用于机器人视觉的大景深便携式三维扫描系统

Large depth-of-view portable 3D scanner for robot vision

针对机器人视觉对便携式三维扫描系统的大景深要求,利用Scheimpflug条件对CCD平面进行偏转,成功地将扫描系统的景深从30mm提高到了100mm以上;并根据CCD偏转后的摄像机模型,在理论上完整地推导了便携式集成三维扫描系统的物像关系方程。针对景深扩大后带来的测量精度降低的问题,提出了一种对系统全景深范围进行分段校准的新方法,提高了测量精度与系统分辨率。三维重建时,根据被扫描物体所对应的图像点在像平面上的不同位置分别调用不同的标定参数将二维图像坐标转变为物体的空间坐标,测量精度可以达到0.06mm。

By tilting the Charge Coupled Device （CCD） plane of portable 3D acquisition system according to the Scheimpflug condition, the depth of view is successfully achieved from 30mm to over 100mm. The new object-image equations of tilted camera system are derived theoretically. By dividing the whole work range into two parts and calibrating respectively, the measurement accuracy of the large depth-of-view system has been effectively improved. In the process of 3D reconstruction, different calibration parameters are used to transform the 2-D coordinates to 3-D coordinates according to the different position of the image in whole CCD plane, and the measurement accuracy of 0.06mm is obtained experimentally.