关节式坐标测量机激光测量头参数标定

在三维视觉测量中,标定方法对测量结果的影响是决定性的.本文通过分析、比较各种视觉模型及标定方法,采用考虑镜头畸变因素的三维视觉模型以满足高精度测量系统的需求.由于关节式坐标测量机的激光测量头,使用单摄像机和线结构光来匹配被测物体表面的三维数据,本文设计了一种新型的阶梯形标定块,通过标定块图像和激光条纹图像完成了摄像机的内外参数标定和激光平面参数标定.实验证明,该标定操作过程简单,易于实现自动化,且具有较高的标定精度.     

基于快速散斑结构光三维重建的在线测量系统

在流水生产线中实现工件表面三维信息的快速获取及尺寸的快速测量是当前辊压成形等制造业智能化升级过程中的迫切需求。基于散斑投影的三维重建方法仅需利用单幅物体散斑图像即可重建出物体表面的三维数据,在流水线工件快速测量中具有一定优势。本文对散斑三维重建中较为耗时的对应点搜索算法进行了优化,并在此基础上研制出适用于辊压成形制造生产线的工件快速三维测量系统。实验结果显示,该系统具有较快的三维数据重建速度,测量误差在0.035 mm范围内,能够满足辊压成形工件三维结构尺寸的快速在线测量需求。     

Flying triangulation--an optical 3D sensor for the motion-robust acquisition of complex objects

Three-dimensional (3D) shape acquisition is difficult if an all-around measurement of an object is desired or if a relative motion between object and sensor is unavoidable. An optical sensor principle is presented-we call it "flying triangulation"-that enables a motion-robust acquisition of 3D surface topography. It combines a simple handheld sensor with sophisticated registration algorithms. An easy acquisition of complex objects is possible-just by freely hand-guiding the sensor around the object. Real-time feedback of the sequential measurement results enables a comfortable handling for the user. No tracking is necessary. In contrast to most other eligible sensors, the presented sensor generates 3D data from each single camera image.     

Multiframe superresolution of binary images

We describe a new algorithm for superresolving a binary object from multiple undersampled low-resolution (LR) images that are degraded by diffraction-limited optical blur, detector blur, and additive white Gaussian noise. Two-dimensional distributed data detection (2D4) is an iterative algorithm that employs a message-passing technique for estimating the object pixel likelihoods. We present a novel non-training-based complexity-reduction technique that makes the algorithm suitable even for channels with support size as large as 5 x 5 object pixels. We compare the performance and computational complexity of 2D4 with that of iterative backprojection (IBP). In an imaging system with an optical blur spot matched to the object pixel size, 2 x 2 undersampled measurement pixels, and four LR images, the reconstruction error measured in terms of the number of pixel mismatches for 2D4 is 300 times smaller than that for IBP at a signal-to-noise ratio of 38 dB.     

A 3D modeling and free‐view generation system using environmental stereo cameras

We propose a 3D video system that uses environmental stereo cameras to display a target object from an arbitrary viewpoint. This system is composed of the following stages: image acquisition, foreground segmentation, depth field estimation, 3D modeling from depth and shape information, and arbitrary view rendering. To create 3D models from captured 2D image pairs, a real‐time segmentation algorithm, a fast depth reconstruction algorithm, and a simple and efficient shape reconstruction method were developed. For viewpoint generation, the 3D surface model is rotated toward the desired place and orientation, and the texture data extracted from the original camera is projected onto this surface. Finally, a real‐time system that demonstrates the use of the aforementioned algorithms was implemented. The generated 3D object can easily be manipulated, e.g., rotated or translated, to render images from different viewpoints. This provides stable scenes of a minimal area that made it possible to understand the target space, and also made it easier for viewers to understand in near real‐time. © 2008 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 17, 367–378, 2007     

