阅读说明：本技术 一种基于傅里叶变换轮廓术的高动态范围实时三维测量方法 (High dynamic range real-time three-dimensional measurement method based on Fourier transform profilometry ) 是由 钟可君 伏燕军 专宇浩 刘彦昭 王庆 于 2020-07-21 设计创作，主要内容包括：本发明公开了一种基于傅里叶变换轮廓术的高动态范围实时三维测量方法,包含以下步骤,步骤一,首先将单色图像投影到被测物体上,利用R、G、B通道的不同响应,将一幅彩色图像分成三幅不同强度的单色图像。步骤二,将三幅单色图像合成HDR条纹图,通过背景归一化算法处理得到最终的条纹图。步骤三,利用傅里叶变换轮廓术(FTP)检索相位图,得到三维形状。本方法将多重曝光技术和FTP技术相结合,并且可以避免使用FTP而导致的物体运动引起的相位失真问题。(The invention discloses a high dynamic range real-time three-dimensional measurement method based on Fourier transform profilometry, which comprises the following steps of firstly projecting a monochromatic image on a measured object, and dividing a color image into three monochromatic images with different intensities by utilizing different responses of R, G, B channels. And step two, combining the three monochromatic images into an HDR (high-resolution) fringe image, and processing the HDR fringe image through a background normalization algorithm to obtain a final fringe image. And step three, retrieving the phase diagram by utilizing Fourier Transform Profilometry (FTP) to obtain a three-dimensional shape. The method combines multiple exposure technology and FTP technology, and can avoid the problem of phase distortion caused by object motion due to the use of FTP.)

1. A high dynamic range real-time three-dimensional measurement method based on Fourier transform profilometry is characterized in that: the method comprises the following steps of,

step one, building a corresponding measuring platform according to a measuring object, and forming a corresponding measuring system by a projector, a camera and a workstation;

projecting the monochrome image and the uniform gray level image to an object by using a projector respectively, and capturing two corresponding groups of color images by using a camera; dividing the two groups of captured color images into 3 groups of monochromatic stripe images with different brightness intensities and 3 groups of uniform gray level images with the same brightness intensity by using different responses of three channels of R, G and B;

step three, sorting the separated 3 stripe images and 3 pictures with uniform gray scales according to the gray scales, and selecting the brightest but unsaturated corresponding pixels in the three stripe images so as to combine and generate an HDR composite image; and the image with uniform gray scale is processed in the same way; then generating 2 images to generate a final fringe pattern according to a background normalization algorithm;

calculating a wrapping phase according to a Fourier transform profilometry; solving the wrapped phase according to a minimum distance projection method to obtain an absolute phase; finally, obtaining the height information of the object according to the formula (1),

wherein f is₀Is the frequency of the sine stripe on the reference plane, phi is the continuous phase difference of the corresponding points of the object surface image and the reference plane image, and d represents the distance between the projector and the camera; l is the distance from the optical center of the camera to the reference plane.

2. The method of claim 1, wherein the method comprises the following steps: the camera is a CCD industrial camera.

Technical Field

The invention relates to the technical field of measurement methods, in particular to a high dynamic range real-time three-dimensional measurement method based on Fourier transform profilometry.

Background

Fringe projection profilometry plays an important role in three-dimensional measurement due to the advantages of non-contact, high measurement speed, high sensitivity, high automation degree and the like. The triangular structure composed of a computer, a projector, an industrial camera and a measured object is called a structured light measuring system. A three-dimensional structured light measurement system is shown in fig. 1.

The fourier transform profilometry method based on background normalization is different from the traditional fourier transform profilometry method. It needs to capture two modes, stripe mode and uniform gray mode, that is, the gray of all pixels is the maximum value, i.e. blank picture. The blank picture can be used for removing the influence of zero frequency and object part reflectivity in a frequency domain, so that the frequency spectrum aliasing problem in the traditional Fourier transform method is effectively solved.

In measuring highly reflective surface objects, the existing High Dynamic Range (HDR) three-dimensional measurement techniques are mostly based on Phase Shift Profilometry (PSP). While the High Dynamic Range (HDR) three-dimensional measurement technique based on Fourier Transform Profilometry (FTP) is still lacking. Therefore, a High Dynamic Range (HDR) real-time three-dimensional measurement method based on Fourier Transform Profilometry (FTP) is provided.

