A conoscopic holography-based 3D measurement system for analyzing the defects on the surface of steel plates was introduced in this paper. The hardware, which is automated through software, performs sampling of the st...A conoscopic holography-based 3D measurement system for analyzing the defects on the surface of steel plates was introduced in this paper. The hardware, which is automated through software, performs sampling of the steel plate surface. Through the software interface,point-cloud data of the steel plate surface are obtained and reconstructed to form a 3D image of the steel plate surface. The software allows automatic analysis of steel plate surface detects through identification of the bulges and depressions. In addition, the software can also automatically calculate the defect information ,such as the deepest point, volume, opening area, opening length, and so on, thereby determining the defect size. The results determined by this 3D measurement system were found to be in good agreement with the actual values.展开更多
Phase unwrapping is one of the key roles in fringe projection three-dimensional(3D)measurement technology.We propose a new method to achieve phase unwrapping in camera array light filed fringe projection 3D measuremen...Phase unwrapping is one of the key roles in fringe projection three-dimensional(3D)measurement technology.We propose a new method to achieve phase unwrapping in camera array light filed fringe projection 3D measurement based on deep learning.A multi-stream convolutional neural network(CNN)is proposed to learn the mapping relationship between camera array light filed wrapped phases and fringe orders of the expected central view,and is used to predict the fringe order to achieve the phase unwrapping.Experiments are performed on the light field fringe projection data generated by the simulated camera array fringe projection measurement system in Blender and by the experimental 3×3 camera array light field fringe projection system.The performance of the proposed network with light field wrapped phases using multiple directions as network input data is studied,and the advantages of phase unwrapping based on deep learning in light filed fringe projection are demonstrated.展开更多
Vision-based measurement technology benefits high-quality manufacturers through improved dimensional precision,enhanced geo-metric tolerance,and increased product yield.The monocular 3D structured light visual sensing...Vision-based measurement technology benefits high-quality manufacturers through improved dimensional precision,enhanced geo-metric tolerance,and increased product yield.The monocular 3D structured light visual sensing method is popular for detecting online parts since it can reach micron-meter depth accuracy.However,the line-of-sight requirement of a single viewpoint vision system often fails when hiding occurs due to the object’s surface structure,such as edges,slopes,and holes.To address this issue,a multi-view 3D structured light vi-sion system is proposed in this paper to achieve high accuracy,i.e.,Z-direction repeatability,and reduce hiding probability during mechani-cal dimension measurement.The main contribution of this paper includes the use of industrial cameras with high resolution and high frame rates to achieve high-precision 3D reconstruction.Moreover,a multi-wavelength(heterodyne)phase expansion method is employed for high-precision phase calculation.By leveraging multiple industrial cameras,the system overcomes field of view occlusions,thereby broadening the 3D reconstruction field of view.Finally,the system achieves a Z-axis repetition accuracy of 0.48µm.展开更多
A flexible calibration method based on a front-coated flat mirror is proposed for a laser light-sectioning three-dimensional(3D)measurement system. Since the calibration target and its mirror image are spatially separ...A flexible calibration method based on a front-coated flat mirror is proposed for a laser light-sectioning three-dimensional(3D)measurement system. Since the calibration target and its mirror image are spatially separated and can be recorded in an image by a camera,the proposed method requires only a single composite image that contains a non-planar checkerboard pattern,a laser strip projected on the target and their mirror images to complete the calibration of the camera and the laser plane in one step. Levenberg-Marquardt(LM)algorithm is used to optimize the system parameters,and the measurement accuracy and speed are improved to enable online 3D inspection. Static and dynamic online 3D measurements are carried out on a cup and a triple stepped shaft,respectively,to validate the proposed method. The shaft has two steps with the depth of(0.5±0.01)mm and(2±0.01)mm to be measured online when the shaft is rotated and translated at the same time. The measurement results can be output at a frequency of 7 to 11 readings per second with standard deviations of 0.040 mm and 0.051 mm. The experimental results verify the effectiveness and flexibility of the proposed method.展开更多
Using the method of line structure light produced by a laser diode,three dimensional profile measurement is deeply researched.A hardware circuit developed is used to get the center position of light section for the im...Using the method of line structure light produced by a laser diode,three dimensional profile measurement is deeply researched.A hardware circuit developed is used to get the center position of light section for the improvement of the measurement speed.A double CCD compensation technology is used to improve the measurement precision. An easy and effective calibration method of the least squares to fit the parameter of system structure is used to get the relative coordinate relationship of objects and images of light section in the directions of height and axis. Sensor scanning segment by segment and layer by layer makes the measurement range expand greatly.展开更多