Three-dimensional optical tomography: resolution in small-object imaging

Near-infrared (NIR) optical tomography provide estimates of the internal distribution of optical absorption and transport scattering from boundary measurement of light propagation within biological tissue. Although this is a truly three-dimensional (3D) imaging problem, most research to date has concentrated on two-dimensional modeling and image reconstruction. More recently, 3D imaging algorithms are demonstrating better estimation of the light propagation within the imaging region and are providing the basis of more accurate image construction algorithms. As 3D methods emerge, it will become increasingly important to evaluate their resolution, contrast, and localization of optical property heterogeneity. We present a concise study of 3D reconstructed resolution of a small, low-contrast, absorbing and scattering anomaly as it is placed in different locations within a cylindrical phantom. The object is an 8-mm-diameter cylinder, which represents a typical small target that needs to be resolved in NIR mammographic imaging. The best resolution and contrast is observed when the object is located near the periphery of the imaging region (12-22 mm from the edge) and is also positioned within the multiple measurement planes, with the most accurate results seen for the scatter image when the anomaly is at 17 mm from the edge. Furthermore, the accuracy of quantitative imaging is increased to almost 100% of the target values when a priori information regarding the internal structure of imaging domain is utilized.     

双目立体视觉中特征点三维坐标重构校准研究

双目立体视觉是一种商业化较成熟的三维测量技术,左右摄像机内外参数的精确标定是实现三维重构的基础和关键。针对棋盘格和圆点两种标定板图案研究了相应的图像处理技术,实现了标定点的亚像素精度定位及其有效排序。采用基于单映性约束和非线性优化的多视角平面标定算法实现了摄像机光学及空间位置参数求解。用极线约束残差法衡量标定结果的准确度。基于桥式三坐标标准实现标定点三维重构平面度以及多平面空间夹角测量结果的校准,基于光学三坐标标准实现了标定点三维重构空间距离的校准,并分析了校准结果的不确定度。圆标志点三维重构空间距离示值误差为0.029 mm,不确定度U=24 μm（k=2）     

Iterative algorithm of phase determination in digital holography for real-time recording of real objects

We propose a numerical method to obtain complex amplitude distribution of a three-dimensional (3D) object from a digital hologram. The method consists of two processes. The first process is to measure simultaneously a hologram of the 3D object and an object intensity distribution by two image sensors. These intensity distributions give us the amplitude and absolute value of phase of the 3D object at the image sensor plane. The second process is the determination of phase distribution by a proposed iterative process based on the criterion that the reconstructed 3D object is in focus and its conjugate reconstruction is out of focus. Numerical and experimental results show the effectiveness of the proposed method.     

Simultaneous mapping of absorption and scattering coefficients from a three-dimensional model of time-resolved optical tomography

A Newton-Raphson inversion algorithm has been extended for simultaneous absorption and scattering reconstruction of fully three-dimensional (3D) diffuse optical tomographic imaging from time-resolved measurements. The proposed algorithm is derived from the efficient computation of the Jacobian matrix of the forward model and uses either the algebraic reconstruction technique or truncated singular-value decomposition as the linear inversion tool. Its validation was examined with numerically simulated data from 3-D finite-element discretization models of tissuelike phantoms, with several combinations of geometric and optical properties, as well as two commonly used source-detector configurations. Our results show that the fully 3-D image reconstruction of an object can be achieved with reasonable quality when volumetric light propagation in tissues is considered, and temporal information from the measurements can be effectively employed. Also, we investigated the conditions under which 3-D issues could be approximately addressed with two-dimensional reconstruction algorithms and further demonstrated that these conditions are seldom predictable or attainable in practice. Thus the application of 3-D algorithms to realistic situations is necessary.     

Speckle-reduced three-dimensional volume holographic display by use of integral imaging

We propose a method to implement a speckle-reduced coherent three-dimensional (3D) display system by a combination of integral imaging and photorefractive volume holographic storage. The 3D real object is imaged through the microlens array and stored in the photorefractive crystal. During the reconstruction process a phase conjugate reading beam is used to minimize aberration, and a rotating diffuser located on the imaging plane of the lens array is employed to reduce the speckle noise. The speckle-reduced 3D image with a wide viewing angle can be reconstructed by use of the proposed system. Experimental results are presented and optical parameters of the proposed system are discussed in detail.     

