CN-115682939-B - Three-dimensional imaging system and method

CN115682939BCN 115682939 BCN115682939 BCN 115682939BCN-115682939-B

Abstract

The system comprises a camera, a first group of reflectors, a second group of reflectors and a three-dimensional imaging module, wherein the first group of reflectors are used for reflecting incident light rays from an object to be detected onto the second group of reflectors and determining a first virtual optical center and a second virtual optical center based on extension lines of the incident light rays, the second group of reflectors are used for reflecting the incident light rays from the first group of reflectors onto the camera so as to enable the camera to acquire a two-dimensional image of the object to be detected, and the three-dimensional imaging module is used for carrying out three-dimensional imaging processing on the two-dimensional image based on a first coordinate system to a fifth coordinate system so as to obtain a target three-dimensional image of the object to be detected. When the embodiment of the disclosure is used for three-dimensional imaging, the three-dimensional imaging system is used for measuring the three-dimensional coordinates of the object by using a monocular-to-binocular stereo vision measurement method, and three-dimensional imaging is performed.

Inventors

ZHENG JIHUA
ZHANG CHAO
ZHANG ZHENLIN

Assignees

中汽创智科技有限公司

Dates

Publication Date: 20260508
Application Date: 20221130

Claims (9)

1. A three-dimensional imaging system, the system comprising: The device comprises a camera, a first group of reflectors, a second group of reflectors and a three-dimensional imaging module; The first group of reflectors are used for reflecting incident light rays from the object to be detected onto the second group of reflectors, and determining a first virtual optical center and a second virtual optical center based on the extension line of the incident light rays; the second group of reflectors are positioned at the inner side of the first group of reflectors and are used for reflecting the incident light rays reflected by the first group of reflectors to the camera so as to enable the camera to acquire a two-dimensional image of the object to be detected; The first group of reflectors are arranged at a first preset distance from the camera, and are provided with a first reflector and a second reflector which are symmetrical relative to the optical axis of the lens of the camera; The second group of reflectors are provided with a third reflector and a fourth reflector which are symmetrical with respect to the optical axis of the lens of the camera, and the reflecting surfaces of the third reflector and the fourth reflector face the camera; The three-dimensional imaging module is used for carrying out three-dimensional imaging processing on the two-dimensional image based on a first coordinate system, a second coordinate system, a third coordinate system, a fourth coordinate system and a fifth coordinate system to obtain a target three-dimensional image of the object to be detected, wherein the first coordinate system is a two-dimensional coordinate system taking the first virtual optical center as an origin, the second coordinate system is a three-dimensional coordinate system taking the first virtual optical center as the origin, the third coordinate system takes the second virtual optical center as the origin, the fourth coordinate system is a three-dimensional coordinate system taking the second virtual optical center as the origin, and the fifth coordinate system is a three-dimensional coordinate system taking the midpoint of a connecting line of the first virtual optical center and the second virtual optical center as the origin.
2. The three-dimensional imaging system of claim 1, wherein the system further comprises: The projector faces the object to be detected and is positioned on the optical axis of the lens of the camera and is at a third preset distance from the camera, wherein the third preset distance is larger than the second preset distance, and the projector is used for generating carrier frequency stripes and projecting the carrier frequency stripes onto the object to be detected so that the camera can acquire deformed stripe images on the object to be detected.
3. A three-dimensional imaging method based on the three-dimensional imaging system according to claim 1 or 2, characterized in that the method comprises: reflecting incident light from an object to be measured onto a second set of mirrors in the three-dimensional imaging system based on the first set of mirrors in the three-dimensional imaging system; Reflecting the incident light rays reflected by the first group of reflectors onto a camera in the three-dimensional imaging system based on the second group of reflectors, so that the camera collects two-dimensional images of an object to be detected; determining a first virtual optical center and a second virtual optical center based on an extension line of the incident light passing through the first set of mirrors; performing three-dimensional imaging processing on the two-dimensional image based on a first coordinate system, a second coordinate system, a third coordinate system, a fourth coordinate system and a fifth coordinate system to obtain a target three-dimensional image of the object to be detected; the first coordinate system is a two-dimensional coordinate system taking the first virtual optical center as an origin, the second coordinate system is a three-dimensional coordinate system taking the first virtual optical center as the origin, the third coordinate system is a two-dimensional coordinate system taking the second virtual optical center as the origin, the fourth coordinate system is a three-dimensional coordinate system taking the second virtual optical center as the origin, and the fifth coordinate system is a three-dimensional coordinate system taking the midpoint of a connecting line of the first virtual optical center and the second virtual optical center as the origin.
