期刊 基于伪随机阵列和正弦光栅的结构光标定  

CALIBRATION OF STRUCTURED LIGHT BASED ON PSEUDORANDOM ARRAY AND SINE GRATING

作  者:王静强 刘桂华[1] 赵碧霞 王玉玫[1] 

机构地区:[1]西南科技大学特殊环境机器人技术四川省重点实验室

出  处:《计算机应用与软件》2017年第12期116-121,共6页Computer Applications and Software

CALIBRATION OF STRUCTURED LIGHT BASED ON PSEUDORANDOM ARRAY AND SINE GRATING

基  金:国家核能开发科研项目([2016]1295);校创新团队建设基金项目(14TDTK01)

摘  要:针对投影仪-摄像机结构光系统标定精度低的问题,提出一种基于伪随机阵列与正弦光栅结合的标定算法。该方法直接对标定板角点进行编码,根据角点在不同坐标系下的点对关系求解系统参数,提高了传统的编码精度和结构光系统标定精度。在正弦光栅条纹中心处投射伪随机阵列,根据伪随机阵列窗口的唯一性和相移法可求出正弦光栅的真实相位;分别在水平和竖直方向投射正弦光栅,根据不同方向的真实相位值形成对标定板角点的唯一编码;根据编码值获得标定板角点在投影仪像平面、摄像机像平面和世界坐标系下对应点集,根据相机标定算法可得到投影仪、相机的内外参数。该方法直接对标定板角点高精度编码,求解世界坐标点和像素坐标点的对应关系,仅需要普通棋盘格标定板可实现高精度标定。实验结果表明最大反投影残差为0.7像素,棋盘格角点重建均方差为0.08 mm。

Aiming at the low calibration accuracy of projector and camera structured light system, a calibration algorithm based on pseudorandom array and sine grating is proposed. This method directly encodes the corners of the calibration plate and solves the parameters of the system by the relationship between points in different coordinate systems. It improves the traditional coding precision and the calibration precision of structured light system. First, the pseudorandom array was projected at the center of the sine grating fringe, and the true phase of the sine grating was obtained according to the uniqueness of the pseudorandom array window and phase-shifting method. Secondly, sine grating was projected in horizontal and vertical directions respectively. Each corner of the calibration plate would have a unique code according to the true phase value of different direction. Lastly, the corresponding points in camera and projector as well as world coordinate system was obtained by the code value of corners. The projector and camera' s internal parameters as well as external parameters was figured out according to the corresponding points. This method encodes the corners of the calibration plate to solve the correspondence between the world coordinates points and the pixel coordinates point directly. It only needs common checkerboard calibrated plate can realize high precision calibration. The experimental results show the maximum back projection error is 0.7 pixels and the mean square deviation of corners is 0.08 mm.

关 键 词:伪随机阵列 正弦光栅 投影仪标定 

Pseudorandom array  Sine grating  Projector calibration 

分 类 号:TP391[自动化与计算机技术—计算机应用技术]

 

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