Research Of 3-D Reconstruction Based On "Sand Clock-like" Structured Light

Stereo vision is an important research area in the field of computer vision, and Object surface depth information measurement is one of the most advanced research topics in the field of computer vision and image processing. With the development of robot technology, the proportion of computer vision gradually increased of all the researches,active vision measurement method is widely used in object recognition, robot navigation, target detection, 3D reconstruction and so on.Based on the theory of the structure of encoding, a panoramic stereo imaging system is constructed by the active vision and related technologies. A panoramic camera with a camera and a double curved mirror is used to obtain the image of the encoding structured light in 360 degrees, and then to obtain the depth point cloud information by extracting the feature points of the encoding structured light spot in the image. Finally, the 3D reconstruction of these points is carried out.Panoramic stereo imaging system consist of industrial camera, micro projector, double curved mirror and computer, and can be moved to a more spacious visual range by three axis lifting platform. In the panoramic imaging system, the camera is calibrated by the camera and the camera lens. The relative position of the projector and camera is fixed, and the trajectory of the projector is calculated by the method of projection.Designed a kind of "sand clock-like" structured light graphics primitives(which have the advantages of easy extraction, high stability, strong anti-interference ability) and the use of pseudo random array encoding method will be arranged into a structured light pattern array pattern, using a projector to project the graphics array to the surface of the object, and then the image decoding with encoding array pattern to obtain the feature point cloud information.By using the method of measuring the internal parameters and panoramic depth, the depth information of the object's surface feature points is obtained by using the image processing method, and the ICP algorithm is used to obtain the depth information of the object in the four direction. According to the experimental results, we know that the panoramic stereo imaging system can get more accurate measurement of the depth of the object and increase the speed of registration, so as to obtain the relatively complete information of the object surface.