4. The method of claim 3, wherein performing three-dimensional imaging processing on the two-dimensional image based on the first coordinate system, the second coordinate system, the third coordinate system, and the fourth coordinate system to obtain the target three-dimensional image of the object to be measured comprises: determining a first coordinate of the object to be detected under the first coordinate system and a third coordinate of the object to be detected under the third coordinate system based on the two-dimensional image; Determining a second coordinate of the object to be detected under the second coordinate system and a fourth coordinate of the object to be detected under the fourth coordinate system based on the first coordinate and the third coordinate; determining visual structure parameters corresponding to the three-dimensional imaging system; establishing target mapping information based on the second coordinate and the fourth coordinate, wherein the target mapping information represents a corresponding relation between the visual structure parameter and a fifth coordinate of the object to be detected in the fifth coordinate system; Determining the fifth coordinate according to the target mapping information and the visual structure parameter; and generating the target three-dimensional image based on the fifth coordinate.
5. The method of claim 4, wherein determining the second coordinate of the test object in the second coordinate system and the fourth coordinate of the test object in the fourth coordinate system based on the first coordinate and the third coordinate comprises: establishing first mapping information based on the first coordinates, wherein the first mapping information characterizes the corresponding relation between the first coordinate system and the second coordinate system; Determining the second coordinate according to the first coordinate and the first mapping information; establishing second mapping information based on the third coordinate, wherein the second mapping information characterizes the corresponding relation between the third coordinate system and the fourth coordinate system; and determining the fourth coordinate according to the third coordinate and the second mapping information.
6. The method of claim 4, wherein prior to said determining the corresponding visual structure parameters of the three-dimensional imaging system, the method further comprises: obtaining a deformed stripe image on the object to be detected; and determining an internal reference of the camera based on the deformed fringe image.
7. The method of claim 6, wherein determining a second coordinate of the test object in the second coordinate system and a fourth coordinate of the test object in the fourth coordinate system based on the first coordinate and the third coordinate comprises: And determining a second coordinate of the object to be measured under the second coordinate system and a fourth coordinate of the object to be measured under the fourth coordinate system based on the first coordinate, the third coordinate and the internal reference.
8. A method according to claim 3, characterized in that the method further comprises: acquiring reference position information based on the target three-dimensional image; based on the reference position information, a projector projects carrier frequency stripes to the object to be detected; The camera acquires a deformed stripe image on the object to be detected; generating phase shift information of the object to be detected based on the deformed stripe image; And carrying out three-dimensional imaging processing according to the phase shift information to obtain a corrected three-dimensional image of the object to be detected.
9. The method of any of claims 4-7, wherein the visual structure parameters include a baseline length, a first distance, a second distance, a depth of an effective field of view corresponding to the camera, a horizontal width of the effective field of view corresponding to the camera, a third distance, a first included angle, a second included angle, a third included angle, and a fourth included angle, and wherein determining the visual structure parameters corresponding to the three-dimensional imaging system includes: measuring the baseline length, the first distance, the second distance, the first included angle, the second included angle, the third included angle, the fourth included angle; Determining a third distance based on a geometric relationship between the baseline length, the first distance, and the second distance, the geometric relationship between the first included angle, the second included angle, the third included angle, and the fourth included angle; Determining the depth and the horizontal width based on the geometric relationship among the baseline length, the first distance, the second distance, and the third distance, the geometric relationship among the first included angle, the second included angle, the third included angle, and the fourth included angle; The base line length is the distance between the first virtual optical center and the second virtual optical center, the first distance is the distance between the optical center of the camera and the second group of reflectors, the second distance is the horizontal distance between the first group of reflectors and the second group of reflectors, the third distance is the nearest distance between the effective view field and the second group of reflectors, the first included angle is an included angle between the first group of reflectors and an x-axis under the fifth coordinate system, the second included angle is an included angle between the second group of reflectors and an x-axis under the fifth coordinate system, the third included angle is an included angle between an optical axis of a virtual camera and an x-axis under the fifth coordinate system, the fourth included angle is an included angle between an optical axis of the virtual camera and a corresponding image plane of the object to be detected, the virtual camera comprises a first virtual camera and a second virtual camera, the first virtual camera is an included angle between the first virtual camera and the second camera, and the virtual camera is a virtual camera is built based on the first virtual optical center of the second camera.

