Research On 3D Measurement Based On Structured Light And Registration Of Point Clouds

Three-Demension measurement and registration is a branch of computer vision. It is a research direction that integrates computer vision with computer image and graph processing.It has a wide application in the fields of automation process, machine vision, culture relic conservation, virtual reality, computer aided medicine and so on. In 3D measurement and registration technology, a fast and easy realization way is a big problem.Based on deep study of relevant theories and key technologies in the dissertation, a 3D measurement system based on combining Gray Code with Phase Shifting method using double CCD structured light is developed. After analyzing and comparing the widely used point cloud data registration methods, we came to a registration pipeline. At last,hardware platform is built and software of image processing system is developed in lab environment, and we experimentalize the idea.Firstly, the principle of double CCD strctured light 3D measurement methed is presented. Then the mathematical model using this method is established. Secondly, the structure of the system and the dual-camera calibration are introduced. The parameters of the camera and the coded pattern pictures are obtained. Thirdly,the software flow is established. The whole image processing flow chart include stripes extracting,image filtering,binary transformation.Then the 3D coordinate can be obtained using coded pattern pictures, epipolar constraint and the principle of optical triangulation. Finally, based on the study of the classical ICP algorithm, the registration of point clouds is implemented using point-to-point ICP algorithm. A good convergence is gained.