Model-based image reconstruction by means of a constrained least-squares solution

The problem of the optimal use of object model information in image reconstruction is addressed. A closed-form solution for the estimated object spectrum is derived with the Lagrange multiplier technique, which assumes a measured image, knowledge of the optical transfer function, statistical information about the measurement noise, and a model of the object. This reconstruction algorithm is iterative in nature because the optimal Lagrange multiplier is not generally known at the start of the problem. We derive the estimator, describe one technique for determining the optimal Lagrange multiplier, demonstrate a stopping criterion based on the mean-square error between a noise-free image and the photon-limited version of the image, and show representative results for both filled- and sparse-aperture imaging applications.     

Efficient fringe image enhancement based on dual-tree complex wavelet transform

In optical phase shift profilometry (PSP), parallel fringe patterns are projected onto an object and the deformed fringes are captured using a digital camera. It is of particular interest in real time three-dimensional (3D) modeling applications because it enables 3D reconstruction using just a few image captures. When using this approach in a real life environment, however, the noise in the captured images can greatly affect the quality of the reconstructed 3D model. In this paper, a new image enhancement algorithm based on the oriented two-dimenional dual-tree complex wavelet transform (DT-CWT) is proposed for denoising the captured fringe images. The proposed algorithm makes use of the special analytic property of DT-CWT to obtain a sparse representation of the fringe image. Based on the sparse representation, a new iterative regularization procedure is applied for enhancing the noisy fringe image. The new approach introduces an additional preprocessing step to improve the initial guess of the iterative algorithm. Compared with the traditional image enhancement techniques, the proposed algorithm achieves a further improvement of 7.2 dB on average in the signal-to-noise ratio (SNR). When applying the proposed algorithm to optical PSP, the new approach enables the reconstruction of 3D models with improved accuracy from 6 to 20 dB in the SNR over the traditional approaches if the fringe images are noisy.     

Computer-generated holograms of three-dimensional objects synthesized from their multiple angular viewpoints

Synthesizing computer-generated holograms (CGHs) of a general three-dimensional (3D) object is usually a heavy computational task. We propose and demonstrate a new algorithm for computing CGHs of 3D objects. In our scheme, many different angular projections of computer-designed 3D objects are numerically processed to yield a single two-dimensional complex matrix. This matrix is equivalent to the complex amplitude of a wave front on the rear focal plane of a spherical lens when the object is located near the front focal point and illuminated by a plane wave. Therefore the computed matrix can be used as a CGH after it is encoded to a real positive-valued transparency. When such CGH is illuminated by a plane wave, a 3D real image of the objects is constructed. The number of computer operations are equivalent to those of a two-dimensional Fourier CGH. Computer and optical constructions of 3D objects, both of which show the feasibility of the proposed approach, are described.     

Factor graph methods for three-dimensional shape reconstruction as applied to LIDAR imaging

Two methods based on factor graphs for reconstructing the three-dimensional (3D) shape of an object from a series of two-dimensional images are presented. First, a factor graph model is developed for image segmentation to obtain silhouettes from raw images; the shape-from-silhouette technique is then applied to yield the 3D reconstruction of the object. The second method presented is a direct 3D reconstruction of the object using a factor graph model for the voxels of the reconstruction. While both methods should be applicable to a variety of input data types, they will be developed and demonstrated for a particular application involving the LIDAR imaging of a submerged target. Results from simulations and from real LIDAR data are shown that detail the performance of the methods.     

由序列图像进行三维测量的新方法

目前的三维测量方法都需要专门的测量设备且存在着种种限制,为此提出了一种基于图像序列进行三维测量的新方法。将由数码相机围绕被测物体拍摄的多幅图像导入计算机,利用图像处理知识得到特征的二维信息;采用计算机视觉方法,对特征从射影空间到欧式空间分层逐步重建即可完成三维测量。设计一套特征标志组合,作为辅助测量工具避免了特征匹配难题。确立了一套图像分割与识别策略获得特征标志二维信息,识别率可达到95%以上。采用基于模约束的摄像机分层自标定方法得到特征在欧式空间下的三维信息,并通过多种优化方法减少误差的影响。该方法在硬件上实现简单,对测量条件要求不高。实际试验表明,相对误差可达到1.48%,重投影误差为0.3864像素。     

