 [2]特殊环境机器人技术四川省重点实验室,四川绵阳621010

出　　处：《激光与光电子学进展》2025年第2期177-187,共11页Laser & Optoelectronics Progress

基　　金：四川省科技厅重点研发项目(2021YFG0380);装备预先研究共用技术项目(50927010302)。

摘　　要：在结冰模型的三维测量系统中,激光条纹中心线的准确提取是实现结冰模型高精度三维测量的关键。针对激光在冰体表面严重渗光导致中心线提取精度差的问题,提出一种基于法线引导的冰体表面激光条纹中心线提取算法,从而降低冰体渗光干扰,提高激光条纹中心线提取精度。首先获取激光条纹与干扰光斑轮廓并基于轮廓形态排除干扰光斑,同时结合改进的边界阈值跟踪算法与灰度重心法对激光中心线进行粗定位;然后使用主成分分析法(PCA)求取粗定位所得激光中心线法线;最后在法线方向上进行双线性插值并结合灰度重心法求取高精度亚像素中心点坐标。在霜冰表面进行了充分实验,结果表明,所提激光中心线提取算法测量精度为0.035 mm,比Steger算法提高了5.487倍,提取速度提高了6.578倍。The accurate extraction of the laser stripe centerline in the three-dimensional measurement system of the icing model is the key to realize the high-precision three-dimensional measurement of the icing model.Aiming at the problem of poor centerline extraction accuracy due to the serious light penetration of the laser stripe on the surface of the ice body,this paper proposes a laser stripe centerline extraction method based on the normal guidance on the surface of the ice body.First,obtain the contour of the laser stripe and the interfering spot and exclude the interfering spot based on the shape of the contour,and at the same time,combine the improved boundary threshold tracking algorithm with the grayscale center of gravity method to coarsely locate the laser centerline.Then,use principal component analysis(PCA)to obtain the normal of the laser centerline obtained from the coarsely located laser centerline.Finally,bi-linear interpolation is performed in the normal direction and combined with the grayscale center of gravity method to obtain the high-precision sub-pixel center point coordinates.The experimental results show that the measurement accuracy of the proposed laser centerline extraction algorithm is 0.035 mm,which is 5.487 times higher than the Steger algorithm,and the extraction speed is 6.578 times higher.

关 键 词：结冰测量 线结构光 主成分分析 灰度重心 边界跟踪 光斑中图分类号TP391 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]