光笔式单摄像机三维坐标视觉测量系统

提出了一种光笔式单摄像机三维坐标视觉测量系统,系统主要由一支光笔、一架摄像机、一台笔记本电脑组成.光笔是一种手持式触发测头,在笔休上装有三个与球形笔尖测头中心成一条直线的点光源(发光二极管).测量时使笔尖测头接触被测物体表面,摄像机摄取笔体上三个发光二极管的像,由三个发光二极管的像面坐标就可计算出被测点的三维坐标.运用三点透视原理(P3P)建立了系统的数学模型并推导出了被测点坐标的求解公式.在三坐标测量机上做对比实验,实验测试结果表明,该系统达到了大尺寸现场测量要求的精度.     

基于镜面折反射全景成像的三维重建方法研究

针对基于图像的三维重建过程中成像系统获得的双视点或多视点图像不能一次性完整建模、图像匹配过程中计算复杂度高、标定繁琐的问题,设计了一种基于镜面折反射全景成像技术的单目多视角立体视觉系统及三维建模算法。该方法根据立体视觉传感器获取被测物体表面信息图像,通过阈值分割将图像分割为5个基本视图,并建立空间几何约束关系;使用离散的体素来表示被重构物体的几何信息,采用光一致性约束进行物体表面点的判断;通过轮廓体素遍历获取物体三维模型。该方法能一次性获得物体不同视角全方位图像信息,根据空间几何约束、纹理颜色约束及物体曲线约束,快速重构出物体的三维几何模型。该方法降低了匹配计算的复杂度和硬件使用成本,其有效性已在实际系统中得到了验证。     

含孤立物体场景的高速、高密度三维面形采集

提出了一种用于采集含空间孤立物体场景的高速、高密度三维面形采集方法。该方法将三幅图案高速投影到被测物体上并同步采集图像,从而实现场景三维形貌及纹理的高速记录。其中两幅图案是互相具有π相移的正弦条纹,采用傅里叶变换法求解变形条纹相位。将拍摄到的两幅变形条纹图相加可得到物体表面纹理。另一幅图案用来确定条纹级次,实现绝对相位测量,解决高速形貌采集中孤立物体相位展开难题。它由一系列宽度与正弦条纹周期相同的竖条构成,采用三种灰度对竖条编码。每个竖条由单一灰度或两种在竖直方向上周期性分布的灰度构成,这样可编6个码。将竖条按由这些码构成的伪随机序列排列,得到编码图案。测量时,对拍摄的编码图案解码,通过子序列匹配来确定对应正弦条纹的级次。设计了采用DLP投影仪及高速摄像机的高速测量系统。采用提出的方法实现了640×480分辨率下每秒60帧和320×240分辨率下每秒120帧的三维形貌及纹理采集。     

利用菲涅尔波带法计算三维全息

根据全息理论,从点光源菲涅尔全息图的计算出发,提出一种利用主菲涅尔波带计算三维物体菲涅尔全息图的方法。通过读取 3DS 文件直接获得三维物体表面各点的空间位置信息,模仿物理全息计算出点的菲涅尔图,将组成三维物体的各点的菲涅尔波带叠加从而获得三维物体的全息图。该方法区别于用菲涅尔衍射公式的传统全息计算,用加法运算代替指数、乘除运算,从而大大加快了计算输出全息图的速度,且具有信息连续、无冗余信息等特点。实验对由 1060 个采样点组成的物体进行全息计算,生成一幅 1024×768 的全息图,所需时间为 83s。     

一种改进的基于条纹对比度的三维测量方法

基于条纹对比度的三维测量方法由于具有垂直测量的特点,可用于测量表面有突变的复杂物体的三维信息.本文在现有方法的基础上,提出了一种改进的基于条纹对比度的三维测量方法.该方法利用投影仪将一组相移的正弦条纹依次投射在被测物体上,并使被测物体位于投影仪成像面的前方,CCD相机通过一个半透半反镜从投影方向获取物体表面的条纹图像,...     