To obtain the certificate of airworthiness,it is essential to conduct a full-scale aircraft static test.During such test,accurate and comprehensive wing deformation measurement is crucial for assessing its strength,st...To obtain the certificate of airworthiness,it is essential to conduct a full-scale aircraft static test.During such test,accurate and comprehensive wing deformation measurement is crucial for assessing its strength,stiffness,and bearing capability.This paper proposes a novel and cost-effective videogrammetric method using multi-camera system to achieve the non-contact,highprecision,and 3D measurement of overall static deformation for the large-scale wing structure.To overcome the difficulties of making,carrying,and employing the large 2D or 3D target for calibrating the cameras with large field of view,a flexible stereo cameras calibration method combining 1D target and epipolar geometry is proposed.The global calibration method,aided by a total station,is employed to unify the 3D data obtained from various binocular subsystems.A series of static load tests using a 10-meter-long large-scale wing have been conducted to validate the proposed system and methods.Furthermore,the proposed method was applied to the practical wing deformation measurement of both wings with a wingspan of 33.6 m in the full-size civil aircraft static test.The overall 3D profile and displacement data of the tested wing under various loads can be accurately obtained.The maximum error of distance and displacement measurement is less than 4.5 mm within the measurement range of 35 m in all load cases.These results demonstrate that the proposed method achieves effective,high-accuracy,on-site,and visualized wing deformation measurement,making it a promising approach for full-scale aircraft wing static test.展开更多
A technique of fast 360° spinning 3D measurement is realized.A laser diode used as light source produces 0.5 mm wide slit which is projected onto the surface of an object via a groupe of optical lenses.A CCD came...A technique of fast 360° spinning 3D measurement is realized.A laser diode used as light source produces 0.5 mm wide slit which is projected onto the surface of an object via a groupe of optical lenses.A CCD camera can grab the reflect curve line and its video output is processed by special hardware circuitries.Then the surface height value which the slit directs to will be directly obtained.The spinning table turns one degree each time and totally 360° 3D information acquisition need only 15 s.The result and conclusion are presented.展开更多
Grating fringe projection 3D measurement techniques are extensively applied in various fields.However,in high dynamic range scenarios with significant surface reflectivity variations,uneven greyscale distribution may ...Grating fringe projection 3D measurement techniques are extensively applied in various fields.However,in high dynamic range scenarios with significant surface reflectivity variations,uneven greyscale distribution may lead to phase errors and poor reconstruction results.To address this problem,an adaptive fringe projection method is introduced.The method involves projecting two sets of dark and light fringes onto the object,enabling the full-field projection intensity map to be generated adaptively based on greyscale analysis.First,dark fringes are projected onto the object to extend exposure time as long as possible without causing overexposure in the image.Subsequently,bright fringes are projected under the same exposure settings to detect overexposed pixels,and the greyscale distribution of these overexposed points from the previous dark fringe projection is analyzed to calculate the corresponding projection intensities.Finally,absolute phase information from orthogonal fringes is used for coordinate matching,enabling the generation of adaptive projection fringe patterns.Experiments on various high dynamic range objects show that compared to conventional fringe projection binocular reconstruction method,the proposed algorithm achieves complete reconstruction of high dynamic range surfaces and shows robust performance against phase calculation errors caused by overexposure and low modulation.展开更多
A fast 3D reconstruction method based on structured light to measure various parameters of the raceway groove is presented. Digital parallel grating stripes distributed with sine density are projected onto the raceway...A fast 3D reconstruction method based on structured light to measure various parameters of the raceway groove is presented. Digital parallel grating stripes distributed with sine density are projected onto the raceway groove by a DLP projector, and distorting of stripes is happened on the raceway. Simultaneously, aided by three-step phase-shifting approach, three images covered by different stripes are obtained by a high-resolution CCD camera at the same location, thus a more accuracy local topography can be obtained. And then the bearing is rotated on a high precision computer controlled rotational stage. Three images are also obtained as the former step at next planned location triggered by the motor. After one cycle, all images information is combined through the mosaics. As a result, the 3D information of raceway groove can be gained. Not only geometric properties but also surface flaws can be extracted by software. A preliminary hardware system has been built, with which some geometric parameters have been extracted from reconstructed local topography.展开更多
