本文選題：三維掃描測(cè)量　切入點(diǎn)：圖像處理　出處：《吉林大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：本文對(duì)于三維激光測(cè)量儀的關(guān)鍵技術(shù)進(jìn)行了研究，包括系統(tǒng)結(jié)構(gòu)、二維圖像處理、三維坐標(biāo)重建、點(diǎn)云后期處理等幾個(gè)技術(shù)方面。針對(duì)每一項(xiàng)關(guān)鍵技術(shù)都說明了其技術(shù)路線，制定了解決方案，并且實(shí)現(xiàn)了每一部分的功能，完成了三維激光測(cè)量儀的整體設(shè)計(jì)與關(guān)鍵技術(shù)的研究工作。 采用上下位機(jī)串口通信的方式建立了系統(tǒng)結(jié)構(gòu)，設(shè)計(jì)了基于步進(jìn)電機(jī)的掃描式測(cè)量方式，基于線激光光源采用了光刀掃描的測(cè)量方法，運(yùn)用CCD相機(jī)獲取結(jié)構(gòu)光圖像，從而完成了三維激光測(cè)量儀的結(jié)構(gòu)設(shè)計(jì)。 在二維圖像處理中，采用經(jīng)典的steger算法對(duì)于結(jié)構(gòu)光圖像的條紋中心進(jìn)行了提取，又利用網(wǎng)格分割的方式減少了圖像處理的計(jì)算量，簡(jiǎn)化了算法，并輸出了二維坐標(biāo)集合的結(jié)果形式。在論文中，對(duì)于一幅結(jié)構(gòu)光照射于人體的圖像進(jìn)了二維圖像處理，測(cè)量結(jié)果比較理想，驗(yàn)證了算法的可行性。 在三維重建中，利用已知尺寸參數(shù)的黑白棋盤格定標(biāo)板對(duì)系統(tǒng)的圖像放大倍數(shù)進(jìn)行了標(biāo)定，根據(jù)旋轉(zhuǎn)掃描測(cè)量的結(jié)構(gòu)，結(jié)合空間立體幾何相關(guān)知識(shí)，推導(dǎo)出二維像素點(diǎn)坐標(biāo)的三維尺寸坐標(biāo)重建算法。設(shè)計(jì)了三個(gè)傳感器的測(cè)量結(jié)構(gòu)，實(shí)現(xiàn)對(duì)被測(cè)物體側(cè)面的360度測(cè)量，利用坐標(biāo)系的旋轉(zhuǎn)推導(dǎo)了三個(gè)傳感器的三維重建算法，獲取了點(diǎn)云的初始數(shù)據(jù)。 在對(duì)點(diǎn)云進(jìn)行后期處理的研究工作中，分析了系統(tǒng)模型和算法的誤差來源，，根據(jù)旋轉(zhuǎn)式掃描中物距為變參量這一問題，指出了三維重建算法存在的不足，提出了修改方案。采用了變物距的迭代修正算法，對(duì)點(diǎn)云初始數(shù)據(jù)進(jìn)行迭代修正，并通過實(shí)驗(yàn)對(duì)算法進(jìn)行驗(yàn)證。實(shí)驗(yàn)中，對(duì)原始點(diǎn)云數(shù)據(jù)抽樣，利用抽樣點(diǎn)計(jì)算目標(biāo)函數(shù)，將計(jì)算的函數(shù)值與測(cè)量真實(shí)值進(jìn)行對(duì)比。通過多次修正，驗(yàn)證了該算法可以減小測(cè)量誤差，并且具有收斂性。對(duì)于多點(diǎn)云的拼接問題，在經(jīng)典的ICP算法原理基礎(chǔ)上，采用改進(jìn)的ICP算法，計(jì)算“點(diǎn)對(duì)”的權(quán)重，提高了運(yùn)算效率。采用M-估計(jì)改進(jìn)了目標(biāo)函數(shù)，從而去掉了空間異常點(diǎn)的干擾，使得點(diǎn)云數(shù)據(jù)更加精確，提高了三維測(cè)量儀的測(cè)量精度。 最后對(duì)于三維測(cè)量儀的關(guān)鍵技術(shù)進(jìn)行了總結(jié)與展望，提出了測(cè)量儀的改進(jìn)空間和發(fā)展前景。本文從結(jié)構(gòu)、各組件的參數(shù)、技術(shù)路線、算法原理與驗(yàn)證等多方面對(duì)三維激光測(cè)量儀的關(guān)鍵技術(shù)進(jìn)行了研究，分析了各個(gè)關(guān)鍵技術(shù)的優(yōu)點(diǎn)與不足，提出并實(shí)現(xiàn)了其解決方案，系統(tǒng)全面地研究論證了三維激光測(cè)量儀的實(shí)現(xiàn)方案，為三維激光測(cè)量儀的產(chǎn)業(yè)化生產(chǎn)研發(fā)提供了有效的技術(shù)依據(jù)。希望通過本文對(duì)于三維測(cè)量技術(shù)的研究工作，能讓人們了解三維激光測(cè)量儀的構(gòu)造，原理和功能，能給相關(guān)領(lǐng)域的科學(xué)工作者帶來借鑒的意義，推動(dòng)促進(jìn)三維測(cè)量產(chǎn)業(yè)的發(fā)展。
[Abstract]:In this paper, the key technologies of 3D laser measuring instrument are studied, including system structure, 2D image processing, 3D coordinate reconstruction, point cloud post-processing and so on. The solution is made and the function of each part is realized. The whole design of 3D laser measuring instrument and the research of key technology are completed. The structure of the system is established by serial communication between upper and lower computers. The scanning measurement method based on stepping motor is designed. The scanning method of optical knife is used based on the line laser light source, and the structured light image is obtained by CCD camera. Thus, the structure design of the three-dimensional laser measuring instrument is completed. In two-dimensional image processing, the classic steger algorithm is used to extract the fringe center of structured light image, and the grid segmentation is used to reduce the computation of image processing and simplify the algorithm. The result form of two-dimensional coordinate set is outputted. In this paper, an image of human body irradiated by structured