【作者】 郎治国；

【导师】 于晓洋；

【作者基本信息】 哈尔滨理工大学 ， 检测技术与自动化装置， 2004， 硕士

【摘要】 结构光三维测量系统是利用计算机视觉原理对物体进行三维测量和重构,以获取物体的三维模型。本文所述系统由四个激光器和四个摄像机组成,每个激光器都与一个摄像机相对应,构成一个测量子系统。整个测量系统可看成由四个子系统构成,并且四个子系统在空间上对称分布、位置固定。将各个子系统得到的深度图像拼接在一起,可获得被测物体一个完整截面的深度图像,也就完成了该截面的三维测量。若物体按一定步长、沿固定方向作直线运动,而该系统重复上述过程,则可完成整个物体表面的三维测量。本文根据系统的结构组成和工作原理,建立了单个子系统的数学模型,在此基础上建立了整个测量系统的数学模型。根据单个子系统数学模型对其进行误差分析,并根据整个测量系统结构及其数学模型分析了整个系统误差。根据系统的设计指标,提出子系统参数设计方法,并设计出了整个系统的各参数和量程。本文根据整个系统的工作原理和参数设计结果,加工出结构光三维测量系统的机械装置,首先对各个测量子系统分别进行了标定,进而标定出总物坐标系与其它子系统的位置关系,并对四个子系统的子图像进行拼接,完成了对被测物截面的三维测量,在此基础上实现了对被测物的三维重构。通过对实验结果的分析,提出了减小系统测量误差的方法和措施。更多还原

【Abstract】 Construction light 3-D measuring system adopts computer vision theory to measure and reconstruct object in order to obtain the 3-D model of object. The system discussed in this thesis includes four lasers and four cameras, and every laser has a corresponding camera and both of them construct a subsystem. The whole measuring system includes four identical subsystems that are symmetrical and fixed in space. If depth images of four subsystems are combined, then depth image of one whole section of object is obtained and 3-D measuring of this section is completed. If object is moved alone beeline in fixed step and direction and the system repeats above operations, then three-dimension measuring of whole object is completed.According to the composition and operation theory of the system, mathematical models of single subsystem are provided and the mathematical models of the whole system, which are based on mathematical models of single subsystem are also provided. According to the mathematical model of single subsystem, the error analyses of it are provided .In addition, according to the composition and mathematical models of the whole measurement system, the error analyses of whole system are also provided. According to the design requirements, the design method of the parameters of the system is provided and the parameters and measuring average of the whole system are also calculated.According to the operation theory and the design results of parameters of the whole system, the mechanical device of the construction light 3-D measuring system is designed. At first, every measuring subsystem is calibrated respectively; further the position relation between whole object coordinate and other subsystems is calibrated. Then the four sub-images from four subsystems are jointed and the 3-D measuring of the section of the object is completed, which is the base of 3-D reconstruction of the object measured. Through the analysis of the experiment results, the methods of reducing measuring error of the system are provided.更多还原