格雷码论文：基于格雷码与相移结合的双目立体视觉测量研究.doc

格雷码论文：基于格雷码与相移结合的双目立体视觉测量研究【中文摘要】随着数字投影技术和计算机视觉理论的快速发展,基于数字投影的双目立体视觉测量已成为三维视觉测量的一个重要方面,在反求工程中具有广泛的应用前景,特别是在长度超过1m的大型构件测量中。基于格雷码和相移结合的双目立体视觉测量利用数字投影仪投射格雷码和正弦相移光珊于物体表面,通过解码解相获取物体表面像素的格雷码值和相位值,利用格雷码值和相位值进行立体匹配获得视差,最终利用视差原理获得物体三维坐标。其测量过程,可以分为摄像机标定、立体匹配和三维重建三个方面。本论文分别对这三个方面进行了研究。首先,研究了摄像机立体标定和立体校正原理,开发了摄像机立体标定模块,并验证了该模块的可行性。其次,重点研究了立体匹配,对影响基于格雷码与相移结合的双目立体视觉测量立体匹配精度的关键因素分别进行了研究。一、研究了正弦光栅的生成,对光栅生成中各个参数进行了实验研究,获得了光栅生成的最佳参数,并在此基础上采取了多次取均值的方法,有效的去除了噪声。二、研究了格雷码与相位的周期校正,提出最大概率校正法,获得了较好的校正效果。三、研究了匹配算法,引入动态规划法、贪婪算法获得了较好的匹配结果,但耗时较多,为此进一步提出两步法匹配算法实现了高效、高质量的匹配。最后,研究了三维重建,开发了三维重建模块,完成了三维点云模型的重建。将测量系统用于具体实例测量,所得测量结果与三坐标测量仪的测量结果相近,说明了该测量系统的精确性。【英文摘要】Along with the rapid development of the digital projection technology and computer vision theory, the binocular stereo vision measuring based on the digital projection has become one of the important 3d vision measuring in reverse engineering, has wide application, especially in length than the measurement of large components 1-m.The binocular stereo vision measuring based on compiling gray code with phase-shift is a new measurement method, which will project gray code raster and phase-shift raster onto the object by using digital projectors. Gray code value and phase value can be obtained through gray code and phase decoding. Stereo match based on gray code value and phase value is adopted and the disparity which is used to calculate three-dimensional coordinates is acquired. The process of 3d acquisition can be divided into the camera calibration, stereo matching and 3d reconstruction. This paper will study from these three aspects.Firstly, study the stereo camera calibration and stereo calibration principle, the development of stereo camera calibration module, and verify the feasibility of the module. Secondly, focus on the stereo matching. The key factors which affect the measurement accuracy of the binocular stereo vision measuring based on compiling gray code with phase-shift were studied. First, by comparing to determine the phase shift grating generated, and use a new way to reduce noise. Second, by contrast, a new period correction method-the maximum probability correction method is proposed that this method can obtain better correction results. Third, dynamic programming, greedy algorithms are introduced to the stereo matching to obtain a better matching results, but the match takes a long time. A new matching algorithm - two-step matching method was proposed through the analysis, the use of this matching method, matching not only effective, but also short match time-consuming, and high efficiency. Finally, study the three-dimensional reconstruction. Not only developing three-dimensional reconstruction module completed the reconstruction of three-dimensional point cloud model, but also evaluating the accuracy of the measurement system. Measurement system is used in the specific instance of measurement and the measurement results obtained are similar with the three coordinate measuring machine (CMM). It is shows that the accuracy of the measurement system.【关键词】格雷码 相位 摄像机标定 立体匹配 三维重建 精度评价【英文关键词】Gray code phase camera calibration stereo matching three-dimensional reconstruction accuracy evaluation【目录】基于格雷码与相移结合的双目立体视觉测量研究摘要3-5ABSTRACT5-6绪论10-181.1 引言10-111.2 基于数字投影的双目立体视觉测量11-161.2.1 基于数字投影的双目立体视觉测量简介11-121.2.2 数字投影图案编码方法概述12-151.2.3 基于数字投影的双目立体视觉测量国内外研究现状15-161.3 本课题的选题背景及研究内容16-181.3.1 选题背景161.3.2 研究内容16-18第2章 基于格雷码与相移结合的双目立体视觉测量原理18-262.1 基于视差的三角测量原理18-192.2 格雷码图像编码解码原理19-222.2.1 格雷码编码19-212.2.2 格雷码图像解码21-222.3 相移法求解正弦光栅相位22-242.3.1 四步相移法求解相位22-242.3.2 格雷码加相移的相位求解242.4 基于格雷码与相移结合的双目立体视觉测量匹配原则24-252.4.1 双目立体视觉匹配约束24-252.4.2 基于格雷码与相位的匹配原则252.5 本章小结25-26第3章 测量系统的软硬件开发26-343.1 系统硬件设计26-283.1.1 系统硬件设备选择26-273.1.2 系统硬件平台搭建27-283.2 系统软件设计28-333.2.1 软件开发平台及开发语言选择28-293.2.2 软件总体设计及主要模块实现29-333.2.3 系统测量软件概述333.3 本章小结33-34第4章 摄像机立体标定34-524.1 摄像机标定34-464.1.1 摄像机成像模型34-384.1.2 摄像机镜头畸变模型38-394.1.3 摄像机标定39-434.1.4 摄像机立体标定及立体校正43-464.2 标定实例46-504.3 本章小结50-52第5章 立体匹配研究52-785.1 正弦光栅生成研究53-655.1.1 高精度正弦时域相移光栅的生成原理53-565.1.2 参数选择56-625.1.3 降低随机噪声影响62-655.2 格雷码周期与相位周期的周期校正研究65-685.2.1 传统校正方法介绍655.2.2 最大概率校正法65-685.3 匹配算法研究68-775.3.1 动态规划找匹配69-725