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首页> 外文期刊>Sensors and Actuators, A. Physical >Large 3D free surface measurement using a mobile coded light-based stereo vision system
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Large 3D free surface measurement using a mobile coded light-based stereo vision system

机译：使用基于移动编码光的立体视觉系统进行大型3D自由表面测量

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摘要

A mobile coded light-based stereo vision system for measuring large 3D free surface is proposed. The system combines the technology of binocular stereo vision and multi-line structured light, which simplifies the process of finding correspondence. It can be freely moved around measured objects, and acquires local 3D data in various viewpoints. The methods of extracting light stripe are outlined. A novel approach, pyramid sub-grate projecting approach, is developed for encoding structured light. The approach can subdivide a high-density light grate into multiple sparse sub-grates. Each of the sub-grates can be effortlessly encoded by the time-multiplexing coding method. Given a point on left image, the correspondent point on right image is the intersection of coded light stripes with the same code and epipolar line. Then, the depth is estimated by triangulation. Moreover, a new registering 3D data based on a planar baseline target is detailed. The mathematic model of this registration method is given. An objective function about all parameters of rotation matrix and transmission vector being established, and those parameters can be found by Levenberg-Marquardt optimization Algorithm. However, the transmission vector is scaled by an unknown coefficient. Then the method of ascertaining the coefficient is also described. Compared with iterative closest point (ICP) algorithm, a popular registration method, the present registering method costs much less time, and is suitable for all kinds of objects. Some experimental results are presented to demonstrate the proposed technology. The results show that high-resolution 3D data of free surface has been acquired and 3D data have been perfectly registered. (c) 2006 Elsevier B.V. All rights reserved.
机译：提出了一种用于测量大型3D自由表面的基于移动编码光的立体视觉系统。该系统结合了双目立体视觉技术和多线结构光，从而简化了找到对应关系的过程。它可以在被测物体周围自由移动，并可以从各种视点获取本地3D数据。概述了提取条纹的方法。开发了一种新颖的方法，金字塔亚栅投影方法，用于对结构化光进行编码。该方法可以将高密度的光栅细分为多个稀疏的子光栅。可以通过时分复用编码方法毫不费力地对每个子网格进行编码。给定左图像上的一个点，右图像上的对应点是具有相同代码和对极线的编码光带的交点。然后，通过三角测量来估计深度。此外，详细介绍了基于平面基线目标的新注册3D数据。给出了这种配准方法的数学模型。建立关于旋转矩阵和传输矢量的所有参数的目标函数，这些参数可以通过Levenberg-Marquardt优化算法找到。然而，传输向量由未知系数缩放。然后，还描述了确定系数的方法。与流行的注册方法迭代最近点（ICP）算法相比，本发明的注册方法花费的时间少得多，并且适用于各种对象。一些实验结果被提出来证明所提出的技术。结果表明，已获取了自由表面的高分辨率3D数据，并且已完美记录3D数据。 （c）2006 Elsevier B.V.保留所有权利。

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