基于数字投影的形貌测量系统的实现
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摘要
随着现代测量技术的进步,传统的测量方法已经不能适应现代测量的需求,三维形貌测量技术由于具有非接触性、自动化程度高、使用范围广等特点,已经受到了广泛的关注并且逐步进入了应用阶段。本文研究的基于数字投影的三维形貌测量技术是众多的三维测量技术中一种主流的测量方法,该方法具有深刻的研究价值和实用意义。
基于数字投影的三维形貌测量技术的基本原理是先向被测物体投射光栅条纹图像,物体表面的高度变化使得条纹图像产生形变,计算机获得该形变的条纹图像后再进行相应的处理,从而进行三维形貌的重建。本文对傅立叶变换形貌测量法(Fourier transform profilometry,FTP)和相移形貌测量法(Phase shifting profilometry,PSP)这两种主要条纹图像处理算法进行了推导分析,并且比较了两种算法的优劣。
在基本原理分析的基础上,作者设计了主要由投影仪、摄像机和计算机组成的基于数字投影的三维形貌测量系统,并且对系统所需要的硬件设备进行了选型,在Windows环境下的MATLAB7.0平台下完成了系统控制软件的编写。在实验系统中,以球冠为被测物体,分别用标准的傅立叶变换形貌测量法和相移形貌测量法进行了形貌测量,对球冠形貌进行了恢复,通过实验结果证明了相移形貌测量法的恢复效果要优于傅立叶变换形貌测量法。
本文最后从测量系统和测量方法两个方面对系统的测量误差进行了分析,并且着重研究了系统的非线性和滤波器选择对系统的影响。对相位解卷绕这一直接影响测量误差的关键技术,本文也做了阐述,并且提出了一种合适的解相方法,进一步提高了系统的测量精度。
As the development of modern technique of measurement,the traditional measurement is out of date.With the advantage of non-contact,automatic,adaptable,3D Shape Measurement has been widely concerned and used.In this paper, Three-dimensional Fringe pattern Profilometry is the most popular measurement of the tchniques,the study of wich has profund value of research and practical meaning.
The basic principle of Three-dimensional Fringe pattern Profilometry is to project a grating fringe pattern on the surface of the measured object,and then a distorted pattern caused by the hight of the object is recorded by a camera,the sharp of the object is rebuilt rebuild by the processing of the the computer. In this paper,Fourier Transform Profilometry and Phase Measuring Profilometry are studied,and the comparison of the two measuring methods is given.
Based on the principle, an experimental system is set up by the author,which is mainly composed by a CCD camera ,a projector and a computer.The hardware devices were selected,and based on MATLAB platform of windows,the control software were edited.To take a spherical crown for example, Fourier Transform Profilometry and Phase Measuring Profilometry were usd to measure the sharp by the experimental system,and the results demonstrated that Phase Measuring Profilometry is superior to Phase Measuring Profilometry.
At the end of this paper,the error of the system and algorithm is analyzed,in addition,the effrct of the non-linear character and filter to the system have been studied.As to the key point of Phase Unwrapping,a method of unwapping is given to increase the accuracy of the system.
基于数字投影的三维形貌测量技术的基本原理是先向被测物体投射光栅条纹图像,物体表面的高度变化使得条纹图像产生形变,计算机获得该形变的条纹图像后再进行相应的处理,从而进行三维形貌的重建。本文对傅立叶变换形貌测量法(Fourier transform profilometry,FTP)和相移形貌测量法(Phase shifting profilometry,PSP)这两种主要条纹图像处理算法进行了推导分析,并且比较了两种算法的优劣。
在基本原理分析的基础上,作者设计了主要由投影仪、摄像机和计算机组成的基于数字投影的三维形貌测量系统,并且对系统所需要的硬件设备进行了选型,在Windows环境下的MATLAB7.0平台下完成了系统控制软件的编写。在实验系统中,以球冠为被测物体,分别用标准的傅立叶变换形貌测量法和相移形貌测量法进行了形貌测量,对球冠形貌进行了恢复,通过实验结果证明了相移形貌测量法的恢复效果要优于傅立叶变换形貌测量法。
本文最后从测量系统和测量方法两个方面对系统的测量误差进行了分析,并且着重研究了系统的非线性和滤波器选择对系统的影响。对相位解卷绕这一直接影响测量误差的关键技术,本文也做了阐述,并且提出了一种合适的解相方法,进一步提高了系统的测量精度。
As the development of modern technique of measurement,the traditional measurement is out of date.With the advantage of non-contact,automatic,adaptable,3D Shape Measurement has been widely concerned and used.In this paper, Three-dimensional Fringe pattern Profilometry is the most popular measurement of the tchniques,the study of wich has profund value of research and practical meaning.