This work explores an alternative 3D geometry measurement method for non-cooperative spacecraft guiding navigation and proximity operations.From one snapshot of an unfocused light-field camera, the 3D point cloud of a...This work explores an alternative 3D geometry measurement method for non-cooperative spacecraft guiding navigation and proximity operations.From one snapshot of an unfocused light-field camera, the 3D point cloud of a non-cooperative spacecraft can be calculated from sub-aperture images with the epipolar plane image(EPI) based light-field rendering algorithm.A Chang'e-3 model(7.2 cm×5.6 cm×7.0 cm) is tested to validate the proposed technique.Three measurement distances(1.0 m, 1.2 m, 1.5 m) are considered to simulate different approaching stages.Measuring errors are quantified by comparing the light-field camera data with a high precision commercial laser scanner.The mean error distance for the three cases are 0.837 mm, 0.743 mm, and 0.973 mm respectively, indicating that the method can well reconstruct 3D geometry of a non-cooperative spacecraft with a densely distributed 3D point cloud and is thus promising in space-related missions.展开更多
The system mathematical model of flexible 3D measuring system is built by theoretical analysis, and the theoretical formula for measuring space point coordinate is also derived. Frog-jumping based coordinate transform...The system mathematical model of flexible 3D measuring system is built by theoretical analysis, and the theoretical formula for measuring space point coordinate is also derived. Frog-jumping based coordinate transform method is put forward in order to solve measuring problem for large size parts. The frog-jumping method is discussed, and the coordinate transform mathematical model is method of the space point coordinate compared to original value, and an advanced method is provided, Form the space point coordinate transform formula can derive the calculation measuring method for measuring large size parts.展开更多
A new 3D surface contouring and ranging system based on digital fringe projection and phase shifting technique is presented. Using the phase-shift technique, points cloud with high spatial resolution and limited accur...A new 3D surface contouring and ranging system based on digital fringe projection and phase shifting technique is presented. Using the phase-shift technique, points cloud with high spatial resolution and limited accuracy can be generated. Stereo-pair images obtained from two cameras can be used to compute 3D world coordinates of a point using traditional active triangulation approach, yet the camera calibration is crucial. Neural network is a well-known approach to approximate a nonlinear system without an explicit physical model, in this work it is used to train the stereo vision application system to calculating 3D world coordinates such that the camera calibration can be bypassed. The training set for neural network consists of a variety of stereo-pair images and the corresponding 3D world coordinates. The picture elements correspondence problem is solved by using projected color-coded fringes with different orientations. Color imbalance is completely eliminated by the new color-coded method. Once the high accuracy correspondence of 2D images with 3D points is acquired, high precision 3D points cloud can be recognized by the well trained net. The obvious advantage of this approach is that high spatial resolution can be obtained by the phase-shifting technique and high accuracy 3D object point coordinates are achieved by the well trained net which is independent of the camera model works for any type of camera. Some experiments verified the performance of the method.展开更多
This paper discusses current research and development of fringe projection-based techniques. A system based on Fourier transform profilometry (FTP) is proposed for three-dimensional (3D) shape recovery. The system imp...This paper discusses current research and development of fringe projection-based techniques. A system based on Fourier transform profilometry (FTP) is proposed for three-dimensional (3D) shape recovery. The system improves the method of phase unwrapping to gain accurate 3D shapes of objects. The method uses a region-growing algorithm for the path prediction guided by the quality map to increase the recovering accuracy and provides a fast and simple tool for 3D shape recovery. The shape measurement and data recovery are integrated to offer a new method of 3D modelling. Examples are presented to verify the feasibility of the proposed method.展开更多
Light field imaging technology can obtain three-dimensional(3D)information of a test surface in a single exposure.Traditional light field reconstruction algorithms not only take a long time to trace back to the origin...Light field imaging technology can obtain three-dimensional(3D)information of a test surface in a single exposure.Traditional light field reconstruction algorithms not only take a long time to trace back to the original image,but also require the exact parameters of the light field system,such as the position and posture of a microlens array(MLA),which will cause errors in the reconstructed image if these parameters cannot be precisely obtained.This paper proposes a reconstruction algorithm for light field imaging based on the point spread function(PSF),which does not require prior knowledge of the system.The accurate PSF derivation process of a light field system is presented,and modeling and simulation were conducted to obtain the relationship between the spatial distribution characteristics and the PSF of the light field system.A morphology-based method is proposed to analyze the overlapping area of the subimages of light field images to identify the accurate spatial location of the MLA used in the system,which is thereafter used to accurately refocus light field imaging.A light field system is built to verify the algorithm’s effectiveness.Experimental results show that the measurement accuracy is increased over 41.0%compared with the traditional method by measuring a step standard.The accuracy of parameters is also improved through a microstructure measurement with a peak-to-valley value of 25.4%and root mean square value of 23.5%improvement.This further validates that the algorithm can effectively improve the refocusing efficiency and the accuracy of the light field imaging results with the superiority of refocusing light field imaging without prior knowledge of the system.The proposed method provides a new solution for fast and accurate 3D measurement based on a light field.展开更多