Description

Three-dimensional imaging system and method Technical Field The disclosure relates to the technical field of three-dimensional imaging, and in particular relates to a three-dimensional imaging system, method and device. Background The three-dimensional imaging technology can be used for realizing three-dimensional imaging of the object to be detected according to the three-dimensional coordinates of the object to be detected by measuring the three-dimensional coordinates of the object to be detected, so as to obtain specific morphological information, position information and the like of the object to be detected, and has wide application fields, for example, when a user drives a vehicle to travel on a complex road surface in the automatic driving field, the three-dimensional imaging technology can be used for detecting and three-dimensionally imaging a traveling obstacle on the road surface, so as to obtain the morphological information and the position information of the obstacle. In the related art, the three-dimensional imaging method includes a binocular stereo vision method (binocular stereo vision method), a fringe projection structured light method (fringe projection method), a laser triangulation method, a time of flight method (ToF), and the like. The binocular stereo vision method is used for realizing three-dimensional coordinate measurement through a binocular stereo vision system, the system is generally composed of two cameras, human vision is simulated, based on the parallax principle, under the condition that the position relation between the two cameras is known, three-dimensional coordinates of an object to be measured in a public view field of the two cameras are obtained, a three-dimensional image of the object to be measured is obtained according to the three-dimensional coordinates, the fringe projection method is used for obtaining a deformation fringe image modulated by the height of the object to be measured from another angle through an imaging device by projecting one carrier frequency fringe onto the surface of the object to be measured, demodulating the deformation fringe image, and reconstructing the three-dimensional image of the object to be measured. However, in the related art, when the binocular stereo method is adopted alone to perform three-dimensional imaging, firstly, two cameras in the binocular stereo system are required to be calibrated respectively (monocular calibration), then, the matrix conversion relationship between the two cameras is calibrated (binocular calibration), the parallax images of the two cameras are matched to obtain the three-dimensional coordinates of the object to be detected, and the technical problems that the binocular stereo system is not flexible enough and the binocular stereo method is relatively complex exist. Disclosure of Invention The present disclosure provides a three-dimensional imaging system, method and apparatus, so as to at least solve the problems that, when a binocular stereoscopic method is adopted to perform three-dimensional imaging in the related art, the binocular stereoscopic system is not flexible enough and is relatively complex to calculate, and when a fringe projection method is adopted to perform three-dimensional imaging, errors are easily caused by equipment and environmental influence results. The technical scheme of the present disclosure is as follows: according to an aspect of the disclosed embodiments, there is provided a three-dimensional imaging system including: The device comprises a camera, a first group of reflectors, a second group of reflectors and a three-dimensional imaging module; the first group of reflectors are used for reflecting incident light rays from the object to be detected onto the second group of reflectors, and determining a first virtual optical center and a second virtual optical center based on the extension line of the incident light rays; the second group of reflectors are positioned at the inner side of the first group of reflectors and are used for reflecting the incident light rays reflected by the first group of reflectors to the camera so as to enable the camera to acquire a two-dimensional image of the object to be detected; according to a second aspect of embodiments of the present disclosure, there is provided a three-dimensional imaging method including: reflecting incident light from an object to be measured onto a second set of mirrors in the three-dimensional imaging system based on the first set of mirrors in the three-dimensional imaging system; Reflecting the incident light rays reflected by the first group of reflectors onto a camera in the three-dimensional imaging system based on the second group of reflectors, so that the camera collects two-dimensional images of an object to be detected; Determining a first virtual optical center and a second virtual optical center based on an extension line of the incident light; performing three-dimensional imaging process