光学与光电技术, 2016, 14 (6): 50, 网络出版: 2016-12-23
一种单双目视觉结合的实时激光三维测量方法
A New Real-Time 3D Laser Measurement Method by Combing Binocular and Monocular Vision
摘要
为满足实时、高效、高精度的便携式三维测量要求,提出了一种基于十字激光线的三维测量方法。综合线结构光和双目立体视觉两种测量原理的优点,设计了新颖的融合式测量模型,解决了局部线激光数据到全局面数据的转换;创新性的十字激光线结构光模式,相比于传统的一字激光线测量效率提升2倍;提出的基于GPU加速的自适应阈值的激光线提取方法,实现了激光线中心的亚像素精确、实时提取和三维测量;设计的匹配能量法稳定、精确地解决了便携式测量过程中的数据拼接,实现了局部坐标系到全局坐标系的数据统一;最后利用搭建的软硬件平台进行了测量性能参数验证,结果表明满足实时高精度测量应用的需求。
Abstract
In order to acquire the real-time, high efficiency, high-precision and portable 3D measurement, a three-dimensional laser measurement method based on cross laser is presented in this paper. First, a new converged measurement model considering the both advantages of line structured light and stereo vision method is designed. This measurement model is an effective solution to the conversion between the local line data and surface data. The measurement system with the novel cross laser pattern has a twice efficiency than the traditional line laser. The proposed laser extraction method based on adaptive threshold GPU acceleration is excellent to achieve the laser line center high accurately and real-time three-dimensional measurement. The developed matching method based on the energy law is a stable and accurate solution for data registration. Finally, the acquired experiment results with the built software and hardware platform verify the performance parameters of the laser measurement system.
崔海华, 翁金平, 程筱胜, 张晨博. 一种单双目视觉结合的实时激光三维测量方法[J]. 光学与光电技术, 2016, 14(6): 50. CUI Hai-hua, WENG Jin-ping, CHENG Xiao-sheng, ZHANG Chen-bo. A New Real-Time 3D Laser Measurement Method by Combing Binocular and Monocular Vision[J]. OPTICS & OPTOELECTRONIC TECHNOLOGY, 2016, 14(6): 50.