In this paper, we presented a method of using the l as er scanning triangulation for the non-contact 3D surface profile measurement of large-scale object. The characteristic of large-scale object non-contact mea surem...In this paper, we presented a method of using the l as er scanning triangulation for the non-contact 3D surface profile measurement of large-scale object. The characteristic of large-scale object non-contact mea surement is analyzed and the measuring method is proposed. Main factors influenc ing measurement precision such as image distortion and accurate designation of s peckle center are analyzed and methods of solving these problems are proposed. W e designed a combined filter by which the pulse noise and the Gaussian noise of speckle image can be eliminated efficiently. Using the characteristic of intensi ty distribution of laser speckle image we proposed a new approximating method th at could locate the center of laser speckle image at sub-pixel. The auxiliary v ariables are set to linearize the relationship between the image displacement an d the distance, the accurate values of laser triangulation system parameters cou ld be calibrated accurately and the measuring precision is increased remarkabl y. Using the above techniques we designed a measuring system based on laser sc anning triangulation. The results of the experiment show that these methods can raise the measuring precision of large-scale 3D surface profile effectively.展开更多
In the traditional fringe projection profilometry system,the projector and the camera light center are both spatially virtual points.The spatial position relationships specified in the model are not easy to obtain,lea...In the traditional fringe projection profilometry system,the projector and the camera light center are both spatially virtual points.The spatial position relationships specified in the model are not easy to obtain,leading to inaccurate system parameters and affectingmeasurement accuracy.This paper proposes a method for solving the system parameters of the fringe projection profilometry system,and the spatial position of the camera and projector can be adjusted in accordance with the obtained calibration parameters.The steps are as follows:First,in accordance with the conversion relationship of the coordinate system in the calibration process,the calculation formula of the vertical distance from the camera light center to the reference plane and the calculation formula of the distance between the projector and the camera light center are given respectively.Secondly,according to the projector calibration principle,the position of the projector light axis perpendicular to the reference plane is gained by comparing the parallel relationship between the reference plane coordinate system and the projector coordinate system’s Z-axis.Then,in order to fulfill the position restriction that the line between the projector light center and the camera light center must be parallel to the reference plane,the camera’s spatial location is adjusted so that the vertical distance between it and the reference plane tends to that between the projector light center and the reference plane.And finally,the three-dimensional(3D)reconstruction of the target object can be finished using the phase height model’s system parameters once the aforementioned position limitations are put into practice.Experimental results demonstrate that the method improves the measurement accuracy,and verifies that it is effective and available in 3D shape measurement.展开更多
With the goal of designing a biologically inspired robot that can hold a stable hover under internal and external disturbances.We designed a tailless Flapping-wing Micro Aerial Vehicle(FMAV)with onboard 3D velocity pe...With the goal of designing a biologically inspired robot that can hold a stable hover under internal and external disturbances.We designed a tailless Flapping-wing Micro Aerial Vehicle(FMAV)with onboard 3D velocity perception.In this way,the wind disturbance caused by the relative motion of the FMAV can be quantified in real time based on the established altitudinal dynamics model.For the rest of the total disturbance,an active disturbance rejection controller is proposed to estimate and suppress those disturbances.In comparison with the traditional PID controller,this proposed approach has been validated.The results show that,in the hovering flight with the internal unmodeled dynamics,the root-mean-square of height controlled is only 2.53 cm.Even with the different weights of loads mounting on the FMAV,the ascending trajectory of flights remains impressively consistent.In the forward flight with the external disturbance,the root-mean-square error of height controlled is 2.78 cm.When the FMAV flies over a ladder introducing an abrupt external disturbance,the maximum overshoot is only half of that controlled by the PID controller.To our best knowledge,this is the first demonstration of FMAVs with the capability of sensing motion-generated wind disturbance onboard and handling the internal and external disturbances in hover flight.展开更多