提高激光位移传感器精度的新方法

本文提出了一种新的提高激光位移传感器精度的方法 ,利用分光器对接收光强实时控制同时利用A/D转换器对像点的峰值采样 ,最大限度降低了被测物体表面给测量带来的误差 ,提高了传感器测量精度。     

用于非接触测量的光学传感器

本文介绍了一种用于批量零件进行公差带测量的传感器．由一个双光束投射系统将具有互补色的光带投射到被测零件表面，通过显微系统接收后，由视场中光带的颜色即可判定该被测零件是否合格，并可判定被测件尺寸的超差方向。由于该传感器采用的是光学非接触测量法，所以适用于橡胶、塑料以及软金属的测量．     

表面形貌与位置对激光位移传感器接收光强的影响

根据被测物体表面反射模型，从理论上分析了表面形貌及其位置对激光位移传感器物镜接收光功率的影响。通过计算机模拟的方法，优化了传感器的入射角     

用于自动三维测量的自终止视点规划方法

在摄影测量和目标识别等计算机视觉的应用中,为了提高对未知对象的三维测量或定位精度,有必要采用传感器规划策略预先对视觉装置的参数进行规划,寻找下一个最优视点,从而保证视觉装置更有效地完成视觉任务.本文提出了一种具有自终止特性的对未知物体模型自动三维测量的视点两步规划方法.利用群矢量链方法获得视觉传感器在下一个视点的观测方向;而视觉传感器的空间位置是通过计算矢量场内的边界积分获得.另外,为了使测量规划过程具有自终止特性,提出由测量所得的点云直接计算出物体体积的方法,并根据连续两个视点下物体体积的变化量作为终止测量的依据.实验结果表明,该视点规划方法是可行而且有效的.     

测量表面粗糙度的新型光纤传感器

介绍了一种测量表面粗糙度的准直型光纤传感器。该传感器成功地消除了光纤测头到被测表面距离变动和环境的杂散光线对输出的影响,传感器光通量的计算方法可用于位移及其它反射型光纤传感器的特性分析和结构设计。     

Recurrence formulas for fast creation of synthetic three-dimensional holograms

A method for accelerating the synthesis of computer-generated three-dimensional (3-D) holograms, based on conventional ray tracing, is proposed. In ray tracing, computers expend almost all of their resources in calculating the 3-D distances between each one of the point sources composing an object and a sampling point on the hologram. We present recurrence formulas that precisely compute the distances and reduce the computation time for synthesizing holograms to one half to one quarter, depending on the processor type. We demonstrate that a full-parallax hologram with an area of 4800 x 4800 pixels, synthesized for a 3-D object containing 966 point sources of light, is computed within 17 min and is optically reconstructed.     

Depth Transfer by an Imaging System

In many applications such as three-dimensional (3-D) data acquisition, the scanning of 3-D objects or 3-D display, it is necessary to understand how an imaging system can be used to obtain information on the structure of an object in the direction perpendicular to the image plane, i.e. depth information. In certain cases the formation of a 3-D image can be described by a theory based on optical transfer functions (OTF): the image intensity distribution is given by the 3-D convolution of the object and a 3-D point spread function (PSF); equivalently, in 3-D Fourier space the image spectrum is the product of the object spectrum and a 3-D OTF. This paper investigates the 3-D PSFs and OTFs that are associated with different pupil functions of the imaging system.     

Pose estimation for autonomous grasping with a robotic arm system

A robust and accurate method for estimating the 3-D pose of a planar rigid object is presented. This article demonstrates that 3-D pose estimation becomes feasible by using the 2-D tracking points on an object of scale-invariant feature transform (SIFT) and 3-D point cloud detected by stereo vision on an object, assuming that a 3-D geometric model of an object is known a priori. The roll and pitch angles of an object are estimated by the normal vector of approximate plane of 3-D point cloud on an object and the yaw angle is estimated by 2-D tracking point on an object of SIFT. Accurate object detection and localization in the camera coordinate system is crucial for grasping. In the motion planning, the bidirectional rapidly exploring random tree algorithm is used to search for a valid path for efficient grasping. Our robot arm can robustly and autonomously grasp a randomly rotative rigid object detected by SIFT in 3-D space. We have realized a grasping scenario with a dexterous arm (ADAM) such that an object in front of ADAM can be grasped. This demonstration shows how the proposed components build a dexterous and robust system integrating object detection, pose estimation, and motion planning.     

采用标记拼接的相位测量轮廓术

提出一种采用标记拼接的新的光学三维传感方法。在采用结构照明的光学三维传感中,阴影及条纹错位关系到被测量物体三维面形重建的质量。在处理阴影时,传统方法是采用插值方法,在处理条纹错位时,通常采用增大条纹周期或采用几组条纹周期不同的光波进行投影,这样通常降低了测量精度。为了提高测量精度,本文提出一种在同一参考面内,采用单组相移正弦条纹进行投影,通过旋转被测物体,并对旋转前后两次重建物体在信息可靠区域内进行标记拼接,恢复物体表面完整三维信息的方法。实验证实了此方法的有效性及实用性。     

Optical image recognition of three-dimensional objects

A three-dimensional (3-D) optical image-recognition technique is proposed and studied. The proposed technique is based on two-pupil optical heterodyne scanning and is capable of performing 3-D image recognition. A hologram of the 3-D reference object is first created and then is used to modulate spatially one of the pupils of the optical system; the other pupil is a point source. A 3-D target object to be recognized is then scanned in two dimensions by optical beams modulated by the two pupils. The result of the two-dimensional scan pattern effectively displays the correlation of the holographic information of the 3-D reference object and that of the 3-D target object. A strong correlation peak results if the two pieces of the holographic information are matched. We analyze the proposed technique and thereby lay a theoretical foundation for optical implementations of the idea. Finally, computer simulations are performed to verify the proposed idea.     