Automatic threshold technique for holographic particle field characterization

The 3D distribution of a particle field by digital holography is obtained by 3D numerical reconstruction of a 2D hologram. The proper identification of particles from the background during numerical reconstruction influences the overall effectiveness of the technique. The selection of a suitable threshold value to segment particles from the background of reconstructed images during 3D holographic reconstruction process is a critical issue, which influences the accuracy of particle size and number density of reconstructed particles. The object particle field parameters, such as depth of sample volume and density of object particles, influence the optimal threshold value. The present study proposes a novel technique for the determination of the optimal threshold value of a reconstructed image. The effectiveness of the proposed technique is demonstrated using both simulated and experimental data. The proposed technique is robust to variation in optical properties of particle and background, depth of sample volume, and number density of object particle field. The particle diameter obtained from the proposed threshold technique is within 5% of that obtained from the particle size analyzer. There is a maximum ten times increase in reconstruction effectiveness by using the proposed automatic threshold technique in comparison with the fixed manual threshold technique.     

Speckle-based three-dimensional velocity measurement using spatial filtering velocimetry

We present an optical method for measuring the real-time three-dimensional (3D) translational velocity of a diffusely scattering rigid object observed through an imaging system. The method is based on a combination of the motion of random speckle patterns and regular fringe patterns. The speckle pattern is formed in the observation plane of the imaging system due to reflection from an area of the object illuminated by a coherent light source. The speckle pattern translates in response to in-plane translation of the object, and the presence of an angular offset reference wave coinciding with the speckle pattern in the observation plane gives rise to interference, resulting in a fringe pattern that translates in response to the out-of-plane translation of the object. Numerical calculations are performed to evaluate the dynamic properties of the intensity distribution and the response of realistic spatial filters designed to measure the three components of the object's translational velocity. Furthermore, experimental data are presented that demonstrate full 3D velocity measurement.     

Information theoretical optimization for optical range sensors

Most of the known optical range sensors require a large amount of two-dimensional raw data from which the three-dimensional (3D) data are decoded and so are associated with considerable cost. The cost arises from expensive hardware as well as from the time necessary to acquire the images. We will address the question of how one can acquire maximum shape information with a minimum amount of image raw data, in terms of information theory. It is shown that one can greatly reduce the amount of raw data needed by proper optical redundancy reduction. Through these considerations, a 3D sensor is introduced, which needs only a single color (red-green-blue) raw image and still delivers data with only approximately 2-microm longitudinal measurement uncertainty.     

计算机单目视觉测量系统

为了精确实现对空间物体的测量,提出了利用线激光、单CCD相机、小孔成像与激光面约束模型的激光线测量法。引进三维信息已知的标准阶梯块,作为激光面约束的标定块。由计算机控制摄像头对实物连续拍摄和实时处理,提取激光线上的像素坐标,利用建立的模型将二维坐标转换成三维坐标,再以点云的形式重构出物体,实现三维自动测量。实践中检测系统测量精度可达到0.05mm。     

Unification scheme for 3D surface reconstruction using physically based models

We propose a unification framework for three-dimensional shape reconstruction using physically based models. A variety of 3D shape reconstruction techniques have been developed in the past two decades, such as shape from stereopsis, from shading, from texture gradient, and from structured lighting. However, the lack of a general theory that unifies these shape reconstruction techniques into one framework hinders the effort of a synergistical image interpretation scheme using multiple sensors/information sources. Most shape-from-X techniques use an “observable” (e.g., the stereo disparity, intensity, or texture gradient) and a model, which is based on specific domain knowledge (e.g., the triangulation principle, reflectance function, or texture distortion equation) to predict the observable, in 3D shape reconstruction. We show that all these “observable–prediction-model” types of techniques can be incorporated into our framework of energy constraint on a flexible, deformable image frame. In our algorithm, if the observable does not confirm to the predictions obtained using the corresponding model, a large “error” potential results. The error potential gradient forces the flexible image frame to deform in space. The deformation brings the flexible image frame to “wrap” onto the surface of the imaged 3D object. Surface reconstruction is thus achieved through a “package wrapping” or a “shape deformation” process by minimizing the discrepancy in the observable and the model prediction. The dynamics of such a wrapping process are governed by the least action principle which is physically correct. A physically based model is essential in this general shape reconstruction framework because of its capability to recover the desired 3D shape, to provide an animation sequence of the reconstruction, and to include the regularization principle into the theory of surface reconstruction.