Acquisition of physical data with high precision is a key step in reverse engineering (RE). It is an important stimulative for the progress of reverse engineering with which various digitizing devices are invent ed,...Acquisition of physical data with high precision is a key step in reverse engineering (RE). It is an important stimulative for the progress of reverse engineering with which various digitizing devices are invent ed, developed and made applicable. This paper introduces a three dimensional opt ical measurement method based on digital fringe projection technique in RE to im prove the technique through its application. A practical example is presented an d the result demonstrates the applicability and feasibility of the measurement s ystem as well as the reliability and validity of relevant methods and algorithms .展开更多
The configuration principles and functions of the non-contact three-dimensional （3D） body measurement system （BMS） developed by the Textile/Clothing Technology Corporation （[TC]^2） are described in this paper. T...The configuration principles and functions of the non-contact three-dimensional （3D） body measurement system （BMS） developed by the Textile/Clothing Technology Corporation （[TC]^2） are described in this paper. The advantages of this new system, compared with traditional contact body measurement instruments （ Martin instruments ） are discussed by selecting 40 female undergraduates of Donghna University as the scan objects. In the experiments both the Martin instruments and [TC]^2 BMS were used respectively. According to the data of different position （Bust Circumference, Full Waist, Full Hips, Bust Height, Front Waist Height and Back Waist Height） obtained from both of the methods we can get the correlation coefficient which is close to 1, indicating that the results of both methods have comparability. Finally some suggestions for the further applications of the non-contact BMS in the apparel development of China are given.展开更多
Instantaneous three-dimensional (3D) density distributions of a shock-cell structure of perfectly and imperfectly expanded supersonic microjets escaping into an ambient space are measured. For the 3D observation of su...Instantaneous three-dimensional (3D) density distributions of a shock-cell structure of perfectly and imperfectly expanded supersonic microjets escaping into an ambient space are measured. For the 3D observation of supersonic microjets, non-scanning 3D computerized tomography (CT) technique using a 20-directional quantitative schlieren optical system with flashlight source is employed for simultaneous schlieren photography. The 3D density distributions data of the microjets are obtained by 3D-CT reconstruction of the projection’s images using maximum likelihood-expectation maximization. Axisymmetric convergent-divergent (Laval) circular and square micro nozzles with operating nozzle pressure ratio 5.0, 4.5, 4.0, 3.67, and 3.5 have been studied. This study examines perfectly expanded, overexpanded, and underexpanded supersonic microjets issued from micro nozzles with fully expanded jet Mach numbers <em>M</em><em><sub>j</sub></em> ranging from 1.47 - 1.71, where the design Mach number is <em>M<sub>d</sub></em> = 1.5. A complex phenomenon for free square microjets called axis switching is clearly observed with two types “upright” and “diagonal” of “cross-shaped”. The initial axis-switching is 45<span style="white-space:nowrap;">°</span> within the first shock-cell range. In addition, from the symmetry and diagonal views of square microjets for the first shock-cells, two different patterns of shock waves are viewed. The shock-cell spacing and supersonic core length for all nozzle pressure ratios are investigated and reported.展开更多
文摘A conoscopic holography-based 3D measurement system for analyzing the defects on the surface of steel plates was introduced in this paper. The hardware, which is automated through software, performs sampling of the steel plate surface. Through the software interface,point-cloud data of the steel plate surface are obtained and reconstructed to form a 3D image of the steel plate surface. The software allows automatic analysis of steel plate surface detects through identification of the bulges and depressions. In addition, the software can also automatically calculate the defect information ,such as the deepest point, volume, opening area, opening length, and so on, thereby determining the defect size. The results determined by this 3D measurement system were found to be in good agreement with the actual values.
基金the National Natural Science Foundation of China(No.61905178)the Science&Technology Development Fund of Tianjin Education Commission for Higher Education(No.2019KJ021)the Natural Science Foundation of Tianjin(No.18JCQNJC71100)。
文摘Phase unwrapping is one of the key roles in fringe projection three-dimensional(3D)measurement technology.We propose a new method to achieve phase unwrapping in camera array light filed fringe projection 3D measurement based on deep learning.A multi-stream convolutional neural network(CNN)is proposed to learn the mapping relationship between camera array light filed wrapped phases and fringe orders of the expected central view,and is used to predict the fringe order to achieve the phase unwrapping.Experiments are performed on the light field fringe projection data generated by the simulated camera array fringe projection measurement system in Blender and by the experimental 3×3 camera array light field fringe projection system.The performance of the proposed network with light field wrapped phases using multiple directions as network input data is studied,and the advantages of phase unwrapping based on deep learning in light filed fringe projection are demonstrated.