The basic principle of Three-dimensional Fringe pattern Profilometry is to project a grating fringe pattern on the surface of the measured object,and then a distorted pattern caused by the hight of the object is recorded by a camera,the sharp of the object is rebuilt rebuild by the processing of the the computer. In this paper,Fourier Transform Profilometry and Phase Measuring Profilometry are studied,and the comparison of the two measuring methods is given.
Based on the principle, an experimental system is set up by the author,which is mainly composed by a CCD camera ,a projector and a computer.The hardware devices were selected,and based on MATLAB platform of windows,the control software were edited.To take a spherical crown for example, Fourier Transform Profilometry and Phase Measuring Profilometry were usd to measure the sharp by the experimental system,and the results demonstrated that Phase Measuring Profilometry is superior to Phase Measuring Profilometry.
At the end of this paper,the error of the system and algorithm is analyzed,in addition,the effrct of the non-linear character and filter to the system have been studied.As to the key point of Phase Unwrapping,a method of unwapping is given to increase the accuracy of the system.
引文
[1]宋丽梅.双目立体机器视觉检测系统及其应用.西南科技大学学报,2006,21(1):30–34.
[2]李志新,黄曼慧,成思源.逆向工程技术及其应用.现代制造工程,2007,(02)
[3]周立新,郭宏铭,白玉兴,王邦康.面部软组织数字化立体摄影测量原理.北京口腔医学,2003,22(7):51~53.
[4]丁明君,牛萍娟,李寅涛.光机电研究论坛.2008,9.
[5] Song Zhang. Recent progresses on real-time 3D shape measurement using digital fringe Projection techniques. Optics and Lasers in Engineering, 2010,48, 49–158.
[6]章毓晋.图像理解与计算机视觉.清华大学出版社,2000.
[7]Pirodda L.Shadow and Projection moirétechniques for absolute or relative mapping of surface shapes.optical Engineering,1982,21(4):640–49.
[8]苏显渝,李继陶.三维面形测量技术的新进展.物理,1996,25(10):614–620.
[9]胡颖嵩,基于数字投影的三维形貌测量技术研究.华中科技大学博士论文,2006.
[10]Toyooka S,Tominga M.Spatial fringe scanning for optical phase measurement.Optics Communications,1984,51:68～70.
[11]Takeda M, Mutoh K.Fourier transform profilometry for the automatic measurement of 3D shapes. Applied Optics,1983,22:3977–3982.
[12]Srinivasan V,Liu H,Halioua M.Automated phase measuring profilometry of 3D diffuse objects. Applied Optics,1984,23:3105–3108.
[13]Su X,Su L.New 3D profilometry based on modulation measurement.Proceedings of SPIE,1998,3853:1–7.
[14]Rodriguez-Vera R,Servin M.Phase locked loop profilometry.Optics and Lasers Technology,1994,26(6):393–398.
[15]Cheng X,Su X,Guo L.Automated measurement method for 360°profilometry of 3-D diffuse objects.Applied Optics,1991,30(10):1274.
[16]Kemao Q.Windowed Fourier transform for fringe pattern analysis.Applied Optics,2004,43 (13):2695–2702.
[17]Zhong J,Weng J.Spatial carrier-fringe pattern analysis by means of wavelet transform: wavelet transform profilometry.Applied Optics,2004,43(26):4993–4998.
