显微立体视觉系统的研究

在分析摄像机、体视显微镜和显微立体视觉系统光学原理基础上,提出了双目显微立体视觉系统方案,此系统是由单目显微镜改造而成,根据目标物体在两个摄像机上所成图像的视差,求得目标物体距摄像机的距离,从而可以对目标物体进行各种微操作。实验证明,此系统是一种高效、精确的显微视觉系统。     

Portable device for the local three-dimensional deformation measurement using a single camera

The aim of this paper is to establish and validate a portable device for the local three dimensional deformation measurements using a single camera combined with a triangular prism mirror and two mirrors. The mirrors were utilized to convert a single camera into a stereo image system, which views a test object from two different directions and records the surface images of the test specimen on the two halves of the camera sensor in order to achieve a three-dimensional measurement. The proposed system consists of a single camera and the reflection system was integrated into a portable device to achieve a truly portable, low-cost,local three-dimensional deformation measurement, one-time calibration and easy implementation in situ. The optical design and measurement procedures to obtain the three-dimensional(3 D) deformation measurements of the proposed system were described in detail. The efficiency and precision of the proposed system were verified by measuring the displacements of a translated flat plate. As a practical application, the proposed system is used to measure the out-of-plane displacement of an aluminum circular plate with a central load. Moreover, the normal strain measurement of a plastic beam under symmetric four-point bending via an outer loading frame was also presented. The measurement results are in good accordance with the data obtained by strain gauges. The experimental results revealed that the proposed system was practicable and effective for the local three-dimensional deformation measurement. This system well-suited to both laboratory and field condition and will have significant application in the fields of engineering.     

Fluorescent digital image correlation techniques in experimental mechanics

White light has often been used for surface illumination to acquire images for digital image correlation(DIC) analysis. In recent years, fluorescent imaging technique has been introduced for illumination, surface deformation and topography measurements with applications on various materials including biomaterials(biofilms, etc.) at the microscale. Traditional imaging, with the use of white light, encounters technical issues such as specular reflection owing to moisture or smooth shiny surfaces(e.g., metallic or glass surfaces). As an alternative to white light, fluorescent imaging serves as a solution to resolve the issues of specular reflection.Fluorescent DIC techniques, especially the fluorescent stereo DIC, allow 3 D surface profilometry and deformation measurements at the microscale and submicron scale. Fluorescent stereo imaging under a microscope utilizes emission wavelengths that are different from illumination wavelengths to ensure clear images on any surface that might give reflections at certain angles when white light is used, allowing accurate metrology and deformation measurement. In addition microscopic fluorescent imaging provides nanoscale resolutions surpassing Abbe's diffraction limit. This paper provides a review of the recent advances in fluorescent DIC.     

单目视觉坐标测量方法

为了解决现代化生产中对高精度、大尺寸、三维整体现场在线测量技术的需求问题,提出了一种基于光学测头成像的单目视觉坐标测量方法。该方法以光学测头上的光学特征点作为成像目标,利用单个摄像机获取测量信息。测量过程中,通过分析光学测头上光学特征点的二维成像坐标,利用特征点之间已知的几何约束知识和摄像机的透视投影模型,建立特征点与对应像点的求解关系。通过基于奇异值分解的位姿优化算法确定特征点的空间位置坐标。根据特征点与测尖间已知的位置约束关系确定被测点的空间坐标,从而实现坐标测量目的。测试实验结果表明,该方法切实可行,系统的测量不确定度小于0.32mm。     

物体三维表面形状的自动化测量

介绍了一种三维物体表面形状的测量方法。传统的投影栅线(或云纹)法与相移法结合被用于三维表面形状的测量。由投影仪投影一束空间周期性分布的光学条纹至物体曲表面时,在物体表面可见到被其曲表面调制了的变形的光学条纹,它由计算机连接的高分辨率的CCD摄像机记录,在投影仪内的光栅由计算机控制移动数个位置,得到相应的光条纹分布的图像,这些图像的光强经过运算后可以得到一个相位图,当它与参考平面上的规则相位图相减时,则可以得到物体表面形状。     

GPU加速的鲁棒性人脸2.5D重建方法

针对人脸三维重建问题,提出利用多面体模型快速从人脸三幅光度立体图像中重建其2.5D结构的鲁棒性方法,并较少受高光和阴影以及毛发的影响。以漫反射光照模型建立多面体每个面与人脸图像每个像素点间的方程组,利用加权最小二乘方法求解初始人脸2.5D结构,并利用计算机图形学算法以包含镜面反射和阴影的绘制模式虚拟合成该初始结构的光度立体图像。以此虚拟光度立体图像进行第二次重建,并比较两次重建结果的差异以推断重建方法的误差,从而修正计算结果。为加速计算过程,给出了充分利用现代可编程图形处理器(GPU)高速并行计算能力的硬件实现计算的方法。在YaleB人脸数据库上的实验表明,该方法能快速重建出人脸的2.5D形状和纹理,并克服阴影和高光以及毛发的影响。     

Deforming analysis of sheet metal based on stereo vision and coordinate grid

A new approach based on stereo vision technology is introduced to analyze sheet metal deformation. By measuring the deformed circle grids that are printed on the sheet surface before forming, the strain distribution of the workpiece is obtained. The measurement and analysis results can be used to verify numerical simulation results and guide production. To get good accuracy,some new techniques are employed: camera calibration based on genetic algorithm, feature abstraction based on self-adaptive technology, image matching based on structure feature and camera modeling pre-constrains, and parameter calculation based on curve and surface optimization. The experimental values show that the approach proposed is rational and practical, which can provide better measurement accuracy with less time than the conventional method.     

