High-accuracy three-dimensional reconstruction method and system, computer device, and storage medium

Patent metadata

Field	Value
Publication number	US-12007223-B2
Application number	US-202117485404-A
Country	US
Kind code	B2
Filing date	Sep 25, 2021
Priority date	Mar 18, 2021
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

A high-accuracy three-dimensional reconstruction method and system, a computer device, and a storage medium are provided. The method includes: performing calibration on an imaging apparatus; calculating each unidirectional absolute phase distribution diagram of a planar target; establishing an imaging apparatus coordinate system, and fitting corresponding epipolar lines in a normalization plane; calculating intersections between the corresponding planar target and rays formed by points on an epipolar line and an optical center of the imaging apparatus, fitting a projection beam, and establishing a projection mapping coefficient table; and projecting a pattern to an object under test, acquiring an object image of the object under test by using the imaging apparatus, calculating and searching for projection mapping coefficients corresponding to absolute phases in the object image, and calculating corresponding spatial three-dimensional point coordinates by using the projection mapping coefficients.

First claim

What is claimed is:

1. A high-accuracy three-dimensional reconstruction method based on projection beam calibration using a high-accuracy three-dimensional reconstruction system based on projection beam calibration, applied to a projection apparatus provided with a microelectromechanical system (MEMS) polarizer or a digital micromirror device (DMD) module, the high-accuracy three-dimensional reconstruction system based on projection beam calibration including an imaging apparatus calibration unit, a unidirectional absolute phase distribution diagram acquisition unit, an epipolar line fitting unit, a plane parameter equation calculation unit, a projection beam fitting unit, a projection mapping coefficient lookup table setup unit and a spatial three-dimensional point coordinate acquisition unit,
the high-accuracy three-dimensional reconstruction method based on projection beam calibration comprising the following steps:
the imaging apparatus calibration unit performing calibration on an imaging apparatus;
the unidirectional absolute phase distribution diagram acquisition unit projecting patterns to a planar target at different positions by using the projection apparatus, acquiring each target image of the planar target by using the imaging apparatus, and calculating each unidirectional absolute phase distribution diagram of the planar target;
the epipolar line fitting unit establishing the imaging apparatus coordinate system with the optical center of the imaging apparatus as the point of origin and an optical axis of the imaging apparatus as Z axis, calculating each plane parameter equation of the planar target in the imaging apparatus coordinate system, using an absolute phase of the planar target at a designated position as a standard phase, searching each unidirectional absolute phase distribution diagram for first subpixels having a phase which is the same as the standard phase, converting the first subpixels into points in a normalization plane, and fitting corresponding epipolar lines in the normalization plane;
wherein the epipolar line fitting unit includes the plane parameter equation calculation unit, and the plane parameter equation calculation unit is configured to calculate each plane parameter equation of the planar target in the imaging apparatus coordinate system, and acquire each coordinate expression of the planar target in the imaging apparatus coordinate system by using a formula Π c =H −T ·Π w , wherein Π w =(0,0, 1, 0) T is an expression of the planar target in a world coordinate system, T represents a transpose of a matrix, and His rigid transformation from the world coordinate system into the imaging apparatus coordinate system,
the projection beam fitting unit calculating intersections between the corresponding planar target and rays formed by all points on each epipolar line in the normalization plane and the optical center of the imaging apparatus, and fitting a corresponding projection beam by using the intersections;
wherein the calculating intersections between the corresponding planar target and rays formed by all points on each epipolar line in the normalization plane and the optical center of the imaging apparatus, and fitting a corresponding projection beam by using the intersections includes the following steps:
all points on the epipolar line in the normalization plane and the optical center of a camera form corresponding rays, and each ray and a corresponding plane parameter equation are joined, so that spatial points on the corresponding planar target can be acquired, and next the spatial points are used to fit a corresponding projection beam,
the projection mapping coefficient lookup table setup unit establishing a projection mapping coefficient table according to position relationships between the projection beam and the points in the normalization plane; and
spatial three-dimensional point coordinate acquisition unit projecting a pattern to an object under test by using the projection apparatus, acquiring an object image of the object under measurement by using the imaging apparatus, calculating a unidirectional absolute phase distribution diagram of the object image, searching the projection mapping coefficient table for projection mapping coefficients corresponding to absolute phases in the unidirectional absolute phase distribution diagram of the object image, and calculating corresponding spatial three-dimensional point coordinates by using the projection mapping coefficients.

2. The high-accuracy three-dimensional reconstruction method based on projection beam calibration according to claim 1 , wherein the calculating intersections between the corresponding planar target and rays formed by all points on each epipolar line in the normalization plane and the optical center of the imaging apparatus, and fitting a corresponding projection beam by using the intersections comprises:
acquiring the rays formed by all the points on each epipolar line in the normalization plane and the optical center of the imaging apparatus, and acquiring an intersection between each ray and the corresponding planar target for as each spatial point of the planar target; and
sequentially connecting the spatial points of the planar target to obtain the corresponding projection beam.

3. The high-accuracy three-dimensional reconstruction method based on projection beam calibration according to claim 1 , wherein the performing calibration on the imaging apparatus comprises:
acquiring target images of the planar target at different positions by using the imaging apparatus, and calibrating a position of the imaging apparatus by using a calibration algorithm.

4. A computer device, comprising a memory, a processor, and a computer program that is stored in the memory and is executable by the processor, wherein the processor executes the computer program to implement the high-accuracy three-dimensional reconstruction method based on projection beam calibration according to claim 1 .

5. A non-transitory computer-readable storage medium, storing therein a computer program, wherein the computer program, when being executed by a processor, causes the processor to perform the high-accuracy three-dimensional reconstruction method based on projection beam calibration according to claim 1 .

6. The high-accuracy three-dimensional reconstruction method based on projection beam calibration according to claim 1 , wherein the searching the projection mapping coefficient table for projection mapping coefficients corresponding to absolute phases in the unidirectional absolute phase distribution diagram of the object image, and calculating corresponding spatial three-dimensional point coordinates by using the projection mapping coefficients comprises:
acquiring an absolute phase of each point in a projection image surface of the projection apparatus as an object phase, and searching a unidirectional absolute phase distribution diagram of the object under measurement for a second subpixel corresponding to the object phase; and
searching the projection mapping coefficient table for the projection mapping coefficients corresponding to the object phase, and calculating the corresponding spatial three-dimensional point coordinates.

7. The high-accuracy three-dimensional reconstruction method based on projection beam calibration according to claim 5 , wherein the calculating corresponding spatial three-dimensional point coordinates comprises:
calculating the corresponding spatial three-dimensional point coordinates according to the following expression:

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1

Assignees

• Univ Shenzhen

Inventors

• Liu Xiaoli
• Miao Yupei
• Yang Yang
• Tang Qijian
• Peng Xiang

Classifications

• G01B11/2513

  with several lines being projected in more than one direction, e.g. grids, patterns · CPC title

• G01B11/03

  by measuring coordinates of points · CPC title

• G06T7/80

  Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T17/00

  Three-dimensional [3D] modelling for computer graphics · CPC title