Multi-scale point cloud fusion based on dual-projection structured light system

名称	型号	焦距	分辨率	帧率	类型
工业相机	JAI GO-5000M-USB		2 560×2 048	62 frame/s	黑白相机
镜头	Microvision	f ： 12 mm
投影仪	Acer K137i		1 280×800
处理器	Lenovo LAPTOP-D536LONQ	Intel（R） Core（TM）i5-8250 CPU，24GB RAM，1.8 GHz

Table 2. Parameters of calibration results of camera and projector of dual-projection system

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Table 2. Parameters of calibration results of camera and projector of dual-projection system

设备	焦距		主点		畸变参数
设备	f_x	f_y	u₀	v₀	k₁	k₂	k₃	k₄
P1-C系统相机	3 284.20	3 295.90	1 326.12	986.95	0.04	-0.30	-0.002	0.006
P1投影仪	2 018.72	2 026.61	630.42	645.77	0.07	-1.77	-0.001	0.001
P2-C系统相机	3 294.79	3 310.12	1 330.76	996.84	-0.14	4.67	0	0.004
P2投影仪	2 000.00	2 008.70	624.76	636.85	0.10	-2.00	0.002	-0.001

Table 3. Reprojection errors of dual-projection system camera and projector calibration
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Table 3. Reprojection errors of dual-projection system camera and projector calibration
设备重投影误差（Mean error/Pixel）
P1-C系统相机 0.075
P1投影仪 0.075
P2-C系统相机 0.080
P2投影仪 0.060

Table 4. Calibration results for P1-C system
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Table 4. Calibration results for P1-C system
投影仪相对于相机的位姿标定结果
旋转矩阵 $R_{P 1 - C} = [\begin{matrix} 0.96 & - 0.02 & - 0.27 \\ 0.02 & 0.99 & 0.01 \\ 0.27 & - 0.02 & 0.96 \end{matrix}]$
平移矩阵 $T_{P 1 - C} = {[\begin{matrix} 184.92 & - 83.22 & 32.84 \end{matrix}]}^{- T}$

Table 5. Calibration results of P2-C system
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Table 5. Calibration results of P2-C system
投影仪相对于相机的位姿标定结果
旋转矩阵 $R_{P 2 - C} = [\begin{matrix} 0.98 & 0.03 & 0.18 \\ - 0.038 & 0.99 & 0.22 \\ - 0.18 & - 0.03 & 0.98 \end{matrix}]$
平移矩阵 $T_{P 2 - C} = {[\begin{matrix} - 111.76 & - 79.28 & 37.49 \end{matrix}]}^{- T}$

Table 6. Quantitative comparison results of point clouds
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Table 6. Quantitative comparison results of point clouds
误差融合前融合后
P1-C P2-C
STD-PFE/mm 0.507 7 0.514 6 0.405 3

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Xiaofeng JI, Jianjun LI, Jian NIU, Gaoxu DENG. Multi-scale point cloud fusion based on dual-projection structured light system[J]. Optics and Precision Engineering, 2025, 33(1): 37

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