【作者】 刘畅；

【导师】 刘晓利；

【作者基本信息】 深圳大学 ， 光学工程（专业学位）， 2018， 硕士

【摘要】 结构光三维测量技术具有非接触、成本低、精度高等优势,在工业检测、智能制造等领域具有广大应用前景。目前,针对人脚的三维测量设备有了一定的发展,主要有基于激光线扫描和结构光面扫描原理两种类型,存在采集数据时间长、成本高的缺陷。本论文针对结构光人脚三维测量开展研究,提出基于激光散斑的多节点脚型三维测量系统,由低成本激光散斑发射装置和摄像机组成,多节点同步采集解决了数据采集时间长的问题。本文主要工作包括:第一,提出了一种用于脚型三维测量的激光散斑发射装置,该装置由激光模组、毛玻璃和套筒组成。通过调节激光模组与毛玻璃之间的距离控制激光散斑颗粒的大小,合理设置多组激光散斑发射装置,形成激光散斑在测量空间的全覆盖。本激光散斑发射装置易于实现,可为脚型三维测量装置提供低成本的散斑结构图案发生器。第二,研究了基于散斑结构光照明的脚型三维测量方法。综合考虑脚型测量需要,选用激光产生散斑图案照明,双目摄像机组成立体视觉系统采集调制图像,利用系统标定参数对图像进行极线矫正,结合约束条件实现对应点的快速匹配,根据标定参数计算三维数据。为获取完整脚型信息,本文系统包括多个传感器从多个角度同时采集脚型数据,采用平面标靶的多传感器结构参数标定方法实现各个传感器获取的三维数据的自动拼接,结合迭代最近点算法进一步精炼拼接结果,最终获得统一坐标下的高质量脚型完整三维点云。第三,依原理搭建脚型三维测量的硬件系统,并编写相应的软件系统。介绍了软件系统的模块结构和功能,利用开源图像处理库OpenCV和点云处理库PCL,分模块实现了多节点传感器同步采集、测量系统标定、三维点云成像、三维点云处理和显示等功能。本系统实现了毫秒级的数据采集,输出的脚型三维点云数据可进一步实现脚型关键尺寸的测量,为脚型分析、个性化制鞋等应用提供有效数据支撑。更多还原

【Abstract】 Structured light three-dimensional(3D)measurement technology has widely applied in the fields of industrial inspection and intelligent manufacture,with the advantages of noncontact,low cost,high precision,etc.At present,the 3D measurement equipment has been developed extensively for the human foot,where two measuring types,the laser line scanning and structured light surface scanning,are mainly used.They are limited by time-consuming data acquisition and high-cost equipment.This dissertation focuses on the research of human foot metrology with structured light 3D measurement,meanwhile,a multi-nodes human foot 3D measuring system based on laser speckle illumination has been developed.It is composed of low-cost laser speckle emitting devices and cameras.Multi-nodes synchronous acquisition can save capturing time significantly.The main works includes:Firstly,a laser speckle emission device for 3D measuring human foot is proposed,which consists of a laser module,a frosted glass and a sleeve.The size of the laser speckle particles can be controlled by adjusting the distance between the laser module and the frosted glass.For building a full illumination coverage with speckle pattern in the measurement space,multiple sets of laser speckle emitting devices are arranged reasonably.This low-cost laser speckle emitting device is easy to manufacture,that is suitable for generating speckle pattern for 3D foot measurement system.Secondly,the key techniques of foot 3D measurement based on speckle illumination is studied.According to the requirements for foot measurement,the laser is used to generate speckle pattern illumination,and binocular cameras form a stereoscopic vision system to acquire the modulation image.The system calibration parameters are utilized to perform epipolar line correction,and the corresponding points are quickly matched with the constraint conditions.Then 3D coordinates can be calculated with these calibration parameters and corresponding points.In order to obtain complete foot 3D information,the system with multisensors can simultaneously acquiring foot 3D data from multiple angles,which can be aligned automatically with the calibration parameter of multiple sensors.Hereafter,by using the iterative closest point algorithm to further refine,a high-quality whole 3D foot point cloud is finally obtained.Thirdly,the hardware and software for the foot 3D measurement system are constructed according to the above principles.The contents and functions of the software modules are introduced based on the open source image processing library OpenCV and the point cloud processing library PCL,where the processes of multi-node sensor synchronous acquisition,calibration,Three-dimensional measurement,three-dimensional point cloud processing and display have been integrated.The system achieves 3D foot data acquisition in millisecond,which can be used to further extract the foot dimensions information for the applications of foot type analysis,individualized footwear manufacturing,etc.更多还原