Disclosure of Invention

The invention aims to solve the problems that: the high dynamic range real-time three-dimensional measurement method based on the Fourier transform profilometry can combine high dynamic range measurement and dynamic real-time measurement. Effectively reducing the phase distortion problem caused by the motion of the object.

The technical scheme provided by the invention for solving the problems is as follows: a high dynamic range real-time three-dimensional measurement method based on Fourier transform profilometry, the method comprising the steps of,

step one, building a corresponding measuring platform according to a measuring object, and forming a corresponding measuring system by a projector, a camera and a workstation;

projecting the monochrome image and the uniform gray level image to an object by using a projector respectively, and capturing two corresponding groups of color images by using a camera; dividing the two groups of captured color images into 3 groups of monochromatic stripe images with different brightness intensities and 3 groups of uniform gray level images with the same brightness intensity by using different responses of three channels of R, G and B;

step three, sorting the separated 3 stripe images and 3 pictures with uniform gray scales according to the gray scales, and selecting the brightest but unsaturated corresponding pixels in the three stripe images so as to combine and generate an HDR composite image; and the image with uniform gray scale is processed in the same way; then generating 2 images to generate a final fringe pattern according to a background normalization algorithm;

calculating a wrapping phase according to a Fourier transform profilometry; solving the wrapped phase according to a minimum distance projection method to obtain an absolute phase; finally, obtaining the height information of the object according to the formula (1),

wherein f is₀Is the frequency of the sine stripe on the reference plane, phi is the continuous phase difference of the corresponding points of the object surface image and the reference plane image, and d represents the distance between the projector and the camera; l is the distance from the optical center of the camera to the reference plane.

Preferably, the camera is a CCD industrial camera.

Compared with the prior art, the invention has the advantages that:

(1) the High Dynamic Range (HDR) fringe projection technology is combined with Fourier transform profilometry, a more complex measuring object can be processed, and a dynamic object with a glossy surface can be effectively measured.

(2) The problem of phase distortion caused by object motion can be effectively avoided, and the measurement result is more accurate.

(3) The method can reduce the number of required pictures, greatly reduce the measurement time and improve the measurement speed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a three-dimensional measurement system of the present invention;

FIG. 2 is a schematic view of multi-intensity image acquisition;

fig. 3 synthesized HDR picture;

fig. 4 is a fringe pattern generated by the background normalization algorithm.

Detailed Description

The embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, so that how to implement the technical means for solving the technical problems and achieving the technical effects of the present invention can be fully understood and implemented.

The embodiment of the invention is shown in figures 1-4, and discloses a high dynamic range real-time three-dimensional measurement method based on Fourier transform profilometry. The method comprises four key parts, namely a single-lens multi-intensity image generation technology, an image fusion technology, a background normalization algorithm and three-dimensional appearance acquisition.

Single-lens multi-intensity image generation technology

For a color camera, the pixels on the CMOS sensor are divided into three channels, red, green and blue, by the bayer array. Pixels on different channels respond to the same wavelength of light to different extents. By using the characteristic, one color stripe pattern can be divided into three stripe patterns with different intensities.

(II) image fusion technique

And sorting the generated fringe images of the three channels according to gray scale. In order to obtain the pixels with the highest brightness and no saturation from the three images. The saturation region of each channel can be judged by formula (2). I.e. to generate a corresponding image mask.

And then synthesizing the corresponding HDR image according to the formula (3).

(III) background normalization algorithm

The resultant HDR stripe image and the uniform gray scale image can be combined into a final stripe pattern using equation 4.

(IV) obtaining the three-dimensional shape

According to fourier transform profilometry, the truncated phase of the object is obtained using equation (5) and equation (6). And then obtaining an absolute phase according to a phase unwrapping method based on projection distance minimization. And then obtaining object height information according to the relation between the phase and the height of the formula (1).

The foregoing is merely illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to vary. All changes which come within the scope of the invention as defined by the independent claims are intended to be embraced therein.