Infrared and Laser Engineering, Volume. 53, Issue 1, 20230456(2024)
Temperature drift compensation method for triple scan measuring system of binocular surface structured light
Figures & Tables(16)
Fig. 3. Triple scan temperature drift problem recurrence. (a) Test environment; (b) The image of the reflection spots
Fig. 4. Schematic diagram of the influence of projector position error on measurement accuracy. (a) Schematic diagram of triple scan imaging before temperature drift; (b) Schematic diagram of triple scan imaging before temperature drift
Fig. 5. Schematic diagram of the influence of binocular camera position error on measurement accuracy
Fig. 6. Establishing the pixel mapping relationship of binocular points in the projector image through the orthogonal fringe projection
Fig. 9. Point cloud of metal sphere at 28 ℃. (a) Binocular point cloud and monocular point cloud reconstructed by the sensor which has temperature drift; (b) Binocular point cloud and monocular point cloud reconstructed by the sensor after temperature drift compensation
Fig. 11. Car threshold base parts point cloud reconstruction. (a) Monocular point cloud and binocular point cloud; (b) Partial profile view of the point clouds
Fig. 12. The error between monocular point cloud and binocular point cloud. (a) The error between monocular points reconstructed by the left camera and binocular points after temperature drift; (b) The error between monocular points reconstructed by the left camera and binocular points after temperature drift compensation; (c) The error between monocular points reconstructed by the right camera and binocular points after temperature drift; (d) The error between monocular points reconstructed by the right camera and binocular points after temperature drift compensation
Table 1. Error of 3D coordinate of the center of the reflection spots
View tableView in ArticleTable 1. Error of 3D coordinate of the center of the reflection spots
Temperature 16 ℃ 30 ℃ No. $ \Delta {x_L} $ $ \Delta {y_L} $ $ \Delta {z_L} $ $ \Delta {x_R} $ $ \Delta {y_R} $ $ \Delta {z_R} $ $ \Delta {x_L} $ $ \Delta {y_L} $ $ \Delta {z_L} $ $ \Delta {x_R} $ $ \Delta {y_R} $ $ \Delta {z_R} $ 1 0.10 0.07 0.13 0.08 0.06 0.12 1.23 0.56 5.33 1.02 0.50 −4.82 2 0.09 0.04 0.08 0.07 0.04 0.10 0.98 0.54 4.98 1.01 0.53 −4.77 3 0.09 0.05 0.06 0.05 0.05 0.05 1.01 0.59 4.90 0.94 0.56 −4.85 4 0.08 0.06 0.07 0.05 0.06 0.06 1.07 0.58 5.18 0.96 0.46 −5.00 5 0.05 0.10 0.14 0.06 0.07 0.08 1.15 0.74 5.02 0.88 0.53 −4.93 AVG 0.08 0.06 0.10 0.06 0.06 0.08 1.09 0.60 5.08 0.96 0.52 −4.87
Table 2. The pixel coordinate and phase variation of the center of the reflection spots
View tableView in ArticleTable 2. The pixel coordinate and phase variation of the center of the reflection spots
No. $ \Delta {u_l} $ $ \Delta {v_l} $ $ \Delta {u_r} $ $ \Delta {v_r} $ $\Delta P_h$ /10−3 rad 1 0.11 0.04 0.08 0.06 1.72 2 0.11 0.11 0.10 0.07 2.46 3 0.16 0.08 0.08 0.09 2.03 4 0.14 0.11 0.13 0.08 2.99 5 0.07 0.00 0.12 0.03 2.86 AVG 0.12 0.07 0.10 0.07 2.41
Table 3. Sphere center distance between monocular measurement unit and binocular measurement unit at different temperature
View tableView in ArticleTable 3. Sphere center distance between monocular measurement unit and binocular measurement unit at different temperature
No. 18 ℃ 28 ℃ Left camera Right camera Left camera Right camera Sphere1 /mm Sphere2 /mm Sphere1 /mm Sphere2 /mm Sphere1 /mm Sphere2 /mm Sphere1 /mm Sphere2 /mm 1 0.26 0.20 0.24 0.24 1.77 1.45 1.68 1.60 2 0.26 0.31 0.20 0.22 1.79 1.44 1.74 1.56 3 0.22 0.26 0.24 0.17 1.90 1.45 1.72 1.78 4 0.24 0.18 0.27 0.20 1.97 1.61 1.85 1.61 5 0.17 0.18 0.24 0.31 2.01 1.47 1.63 1.81 AVG 0.23 0.23 0.24 0.23 1.89 1.48 1.73 1.67
Table 4. Sphere center distance error after correction
View tableView in ArticleTable 4. Sphere center distance error after correction
Left camera Right camera No. Sphere1 /mm Sphere2 /mm Sphere1 /mm Sphere2 /mm 1 0.36 0.32 0.36 0.33 2 0.37 0.38 0.36 0.38 3 0.33 0.43 0.41 0.44 4 0.36 0.29 0.34 0.30 5 0.36 0.42 0.35 0.42 AVG 0.36 0.37 0.36 0.37
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Haoming Yang, Zijie Sun, Yanbiao Sun, Jigui Zhu. Temperature drift compensation method for triple scan measuring system of binocular surface structured light[J]. Infrared and Laser Engineering, 2024, 53(1): 20230456
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Received: Jul. 28, 2023
Accepted: --
Published Online: Mar. 19, 2024
The Author Email: Zhu Jigui (jiguizhu@tju.edu.cn)
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