基金supported by the 2023 Guangdong Basic and Applied Basic Research Fund Regional Joint Fund Key Project under Grant No. 2023B15151200172023 Key Project of Guangdong Provincial Department of Education for General Universities under Grant No. 2023ZDZX3024ZTE Industry-University-Institute Cooperation Funds under Grant No. K2133Z167
文摘Vision-based measurement technology benefits high-quality manufacturers through improved dimensional precision,enhanced geo-metric tolerance,and increased product yield.The monocular 3D structured light visual sensing method is popular for detecting online parts since it can reach micron-meter depth accuracy.However,the line-of-sight requirement of a single viewpoint vision system often fails when hiding occurs due to the object’s surface structure,such as edges,slopes,and holes.To address this issue,a multi-view 3D structured light vi-sion system is proposed in this paper to achieve high accuracy,i.e.,Z-direction repeatability,and reduce hiding probability during mechani-cal dimension measurement.The main contribution of this paper includes the use of industrial cameras with high resolution and high frame rates to achieve high-precision 3D reconstruction.Moreover,a multi-wavelength(heterodyne)phase expansion method is employed for high-precision phase calculation.By leveraging multiple industrial cameras,the system overcomes field of view occlusions,thereby broadening the 3D reconstruction field of view.Finally,the system achieves a Z-axis repetition accuracy of 0.48µm.
基金supported in part by the National Natural Science Foundation of China (No. 11802132)the Natural Science Foundation of Jiangsu Province(No.BK20180446)。
文摘A flexible calibration method based on a front-coated flat mirror is proposed for a laser light-sectioning three-dimensional(3D)measurement system. Since the calibration target and its mirror image are spatially separated and can be recorded in an image by a camera,the proposed method requires only a single composite image that contains a non-planar checkerboard pattern,a laser strip projected on the target and their mirror images to complete the calibration of the camera and the laser plane in one step. Levenberg-Marquardt(LM)algorithm is used to optimize the system parameters,and the measurement accuracy and speed are improved to enable online 3D inspection. Static and dynamic online 3D measurements are carried out on a cup and a triple stepped shaft,respectively,to validate the proposed method. The shaft has two steps with the depth of(0.5±0.01)mm and(2±0.01)mm to be measured online when the shaft is rotated and translated at the same time. The measurement results can be output at a frequency of 7 to 11 readings per second with standard deviations of 0.040 mm and 0.051 mm. The experimental results verify the effectiveness and flexibility of the proposed method.
文摘Using the method of line structure light produced by a laser diode,three dimensional profile measurement is deeply researched.A hardware circuit developed is used to get the center position of light section for the improvement of the measurement speed.A double CCD compensation technology is used to improve the measurement precision. An easy and effective calibration method of the least squares to fit the parameter of system structure is used to get the relative coordinate relationship of objects and images of light section in the directions of height and axis. Sensor scanning segment by segment and layer by layer makes the measurement range expand greatly.
文摘To obtain the certificate of airworthiness,it is essential to conduct a full-scale aircraft static test.During such test,accurate and comprehensive wing deformation measurement is crucial for assessing its strength,stiffness,and bearing capability.This paper proposes a novel and cost-effective videogrammetric method using multi-camera system to achieve the non-contact,highprecision,and 3D measurement of overall static deformation for the large-scale wing structure.To overcome the difficulties of making,carrying,and employing the large 2D or 3D target for calibrating the cameras with large field of view,a flexible stereo cameras calibration method combining 1D target and epipolar geometry is proposed.The global calibration method,aided by a total station,is employed to unify the 3D data obtained from various binocular subsystems.A series of static load tests using a 10-meter-long large-scale wing have been conducted to validate the proposed system and methods.Furthermore,the proposed method was applied to the practical wing deformation measurement of both wings with a wingspan of 33.6 m in the full-size civil aircraft static test.The overall 3D profile and displacement data of the tested wing under various loads can be accurately obtained.The maximum error of distance and displacement measurement is less than 4.5 mm within the measurement range of 35 m in all load cases.These results demonstrate that the proposed method achieves effective,high-accuracy,on-site,and visualized wing deformation measurement,making it a promising approach for full-scale aircraft wing static test.
文摘A technique of fast 360° spinning 3D measurement is realized.A laser diode used as light source produces 0.5 mm wide slit which is projected onto the surface of an object via a groupe of optical lenses.A CCD camera can grab the reflect curve line and its video output is processed by special hardware circuitries.Then the surface height value which the slit directs to will be directly obtained.The spinning table turns one degree each time and totally 360° 3D information acquisition need only 15 s.The result and conclusion are presented.
基金supported by the Science and Technology Program Project of Tianjin(No.24ZXZSSS00300).
