Research On Key Technologies Of Cooperative Measurement Via Multi Camera Line Structured Light Sensor

The 3D shape reconstruction technology reconstructs the mathematical model of the real object in the real environment through the process of depth data acquisition,preprocessing,point cloud registration and fusion,surface generation,and so on.But the surface of these reconstructed digital models is single color or pseudo color,which has deviation with the solid model surface.Therefore,in this paper a multi camera cooperative measurement system is designed through the geometric and color texture of the measured object surface can be restored.The main research work and innovation of the project include: 1)A multi camera cooperative measurement system is built including vision detection system,motion control system,data acquisition system;2)The calibration of the multi camera cooperative measurement system is realized.And the connection between the pixel coordinate system,camera coordinate system and motion coordinate system is established.The stripe can then be transformed from pixel coordinate to motion coordinate.It guarantees the geometric restoration,color texture restoration,and the two camera collaborative measurement of the occluded objects on the surface;3)The data points are transformed to the motional coordinate system are triangulated realizes the restoration of the three-dimensional surface texture,which verifies a micron level restoration accuracy.The transformation matrix between black-and-white camera and color camera is calculated,and the color corresponding to the data points collected by the black and white camera is matched.The color texture restoration of 3D geometric model surface is realized.The difference between the color texture restoration result and the real measured object is compared;4)Aiming at the problems of color texture restoration results,an optimization method of color texture restoration is proposed.This method improves the matching efficiency and color texture restoration effect by interpolating the data points in the motional coordinate system and matching the color information of the interpolated data points;5)A method of cooperative measurement with two cameras is used,the data points are collected by the two cameras and transformed into the same coordinate system through the transformation matrix between the cameras.The fusion of data points is achieved,which solves the problem of data loss caused by occlusion in monocular vision measurement.An optimization method of transformation matrix between cameras based on feature samples is proposed to improve the accuracy of data fusion.The multi camera line structured light sensor collaborative measurement system is designed in this paper,which can realize the multi camera collaborative measurement.For example,the cooperative measurement of black-and-white camera and color camera can realize the restoration of the three-dimensional geometry and color texture of the measured object.The cooperative measurement of two black-and-white cameras can effectively solve the problem of data loss caused by occlusion in monocular vision measurement.The research of multi camera cooperative measurement technology can effectively establish the relationship between cameras and solve the problems in traditional vision measurement.