【作者】 王洋；

【导师】 于晓洋；

【作者基本信息】 哈尔滨理工大学 ， 光学工程， 2005， 硕士

【摘要】 随着科学技术和人类认识世界需求的不断发展,传统的机器视觉已经不能满足人们对三维物体识别的要求。深度图像具有物体三维特征信息,即深度信息。由于深度图像不受光源照射方向及物体表面的反射特性的影响,而且不存在阴影,所以可以更准确地表现物体目标表面的三维深度信息。结构光法获取深度图像是近一段时期获取深度图像的研究热点之一。而多线结构光法是一种全新的研究趋势。采用多条纹结构光获取深度图像,方法简单,图像摄取量少,处理速度快,整个装置结构简单,容易加工。而且通过计算机设计的结构光条纹可以提高目标视场的空间分辨力,准确地获得目标上各点的深度数据,并且深度图像准确反映出目标的外形轮廓和几何特征,可以满足不同分辨力的要求。本研究介绍了多线结构光获取深度图像构成原理,建立了通过条纹颜色确定多线结构光的标志条纹的方法,进行目标三维测量的数学模型,设计了多线结构光深度图像获取装置,以及对投射源和图像传感器进行标定。针对深度图像进行了预处理与边缘检测的理论研究和实验。采用本论文中设计的多线结构光深度图像获取装置获取了深度图像,并进行了图像处理。实验结果表明:多线结构光获取深度图像速度快,利用深度图像处理技术,能够有效地检测出目标的外轮廓和角点,以及角点凸凹性的确定,检测出的边缘结果更加准确,被检测目标边缘的几何特征更加可靠。该方法可以应用于三维目标的图像分析和识别技术中。更多还原

【Abstract】 With the continuous development of science technology and the eagerness of mankind to know the world, traditional machine vision cannot meet the requirement of 3D object recognition. Range image carries 3D feature information of object, namely range information. Range image isn’t influenced by the shinning direction of light source and reflection characteristic of the surface of object, so shade doesn’t exist and therefore the 3D range information of the surface of object can be expressed more accurately. Obtaining range image with the technology of structured light is deeply researched in recent days. Researching multi-line structured light technology is a completely new trend. The technology of obtaining range image by the multi-line structured light is simple. The amount of image needed is small while the procession speed is high. Besides the structure of the entire device is simple, and the device can be manufactured easily. Structured light stripe designed by computer can improve the space resolution in the view field of target; and it can obtain the range data of each point of target accurately. The range image can reflect the outline and geometric feature of the target accurately. The structured light stripe can even meet the different requirement of resolution. This paper introduces the range-image-obtaining principle with multi-line structured light and the mathematical model of 3D measurement by using the stripe color to determine the symbol stripe of multi-line structured light. And, as well, this paper designs the parameters of the entire device and calibrates the projector and the image sensor. The theory and experiment research of pretreatment and edge detection are performed aiming at range image. Range image is obtained by use of the multi-line structured light range image obtaining device. The experiment results show that: the speed of obtaining range image using multi-line structured light technology is high; range image processing technology can detect the outline and angle point of target effectively and can determine the angle point whether is concave or protruding; the edge detected is more accurate and the geometric feature of the edge of the target detected is more reliable. This technology can be used in image analysis and recognition technology of 3D target.更多还原