文摘Grating fringe projection 3D measurement techniques are extensively applied in various fields.However,in high dynamic range scenarios with significant surface reflectivity variations,uneven greyscale distribution may lead to phase errors and poor reconstruction results.To address this problem,an adaptive fringe projection method is introduced.The method involves projecting two sets of dark and light fringes onto the object,enabling the full-field projection intensity map to be generated adaptively based on greyscale analysis.First,dark fringes are projected onto the object to extend exposure time as long as possible without causing overexposure in the image.Subsequently,bright fringes are projected under the same exposure settings to detect overexposed pixels,and the greyscale distribution of these overexposed points from the previous dark fringe projection is analyzed to calculate the corresponding projection intensities.Finally,absolute phase information from orthogonal fringes is used for coordinate matching,enabling the generation of adaptive projection fringe patterns.Experiments on various high dynamic range objects show that compared to conventional fringe projection binocular reconstruction method,the proposed algorithm achieves complete reconstruction of high dynamic range surfaces and shows robust performance against phase calculation errors caused by overexposure and low modulation.
基金This project is supported by National Natural Science Foundation ofChina (No.50375047).
文摘A fast 3D reconstruction method based on structured light to measure various parameters of the raceway groove is presented. Digital parallel grating stripes distributed with sine density are projected onto the raceway groove by a DLP projector, and distorting of stripes is happened on the raceway. Simultaneously, aided by three-step phase-shifting approach, three images covered by different stripes are obtained by a high-resolution CCD camera at the same location, thus a more accuracy local topography can be obtained. And then the bearing is rotated on a high precision computer controlled rotational stage. Three images are also obtained as the former step at next planned location triggered by the motor. After one cycle, all images information is combined through the mosaics. As a result, the 3D information of raceway groove can be gained. Not only geometric properties but also surface flaws can be extracted by software. A preliminary hardware system has been built, with which some geometric parameters have been extracted from reconstructed local topography.
文摘This work explores an alternative 3D geometry measurement method for non-cooperative spacecraft guiding navigation and proximity operations.From one snapshot of an unfocused light-field camera, the 3D point cloud of a non-cooperative spacecraft can be calculated from sub-aperture images with the epipolar plane image(EPI) based light-field rendering algorithm.A Chang'e-3 model(7.2 cm×5.6 cm×7.0 cm) is tested to validate the proposed technique.Three measurement distances(1.0 m, 1.2 m, 1.5 m) are considered to simulate different approaching stages.Measuring errors are quantified by comparing the light-field camera data with a high precision commercial laser scanner.The mean error distance for the three cases are 0.837 mm, 0.743 mm, and 0.973 mm respectively, indicating that the method can well reconstruct 3D geometry of a non-cooperative spacecraft with a densely distributed 3D point cloud and is thus promising in space-related missions.
文摘The system mathematical model of flexible 3D measuring system is built by theoretical analysis, and the theoretical formula for measuring space point coordinate is also derived. Frog-jumping based coordinate transform method is put forward in order to solve measuring problem for large size parts. The frog-jumping method is discussed, and the coordinate transform mathematical model is method of the space point coordinate compared to original value, and an advanced method is provided, Form the space point coordinate transform formula can derive the calculation measuring method for measuring large size parts.
基金Supported by the Eleventh Five-Year Pre-research Project of China.
文摘A new 3D surface contouring and ranging system based on digital fringe projection and phase shifting technique is presented. Using the phase-shift technique, points cloud with high spatial resolution and limited accuracy can be generated. Stereo-pair images obtained from two cameras can be used to compute 3D world coordinates of a point using traditional active triangulation approach, yet the camera calibration is crucial. Neural network is a well-known approach to approximate a nonlinear system without an explicit physical model, in this work it is used to train the stereo vision application system to calculating 3D world coordinates such that the camera calibration can be bypassed. The training set for neural network consists of a variety of stereo-pair images and the corresponding 3D world coordinates. The picture elements correspondence problem is solved by using projected color-coded fringes with different orientations. Color imbalance is completely eliminated by the new color-coded method. Once the high accuracy correspondence of 2D images with 3D points is acquired, high precision 3D points cloud can be recognized by the well trained net. The obvious advantage of this approach is that high spatial resolution can be obtained by the phase-shifting technique and high accuracy 3D object point coordinates are achieved by the well trained net which is independent of the camera model works for any type of camera. Some experiments verified the performance of the method.
