| With the continuous deepening of research on robot-related technologies by researchers,robots equipped with machine vision are increasingly used in industrial fields,such as automatic grasping and automatic assembly.As the eyes of the robot,the camera is very important to the robot.With the development of machine vision,3D reconstruction technology has become an important research direction of machine vision.With the development of machine vision,3D reconstruction technology has become an important research direction of machine vision.Therefore,It has become an important and difficult research topic that how to get the 3D information of the measured object quickly and accurately and reconstruct the measured object based on the obtained three-dimensional information to obtain the point cloud data of the object.First of all,this thesis makes an in-depth study on the camera model and determines a simple and accurate calibration scheme.Secondly,this paper analyzes the method of Gray code and phase shift coding,and determines the optimal period of Gray code and phase shift coding through experiments.Aiming at the problem of gray code and phase shift encoding cycle misalignment,a method to correct the period misalignment is given by analyzing the characteristics of Gray code and phase shift encoding.Finally,to solve the problems of long matching time and high matching error rate in traditional stereo matching methods,an improved matching algorithm is proposed.This topic mainly studies the calibration of binocular cameras,Gray code and phase shift coding methods,decoding,periodic correction of projection patterns,and stereo matching methods.Based on the above research content,this subject has designed a binocular vision 3D reconstruction system combining Gray code and phase shift coding method,which aims to improve the reliability,accuracy and flexibility of the existing vision system and solve the traditional vision system working environment.Limited,low accuracy and other issues. |
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