Strain field investigation of limestone specimen under uniaxial compression loads using particle image velocimetry

The particle image velocimetry (PIV) method was used to investigate the full-field displacements and strains of the limestone specimen under external loads from the video images captured during the laboratory tests. The original colorful video images and experimental data were obtained from the uniaxial compression test of a limestone. To eliminate perspective errors and lens distortion, the camera was placed normal to the rock specimen exposure. After converted into a readable format of frame images, these videos were transformed into the responding grayscale images, and the frame images were then extracted. The full-field displacement field was obtained by using the PIV technique, and interpolated in the sub-pixel locations. The displacement was measured in the plane of the image and inferred from two consecutive images. The local displacement vectors were calculated for small sub-windows of the images by means of cross-correlation. The video images were interrogated in a multi-pass way, starting off with 64×64 images, ending with 16×16 images after 6 iterations, and using 75% overlap of the sub-windows. In order to remove spurious vectors, the displacements were filtered using four filters: signal-to-noise ratio filter, peak height filter, global filter and local filter. The cubic interpolation was utilized if the displacements without a number were encountered. The full-field strain was then obtained using the local least square method from the discrete displacements. The strain change with time at different locations was also investigated. It is found that the normal strains are dependant on the locations and the crack distributions. Between 1.0 and 5.0 s prior to the specimen failure, normal strains increase rapidly at many locations, while a stable status appears at some locations. When the specimen is in a failure status, a large rotation occurs and it increases in the inverse direction. The strain concentration bands do not completely develop into the large cracks, and meso-cracks are not visible in some bands. The techniques presented here may improve the traditional measurement of the strain field, and may provide a lot of valuable information in investigating the deformation/failure mechanism of rock materials.     

Motion estimation of elastic articulated objects from image contours

A new method of elastic articulated objects (human bodies) modeling was presented based on a new conic curve. The model includes 3D object deformable curves which can represent the deformation of human occluding contours. The deformation of human occluding contour can be represented by adjusting only four deformation parameters for each limb. Then, the 3D deformation parameters are determined by corresponding 2D contours from a sequence of stereo images. The algorithm presented in this paper includes deformable conic curve parameters determination and the plane, 3D conic curve lying on, parameter determination.     

用数码相机测量斜拉桥拉索模型的变形

结合数字近景摄影测量技术的优点及斜拉桥拉索变形的特点,利用普通数码相机对斜拉桥拉索模型的变形进行非接触式测量。考虑到相机光学畸变的直接线性变换,在确定变形平面的基础上,利用单张相片求解目标点物方三维坐标。介绍了实验的整个过程,包括控制点布设、相片拍摄、参数求解、变形平面确定、拉索上目标点变形值计算等。通过对已知点检验证明了用本文方法得到的变形测量精度能满足对桥梁模型进行分析研究的要求。     

Multi-perspective digital image correlation method using a single color camera

A novel 3 D digital image correlation(DIC) system based on a single three charge-couple device(3 CCD) color camera is proposed in this paper. Images from three different perspectives are captured by a 3 CCD camera using a reflective-based pseudo-vision system. These images are then separated by the different CCD channels, and the correlation algorithm for the multi-camera DIC system is adopted to evaluate the images. Compared to the conventional multi-camera DIC system, the proposed system is much more compact. In addition, the proposed system has no loss of spatial resolution, compares to the traditional single camera DIC system. The complex surface measurement ability and the measurement accuracy is significantly improved through the use of the multi-camera DIC algorithm. The principle of the proposed system is described in detail as well as the experimental setup. A series of validation tests are performed, and the results are verified with the commercial 3 D-DIC system.     