light is processed, and the measurement result is ideal, which verifies the feasibility of the algorithm. In 3D reconstruction, the image magnification of the system is calibrated by using the black-and-white checkerboard calibration board with known size parameters. According to the structure of the rotational scanning measurement and the related knowledge of spatial solid geometry, the image magnification of the system is calibrated. The 3D dimension coordinate reconstruction algorithm of two-dimensional pixel coordinate is derived. The measurement structure of three sensors is designed to measure 360 degrees of the measured object side, and the 3D reconstruction algorithm of the three sensors is deduced by the rotation of coordinate system. The initial data of the point cloud is obtained. In the research of point cloud post-processing, the error source of the system model and algorithm is analyzed. According to the problem that the distance is variable parameter in rotary scanning, the deficiency of 3D reconstruction algorithm is pointed out. A modified scheme is proposed. The point cloud initial data is modified iteratively by using the variable distance iterative correction algorithm, and the algorithm is verified by experiments. In the experiment, the object function is calculated by sampling the original point cloud data, using the sampling point to calculate the objective function, The calculated function value is compared with the measured real value. Through several revisions, it is verified that the algorithm can reduce the measurement error and has convergence. For the multi-point cloud splicing problem, on the basis of the classical ICP algorithm principle, By using the improved ICP algorithm, the weight of "point pair" is calculated, and the operation efficiency is improved. The objective function is improved by using M- estimation, which eliminates the interference of the spatial outliers and makes the point cloud data more accurate. The measuring accuracy of the three-dimensional measuring instrument is improved. Finally, the key technology of the 3D measuring instrument is summarized and prospected, and the improvement space and development prospect of the measuring instrument are put forward. In this paper, the structure, the parameters of each component and the technical route are discussed. In this paper, the key technology of 3D laser measuring instrument is studied from the aspects of algorithm principle and verification, the advantages and disadvantages of each key technology are analyzed, and the solution is put forward and realized. The realization scheme of 3D laser measuring instrument is studied and demonstrated systematically and comprehensively, which provides an effective technical basis for the industrial production and development of 3D laser measuring instrument. It is hoped that through the research work of 3D measurement technology in this paper, It can make people understand the structure, principle and function of 3D laser measuring instrument, can bring reference significance to scientists in related fields, and promote the development of 3D measurement industry.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP391.41;TN249

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本文編號(hào)：1578557