反向重投影多线结构光立体视觉测量方法

研究了多线结构光立体视觉测量系统中激光条纹中心点的匹配问题。系统测量过程中,将两幅图像的激光条纹中心点通过重投影相互匹配,计算对应的三维空间点。针对一个激光条纹中心点存在多个匹配点的问题,提出了反向重投影的方法。该方法将匹配点反向重投影到原激光条纹图像,利用光路一致性,筛选出唯一匹配点。另外,分析了在重投影和反向重投影时采用不同大小的匹配窗口对测量结果的影响。实验表明,该方法能够充分利用激光条纹中心点,同时又有较高的唯一匹配率,明显提高了系统的测量效率。

A measurement method of multi-line structured light stereo vision based on reverse reprojection

The matching problem of laser stripe centre point in the multi-line structured light stereo vision measurement system is studied.During the system measurement,the centre points of the two images’laser stripes are matched by reprojection to calculate the corresponding three-dimensional spatial points.A reverse reprojection method is presented to solve multiple matching points at the centre point of a laser stripe.Reprojecting the matched points back to the original laser stripe image,and uses the principle of consistency to filter out the unique matched points.The effect of different size matching windows on the measurement results during reprojection and reverse reprojection is analysed.The experimental results show that this method can make full use of the laser stripe’s centre point and has a highly unique matching rate,which improves the measurement efficiency of the system.