基于主动编码光源的单摄像机立体测量方法

Stereo-measurement method based on active encoding source with monocular camera

基于一台摄像机、一台投影仪构成光学测量系统,提出一种非特定位姿下的主动编码光源非接触立体测量方法。利用一张混合标定板分别标定测量系统中的摄像机与投影仪,建立二维图像坐标与三维空间坐标之间的映射关系,再主动投影横、纵两组格雷码及其多分频测量条纹形成投影特征点,进而通过反演映射出目标特征的三维空间坐标。本方法避免了单目立体视觉测量中对于测量系统位姿的制约,去除了外部传感测量设备的使用;同时,主动光投影技术也解决了双目立体视觉测量中特征点匹配困难的问题。实验表明,在测量距离1.2~1.6 m范围,测量精度可以达到1.5 mm,能够实现单目摄像机主动编码光的立体测量。

Active encoding source non-contact stereo measurement method is proposed with one camera and one projector in non-specific posture. A hybrid calibration board is used to calibrate the camera and projector in the measurement system respectively and the mapping relationship between two-dimensional image coordinates and three-dimensional spatial coordinates is established. Feature points is projected from the horizontal and vertical Gray codes and their multi frequency division measurement fringes, and the three-dimensional spatial coordinates of target is obtained through inversion. This method avoids position and orientation constraints in the monocular stereo measurement and the use of external precision measuring equipment. At the same time, feature point matching in binocular stereo vision measurement is solved by this method. Experiments show that in the range of 1.2~1.6 m measurement distance, the measurement accuracy can reach 1.5 mm, which can realize the active encoding source stereo-measurement with monocular camera.