线激光三维测量仪中视觉传感器规划方法研究

Research of Sensor Planning Method in Line Laser Three-Dimensional Measurement System

未知三维物体模型自动重建是机器视觉领域中经典研究课题之一,目前被广泛应用于工业检测、机器人定位与导航、逆向工程和文物修复等方面。首先确定出单目线激光视觉测量系统的可视区域,由此获得未知模型极限可视表面。通过将两者相结合,提出面向未知三维模型自动重建的新方法。依据初始视点下所获模型表面信息,构造未知空间的极限面模型。然后以极限面来预测未知对象的最大表面延拓信息,结合系统可视区域确定下一视点的可视性判据,给出预测曲面的可视旋转和平移区间,并将可视区间内能获取最大曲面面积的位置定为下一个最优视点的位置。通过对实体模型的自动重构,验证了方法的可行性及有效性。

Automatic reconstruction of unknown three-dimensional（3D） objects is one of the classical research in machine vision,which is widely used in industrial inspection,robot localization and navigation,reverse engineering,and cultural relic restoration etc.A new approach of reconstructing unknown 3D models automatically is proposed.The new algorithm incorporates the visual region of the monocular laser-vision system with the limit visual surface of unknown model and selects the suitability of viewpoints as the NBV on scanning coverage.The limit visual surface is modeled by the known surface data obtained from initial view and is used to predict the maximal unknown object surface information.Then the next view visibility is determined,correspondingly the visual rotation angle and translation zones are obtained.And the position which can obtain the maximal visual surface area in the visibility zone is selected as the next best view position.The experimental results show that the method is effective in practical implementation.