Automatic coarse registration of three-dimensional surfaces by information theoretic selection of salient points

We describe a new method to register surface data measured by optical three-dimensional (3-D) sensors from various views of an object. With our method, complete 3-D models of objects can be generated without user interaction. Circumferential acquisition of 3-D objects is done by taking several views from different directions. To generate a complete 3-D-model, the views must be aligned with each other. This process is called registration and is commonly done interactively by searching for so-called corresponding points in the different views and by use of these points to calculate the appropriate rotation and translation. Our approach is based on automatically finding points that are eye catching or salient compared with other surface points. We derive a quantitative measure of point salience and a feature definition for free-form surfaces by introducing a concept to measure pragmatic information. Experiments confirm that our salient points can be robustly located on general free-form surfaces, even if there are no corners or edges. Furthermore, the neighborhoods of the salient points are highly distinguishable from each other. This results in a large reduction of the complexity of the subsequent geometric matching. The computing time is only a few seconds. We present results from various fields of application.     

Three-dimensional matching by use of phase-only holographic information and the Wigner distribution

Matching of three-dimensional (3-D) objects is achieved by Wigner analysis of the correlation pattern between the phase-only holographic information of a reference object and that of a target object. First, holographic information on the reference object and on the target object is extracted by use of optical scanning holography as a form of electrical signal. This electrical information is then stored in a computer for digital processing. In the digital computer, the correlation between the phase-only information of the hologram of the reference object and that of the target object is calculated and analyzed by use of a Wigner distribution. The Wigner distribution yields a space-frequency map of the correlation pattern that indicates whether the 3-D image of the target object matches that of the reference object. When the 3-D image of the target object matches that of the reference object, the Wigner distribution gives a well-defined line that directly indicates the 3-D location of the matched target object. Optical experiments with digital processing are described to demonstrate the proposed matching technique.     

Multiple sensors on pulsed eddy-current detection for 3-D subsurface crack assessment

This paper proposes the use of multiple sensors in pulsed eddy-current detection for three-dimensional (3-D) subsurface flaw imaging. A normalization technique has been proposed to eliminate the characteristic variation among the Hall devices used in the probe and lift off effects. A principal component analysis-based feature extraction that provides orthogonal information for multiple sensor fusion has been introduced and investigated. Using the features of multiple projection coefficients, 3-D surface flaws can be measured and reconstructed. The experimental tests have illustrated that the proposed method has delivered more defect information than the conventional peak value and time for pulsed eddy-current sensors.     

高速旋转物体的频闪结构光三维面形测量系统

提出了一个用于测量高速旋转物体三维面形的频闪结构光照明系统。系统自动跟踪检测旋转物体的转动信息,再用该信息同步控制光源发光和摄像系统工作,记录下旋转物体在闪光时刻的瞬间“静止”图像。使用该系统产生持续时间为424s的同步频闪结构光,对转速为每分钟1080转的家用电风扇旋转叶片三维面形进行测量,证明该系统能够准确地获得旋转叶片的瞬间静止图像,便于重建旋转叶片每个瞬间时刻的三维面形。同时,该系统还具备人工设定光源发光频率的功能,可以拓宽应用到无重复特征信号的高速运动物体三维面形测量。     

采用标记条纹跟踪的冲击过程三维轮廓术

针对在冲击、爆轰等快变化过程的三维轮廓术中,CCD拍摄速度低于物体的运动速度而导致对动态条纹的时间采样不足和物体表面发生破裂而分成数块的动态过程,提出一种采用标记条纹进行跟踪的动态过程三维轮廓术.以傅里叶变换轮廓术为基础,通过采用标记条纹进行跟踪锁定变形条纹中同级次条纹的变化以及Gerchberg迭代算法在破裂区域迭代生成伪条纹,对破裂表面分块进行处理,有效地解决了在快变化动态过程的三维重建中因时间采样不足和条纹断裂对三维相位场的展开所带来的问题,获得了物体正确的面形分布.实验证实了此种方法的正确性.