[18]Wust C,Capson D W.Surface profile measurement using color fringe projection. MVA, 1991,4:193～203.
[19]Cuevas F,Servin M,Stavroudis O,et al.Multi-layer neural network applied to phase and depth recovery from fringe patterns.Optics Communications,2000,181:239–259.
[20]林家明.面阵CCD摄像机光学镜头参数及其相互关系.光学技术,2000,26(2):183–185.
[21]沙占祥.摄影镜头的性能与选择.北京:中国摄影出版社,2001.
[22]罗华飞. MATLAB GUI设计学习手记.北京:北京航空航天大学出版社,2009.
[23]刚萨雷斯等.数字图像处理.北京:电子工业出版社. 2005.
[24]王亮,吴福朝.基于一维标定物的多摄像机标定.自动化学报,2007,33(3):225–231.
[25]刘艳.光栅投影式物体表面三维形貌测量方法的研究与改进.南京航天航空大学硕士论文.2007.
[26]刘菲.基于相位测量的光学三维形貌测量研究.山东师范大学硕士论文.2008.
[27]Jia hu Pan,Peisen S.Huang,Fu-Pen Chiang.Color-coded binary fringe projection technique For 3D shape measurement.SPIE Optical Engineering.2005,44(2).
[28]Zhang S,YauS-T.High-speed three-dimensional shape measurement using a modified two-plus-one phase-shifting algorithm.Opt Eng 2007;46(11):113603.
[29]Stockman.G, Payne.J,Sadler.J, etal.Error measurement and analysis for a 3D face surface matching system .Sensor Review,2006,26(2):116–121.
[30]陈文静,苏显渝,谭松新等,Fourier变换轮廓术中对测量系统的基本要求.光电子·激光,1999,10(6):535–539.
[31]陈文静,苏显渝,曹益平.傅里叶变换轮廓术测量范围的普适讨论.光电子·激光,2004,15(5):604–607.
[32]许平,陈文静,苏显渝.高精度的数字光投影傅里叶变换轮廓术.光电工程,2005(11).
[33]翁嘉文,钟金钢.伸缩窗口傅里叶变换在三维形貌测量中的应用.光学学报,2004,24(6):725–729.
[34]付艳华,陈文静,苏显渝.窗口傅里叶变换的三维面形测量.激光杂志,2006,27(1):39-41.
[35]Berryman,Fiona,Pynsent Paul.The effect of windowing in Fourier transform profilometry applied to noisy images.Optics and Lasers in Engineering,2004,41(6):815–825.
[36]Xianyu Su, Lian Xue.Phase unwrapping algorithm based on fringe frequency analysis in Fourier transform profilometry .Optical Engineering, Vol. 40No.4, April 2001.
[37]Xianyu Su,Wenjing Chen.Reliability-guided phase unwrapping:algorithm:a review. Optics and Lasers in Engineering.42 (2004)245–261.
[2]李志新,黄曼慧,成思源.逆向工程技术及其应用.现代制造工程,2007,(02)
[3]周立新,郭宏铭,白玉兴,王邦康.面部软组织数字化立体摄影测量原理.北京口腔医学,2003,22(7):51~53.
[4]丁明君,牛萍娟,李寅涛.光机电研究论坛.2008,9.
[5] Song Zhang. Recent progresses on real-time 3D shape measurement using digital fringe Projection techniques. Optics and Lasers in Engineering, 2010,48, 49–158.
[6]章毓晋.图像理解与计算机视觉.清华大学出版社,2000.
[7]Pirodda L.Shadow and Projection moirétechniques for absolute or relative mapping of surface shapes.optical Engineering,1982,21(4):640–49.
[8]苏显渝,李继陶.三维面形测量技术的新进展.物理,1996,25(10):614–620.
[9]胡颖嵩,基于数字投影的三维形貌测量技术研究.华中科技大学博士论文,2006.
[10]Toyooka S,Tominga M.Spatial fringe scanning for optical phase measurement.Optics Communications,1984,51:68～70.
