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题名	双目三维测量技术研究
作者	范鑫
学位类别	硕士
答辩日期	2016
授予单位	中国科学院上海光学精密机械研究所
导师	周常河
关键词	三维测量 结构光 立体匹配 点云配准
其他题名	Research on Binocular Three-dimensional Measurement Technology
中文摘要	随着技术的进步和生产的需求，越来越多的行业需要一种简单的、非接触式的物体形貌测量方法。作为获得物体三维轮廓信息的重要手段，光学三维轮廓测量术在过去数十年内被广泛地运用于人脸获取、机器人、制造业、生物医疗、航空航天以及考古等领域中。光学三维轮廓测量术是一种基于光学手段和数字图像处理分析的快速的、非接触式的再现物体三维形貌的测量手法。通过计算机图形学的数学理论和光学分析来获取物体的三维轮廓信息，是现在计算机视觉研究的主流方向之一。 根据获取物体光学图像的方式一般可以将光学三维轮廓测量术分为两类：主动式光学测量和被动式光学测量。被动式光学测量主要通过被测物自身的自然反光来采集相应的信息，容易受环境照明与目标物体自身表面属性影响，对测量结果产生影响。因此目前主流的方式多为向物体表面投射相应结构光的主动式光学测量方式。由于从多个视角进行采集的双目或多目系统可以有效的避免单目系统存在的遮挡问题，本论文所讨论的三维测量装置均采用双目结构光方法，并主要开展了以下几个方面的工作： 1. 构建了一种基于结构光投影的双目三维彩色形貌测量装置。该装置由两个灰度相机、一台彩色相机和一台数字投影设备组成。测量时，双目相机同步采集经由数字投影设备投影至待测物体的特定结构光，并在采集完成后由彩色相机获取一幅待测物体的彩色图像，利用三角法即可获得物体的彩色轮廓数据。为了降低复杂纹理物体对测量的影响，我们在实验基础上提出了一种优化的同源点匹配算法，通过结合时域和空域相关算法，提高了同源点匹配的精度。该方法可一次性获取足够密集的数据点，减少点云匹配的计算次数。 2. 搭建了一种基于二维Dammann光栅的点阵结构光扫描装置。该装置采用小型半导体激光器与二维Dammann光栅配合产生二维激光点阵并投影到物体表面。两个相机同步采集投射到待测物体表面的激光点阵，经过多个角度扫描和相应点云的配准，从而获得物体的三维形貌。在课题组已有的基础上，提出了一种和传感器相结合的点云配准策略，为加快点云配准速度和避免配准过程中出现局部最小值提供了一种思路。 运用上述方法，我们测量了包括人脸、石膏像、瓷器等物体，获得了待测物体具有较高精度的密集点云，验证了相应方法的适应性、可靠性与实用性。
英文摘要	With the development of technologies and the demand of industries, more and more industries need a non-contact method to obtain the three-dimensional (3D) profile of objects. As an important method to reconstruct the 3D profile of objects, 3D optical measurement methods have been applied extensively in a lot of professions, such as 3D human-face reconstruction, robotics, manufacturing, biomedicine, aerospace, and archaeology for decades. 3D optical measurement method is a fast and no-contact measurement method based on optical method and digital image processing. The technology using computer graphics theory to reconstruct digital 3D model of objects has become one of the main directions of computer vision research now. 3D optical measurement method can be divided into active method and passive method according to the way of obtaining objects’ images. Passive optical methods rely on detecting reflected ambient radiation and are easily affected by environment light as well as objects’ reflecting properties, which may lead to wrong measurement results. Active methods overcome this difficult by projecting different patterns on objects. On the other hand, by comparing information about a scene from two vantage points, binocular stereo vision is better than monocular vision. This dissertation uses structured light binocular program and research work mainly focused on the following aspects: 1. We build a binocular three-dimensional colorful measurement system setup based on band-limited random patterns. This setup contains two grayscale cameras, one colorful camera and a DLP. A series of band-limited patterns is projected on object when measuring, and two grayscale cameras capture images synchronously. After projection, a color image will be gained by the color camera. With improved temporal correlation algorithm and the pre-calibration results among three cameras, it is easy to find homologous pixels, thus to obtain object’s 3D colorful model. An optimal temporal correlation algorithm is proposed to improve the matching precision. With this method, dense 3D points cloud can be obtained by one measurement, experiment results verify the robustness, easy operation and high reconstruction accuracy of the setup. 2. We build a binocular three-dimensional measurement system based on Dammann grating. A laser diode and a Dammann grating are employed to generate a regular and square laser spot array. Two cameras capture the laser dots projected on object synchronous. After scanning from different views and points cloud registration, we can gain the 3D model of object. In order to avoid local minimum, we also propose a method combing the information of Inertial Measurement Unit (IMU). Using the above methods, different objects such as plaster, porcelain and human face are measured. Experiment results verify this methods’ adaptability, reliability and practicability.
语种	中文
内容类型	学位论文
源URL	[http://ir.siom.ac.cn/handle/181231/16989]
专题	上海光学精密机械研究所_学位论文
推荐引用方式 GB/T 7714	范鑫. 双目三维测量技术研究[D]. 中国科学院上海光学精密机械研究所. 2016.

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