采用SOM算法的软体机械臂三维形状实时感知

为实现软体机械臂精确的三维形状实时估计,奠定变形控制与应用的基础性工作,针对三段式软体机械臂,提出了一种基于自组织映射(Self-organizing map, SOM)算法的三维空间形状实时感知方法。首先,对ZED双目相机捕捉到的左、右图像帧进行图像预处理,得到左、右二值图像,并实时提取软体机械臂的二维轮廓数据。然后,采用SOM算法对轮廓数据进行聚类,有序得到软体机械臂二维中心线的多个骨干点,并与K均值,高斯混合模型以及细化3种中心线提取算法进行了对比研究,进一步表明SOM算法更适用于解决软体机械臂复杂形状的中心线辨识。最后,通过基于双目视差的三角测距模型完成软体机械臂的三维形状重构。该算法还采用数据降采样、SOM参数优化等方法,提高算法框架的实时性能。针对软体机械臂连续形变过程,进行了实时形状传感实验和对比验证实验。实验结果表明,该算法具有较高的形状感知精度和较好的实时跟踪效果。不仅如此,与其他文献中提出的形状检测算法相比,该算法也具有较好的性能。     

基于OpenCV的Harris角点检测

角点检测在运动估计、光流计算、视觉定位、3D重建和相机标定、形状测量和分析等方面都有广泛的应用.详述了Harris算法的基本原理,在OpenCV算法环境下运用Harris算法对黑白棋盘格图像进行角点检测,实验结果可以应用在摄像机的标定当中,具有一定的应用价值.     

基于OpenCV的Harris角点检测

角点检测在运动估计、光流计算、视觉定位、3D重建和相机标定、形状测量和分析等方面都有广泛的应用.详述了Harris算法的基本原理,在OpenCV算法环境下运用Harris算法对黑白棋盘格图像进行角点检测,实验结果可以应用在摄像机的标定当中,具有一定的应用价值.     

平行多基线立体视觉图像校正

介绍了现有双目立体视觉校正算法的原理和过程,分析了其应用于多基线立体视觉系统的局限性,得出其产生原因是各摄像机光心位置不共线造成图像平面不共面.保持三目立体视觉系统中两个摄像机的光心位置不变,利用光心和基线构建三角形,将第三个摄像机的光心投影到前两个摄像机光心连线构成的基线上,使各摄像机的光心共线,然后使用双目视觉校正算法对三个摄像机进行校正.结果表明,算法可正确有效地校正平行三目立体视觉图像对,并可推广至摄像机数目多于三个的平行多基线立体视觉系统.     

水轮机转轮叶片表面缺陷的检测方法

为实现对水轮机转轮叶片修补时的自动焊接和打磨,检测出叶片的局部表面缺陷和整体型面曲线,提出了利用计算机图像处理技术、光切法和计算机立体视觉原理进行叶片型面及表面缺陷的捡测方案．实践表明,本方案的实施可极大地提高检测系统的准确度．     

基于单目RGB摄像机的三维人脸表情跟踪算法

利用单目摄像机对人脸表情进行三维跟踪有两个关键问题,一是从单幅图像中重建人脸的三维模型,二是建立不同三维模型之间稠密的对应关系。针对上述问题,提出一种有效的三维人脸表情跟踪算法。对输入的各帧人脸图像进行自动特征点检测,并根据2D特征点,利用Multilinear Model重建不同表情的三维模型。通过将三维模型重投影至图像空间,计算各帧图像间的Optic Flow与Sift Flow对应。根据图像间的对应关系,利用Laplacian网格变形对三维模型进行修正,建立不同表情之间三维的稠密对应。试验表明,该方法可以重建出较为真实的三维人脸表情模型,同时可以精确跟踪连续变化的三维表情序列。     

基于激光线扫描的双目立体视觉测量方法研究

为实现工业中汽车、飞机、骨骼和模具外形等物体的三维重建,介绍了基于激光线扫描的双目立体视觉三维测量系统.2个摄像机同时摄取一个扫描激光光条图像,经过图像预处理、光条特征点提取、图像匹配,利用视差计算出光条上所有点的坐标值,即光条处物体的三维信息.通过坐标系之间的转换把各光条统一到同一世界坐标系下,得到整个物体的三维重建.利用该系统对一标定块进行测量,空间距离误差小于0.1 mm,并对鼠标进行扫描测量,得到其表面的三维数据,基本满足逆向工程的要求.     

双目立体视觉的无人机位姿估计算法及验证

针对无人飞行器在未知复杂环境下的导航问题,提出了一种基于双目立体视觉的无人飞行器位置和姿态估计算法。用双目摄像机采集立体图像序列,对图像进行立体校正后使用Harris算法提取特征角点,用NCC算法获取匹配特征点,导出摄像机坐标系下的特征点坐标,得到三维立体特征信息,使用RANSAC算法与L-M迭代算法得到无人飞行器姿态和位置估计值。实验结果表明,基于双目立体视觉的位姿估计算法能适应未知环境变化,计算结果与实际位姿量相比误差小,能满足无人飞行器导航要求,可为无人飞行器的导航实现提供一套新途径。     

一种简便的双目摄像机标定方法

针对传统摄像机标定方法,在张正友平面模板两步法的基础上,提出了一种简便的双立体摄像机标定方法, 在标定中通过选取图像中心附近的点作为初始预测值,再进行非线性搜索来确定摄像机内外参数由于该方法在摄像机畸变模型中充分考虑了切向畸变的影响,使得标定应用范围更广.实验证明,标定模扳制作简单,标定过程快捷具有较高的精度,完全可以满足双日立体视觉应用的要求.