Multi‐View Structured Light 3D Measurement Method Based on Reference Standard Parts

Chuang Feng; Mingling Luo; Gaoxu Deng; Shiqian Wu

doi:10.3788/CJL231265

Chinese Journal of Lasers, Volume. 51, Issue 17, 1704002(2024)

Multi‐View Structured Light 3D Measurement Method Based on Reference Standard Parts

Chuang Feng¹, Mingling Luo¹, Gaoxu Deng³, and Shiqian Wu^1,2、*

Author Affiliations

¹School of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, Hubei , China

²Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan 430081, Hubei , China

³School of Mechanical Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, Shanxi , China

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Figures & Tables(17)

Fig. 1. Principle of structured light 3D reconstruction

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Fig. 2. Multi-view structured light system. (a) Less-overlapping visual angle; (b) non-overlapping visual angle

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Fig. 3. Multi-camera external parameter calibration. (a) Structure diagram of stereo calibration board; (b) calibration principle

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Fig. 4. Rotation vector error model

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Fig. 5. Single-structured light system

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Fig. 6. Calibration tools. (a) High precision industrial calibration board; (b) stereo calibration board; (c) standard plate; (d) standard sphere

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Fig. 7. Calibration patterns. (a) Calibration pattern of camera; (b) calibration pattern of projector; (b) calibration pattern of projector after threshold segmentation

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Fig. 8. Multi-view structured light system with small overlapping visual angle

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Fig. 9. Distributions of plane point cloud in the process of optimization. (a) Plane point cloud; (b) sphere point cloud

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Fig. 10. Comparison of external parameter optimization effects. (a) Standard plate; (b) standard sphere; (c) sphere with a radius of 20 mm; (d) sphere with a radius of 85 mm

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Fig. 11. Reconstructed point cloud distributions from a small overlapping perspective. (a) Top view; (b) upright view

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Fig. 12. Multi-view structured light system without overlapping visual angle. (a) System component; (b) reconstructed point cloud distribution

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Table 1. Calibration parameters of equipment

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Table 1. Calibration parameters of equipment

Equipment	Calibration parameter
Equipment	$f_{x}$ /pixel	$f_{y}$ /pixel	$u_{0}$ /pixel	$v_{0}$ /pixel	$k_{1}$	$k_{2}$	$R M S E$ /pixel
C1	2427.43	2426.99	1308.56	1020.96	-0.0922	0.3398	0.1009
P1	1126.67	1126.85	425.40	584.82	0.0514	-0.1464	0.2375
C2	2437.30	2437.09	1292.24	1036.39	-0.0903	0.3294	0.1141
P2	1119.52	1119.57	435.23	593.32	0.0425	-0.1223	0.1855

Table 2. Coefficient of plane point cloud fitting equation
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Table 2. Coefficient of plane point cloud fitting equation
Plane point cloud $A$ $B$ $C$ $D$ /mm
$P_{C 1}$ 0.3469 -0.0067 0.9378 -496.467
$P_{C 2 C 1}$ 0.3683 -0.0051 0.9296 -487.546
$P_{C 2 C 1 r}$ 0.3484 -0.0057 0.9372 -486.797

Table 3. Spherical center fitting coordinates
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Table 3. Spherical center fitting coordinates
Sphere point cloud $X$ $Y$ $Z$
$S_{C 1}$ -51.84 28.18 556.62
$S_{C 2 C 1}$ -48.19 28.38 545.99
$S_{C 2 C 1 r}$ -40.21 40.06 536.83
$S_{C 2 C 1 r t}$ -51.82 28.20 556.65

Table 4. Multi-view reconstruction error with small overlapping visual angle

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Table 4. Multi-view reconstruction error with small overlapping visual angle

Sphere point cloud	Error in C1-P1 single-view		Error in C2-P2 single-view		Error in multi-view
Sphere point cloud	Sphere	Radius	Sphere	Radius	Sphere	Radius
$S_{S D}$	0.06	0.06	0.05	0.07	0.06	0.06
$S_{M}$	0.08	0.03	0.09	0.07	0.18	0.14
$S_{L}$	0.13	0.09	0.08	0.15	0.23	0.27

Table 5. Multi-view reconstruction error without overlapping visual angle
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Table 5. Multi-view reconstruction error without overlapping visual angle
Sphere point cloud Error in C1-P1 single-view Error in C2-P2 single-view Error in multi-view
Sphere Radius Sphere Radius Sphere Radius
$S_{S D W}$ 0.06 0.05 0.05 0.05 0.06 0.05
$S_{L W}$ 0.10 0.11 0.09 0.14 0.26 0.25

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Chuang Feng, Mingling Luo, Gaoxu Deng, Shiqian Wu. Multi‐View Structured Light 3D Measurement Method Based on Reference Standard Parts[J]. Chinese Journal of Lasers, 2024, 51(17): 1704002

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