[11]Takeda M, Mutoh K.Fourier transform profilometry for the automatic measurement of 3D shapes. Applied Optics,1983,22:3977–3982.
[12]Srinivasan V,Liu H,Halioua M.Automated phase measuring profilometry of 3D diffuse objects. Applied Optics,1984,23:3105–3108.
[13]Su X,Su L.New 3D profilometry based on modulation measurement.Proceedings of SPIE,1998,3853:1–7.
[14]Rodriguez-Vera R,Servin M.Phase locked loop profilometry.Optics and Lasers Technology,1994,26(6):393–398.
[15]Cheng X,Su X,Guo L.Automated measurement method for 360°profilometry of 3-D diffuse objects.Applied Optics,1991,30(10):1274.
[16]Kemao Q.Windowed Fourier transform for fringe pattern analysis.Applied Optics,2004,43 (13):2695–2702.
[17]Zhong J,Weng J.Spatial carrier-fringe pattern analysis by means of wavelet transform: wavelet transform profilometry.Applied Optics,2004,43(26):4993–4998.
[18]Wust C,Capson D W.Surface profile measurement using color fringe projection. MVA, 1991,4:193～203.
[19]Cuevas F,Servin M,Stavroudis O,et al.Multi-layer neural network applied to phase and depth recovery from fringe patterns.Optics Communications,2000,181:239–259.
[20]林家明.面阵CCD摄像机光学镜头参数及其相互关系.光学技术,2000,26(2):183–185.
[21]沙占祥.摄影镜头的性能与选择.北京:中国摄影出版社,2001.
[22]罗华飞. MATLAB GUI设计学习手记.北京:北京航空航天大学出版社,2009.
[23]刚萨雷斯等.数字图像处理.北京:电子工业出版社. 2005.
[24]王亮,吴福朝.基于一维标定物的多摄像机标定.自动化学报,2007,33(3):225–231.
[25]刘艳.光栅投影式物体表面三维形貌测量方法的研究与改进.南京航天航空大学硕士论文.2007.
[26]刘菲.基于相位测量的光学三维形貌测量研究.山东师范大学硕士论文.2008.
[27]Jia hu Pan,Peisen S.Huang,Fu-Pen Chiang.Color-coded binary fringe projection technique For 3D shape measurement.SPIE Optical Engineering.2005,44(2).
[28]Zhang S,YauS-T.High-speed three-dimensional shape measurement using a modified two-plus-one phase-shifting algorithm.Opt Eng 2007;46(11):113603.
[29]Stockman.G, Payne.J,Sadler.J, etal.Error measurement and analysis for a 3D face surface matching system .Sensor Review,2006,26(2):116–121.
[30]陈文静,苏显渝,谭松新等,Fourier变换轮廓术中对测量系统的基本要求.光电子·激光,1999,10(6):535–539.
[31]陈文静,苏显渝,曹益平.傅里叶变换轮廓术测量范围的普适讨论.光电子·激光,2004,15(5):604–607.
[32]许平,陈文静,苏显渝.高精度的数字光投影傅里叶变换轮廓术.光电工程,2005(11).
[33]翁嘉文,钟金钢.伸缩窗口傅里叶变换在三维形貌测量中的应用.光学学报,2004,24(6):725–729.
[34]付艳华,陈文静,苏显渝.窗口傅里叶变换的三维面形测量.激光杂志,2006,27(1):39-41.
[35]Berryman,Fiona,Pynsent Paul.The effect of windowing in Fourier transform profilometry applied to noisy images.Optics and Lasers in Engineering,2004,41(6):815–825.
[36]Xianyu Su, Lian Xue.Phase unwrapping algorithm based on fringe frequency analysis in Fourier transform profilometry .Optical Engineering, Vol. 40No.4, April 2001.
[37]Xianyu Su,Wenjing Chen.Reliability-guided phase unwrapping:algorithm:a review. Optics and Lasers in Engineering.42 (2004)245–261.