基金Project (No. 59965003) supported by the National Natural ScienceFoundation of China
文摘This paper discusses current research and development of fringe projection-based techniques. A system based on Fourier transform profilometry (FTP) is proposed for three-dimensional (3D) shape recovery. The system improves the method of phase unwrapping to gain accurate 3D shapes of objects. The method uses a region-growing algorithm for the path prediction guided by the quality map to increase the recovering accuracy and provides a fast and simple tool for 3D shape recovery. The shape measurement and data recovery are integrated to offer a new method of 3D modelling. Examples are presented to verify the feasibility of the proposed method.
基金This work was partially supported by the National Key R&D Program of China(No.2017YFA0701200)the National Nat-ural Science Foundation of China(Grant No.52075100)Shanghai Science and Technology Committee Innovation Grant(19ZR1404600).
文摘Light field imaging technology can obtain three-dimensional(3D)information of a test surface in a single exposure.Traditional light field reconstruction algorithms not only take a long time to trace back to the original image,but also require the exact parameters of the light field system,such as the position and posture of a microlens array(MLA),which will cause errors in the reconstructed image if these parameters cannot be precisely obtained.This paper proposes a reconstruction algorithm for light field imaging based on the point spread function(PSF),which does not require prior knowledge of the system.The accurate PSF derivation process of a light field system is presented,and modeling and simulation were conducted to obtain the relationship between the spatial distribution characteristics and the PSF of the light field system.A morphology-based method is proposed to analyze the overlapping area of the subimages of light field images to identify the accurate spatial location of the MLA used in the system,which is thereafter used to accurately refocus light field imaging.A light field system is built to verify the algorithm’s effectiveness.Experimental results show that the measurement accuracy is increased over 41.0%compared with the traditional method by measuring a step standard.The accuracy of parameters is also improved through a microstructure measurement with a peak-to-valley value of 25.4%and root mean square value of 23.5%improvement.This further validates that the algorithm can effectively improve the refocusing efficiency and the accuracy of the light field imaging results with the superiority of refocusing light field imaging without prior knowledge of the system.The proposed method provides a new solution for fast and accurate 3D measurement based on a light field.
文摘In this paper, we presented a method of using the l as er scanning triangulation for the non-contact 3D surface profile measurement of large-scale object. The characteristic of large-scale object non-contact mea surement is analyzed and the measuring method is proposed. Main factors influenc ing measurement precision such as image distortion and accurate designation of s peckle center are analyzed and methods of solving these problems are proposed. W e designed a combined filter by which the pulse noise and the Gaussian noise of speckle image can be eliminated efficiently. Using the characteristic of intensi ty distribution of laser speckle image we proposed a new approximating method th at could locate the center of laser speckle image at sub-pixel. The auxiliary v ariables are set to linearize the relationship between the image displacement an d the distance, the accurate values of laser triangulation system parameters cou ld be calibrated accurately and the measuring precision is increased remarkabl y. Using the above techniques we designed a measuring system based on laser sc anning triangulation. The results of the experiment show that these methods can raise the measuring precision of large-scale 3D surface profile effectively.
基金This work described in this paper is supported by Foundation of Jilin Province Department of Science and Technology under Grant YDZJ202201ZYTS531。
文摘In the traditional fringe projection profilometry system,the projector and the camera light center are both spatially virtual points.The spatial position relationships specified in the model are not easy to obtain,leading to inaccurate system parameters and affectingmeasurement accuracy.This paper proposes a method for solving the system parameters of the fringe projection profilometry system,and the spatial position of the camera and projector can be adjusted in accordance with the obtained calibration parameters.The steps are as follows:First,in accordance with the conversion relationship of the coordinate system in the calibration process,the calculation formula of the vertical distance from the camera light center to the reference plane and the calculation formula of the distance between the projector and the camera light center are given respectively.Secondly,according to the projector calibration principle,the position of the projector light axis perpendicular to the reference plane is gained by comparing the parallel relationship between the reference plane coordinate system and the projector coordinate system’s Z-axis.Then,in order to fulfill the position restriction that the line between the projector light center and the camera light center must be parallel to the reference plane,the camera’s spatial location is adjusted so that the vertical distance between it and the reference plane tends to that between the projector light center and the reference plane.And finally,the three-dimensional(3D)reconstruction of the target object can be finished using the phase height model’s system parameters once the aforementioned position limitations are put into practice.Experimental results demonstrate that the method improves the measurement accuracy,and verifies that it is effective and available in 3D shape measurement.
基金Supporting Foundation of the Ministry of Education of the People’s Republic of China(6141A02022607,6141A02022627).
文摘With the goal of designing a biologically inspired robot that can hold a stable hover under internal and external disturbances.We designed a tailless Flapping-wing Micro Aerial Vehicle(FMAV)with onboard 3D velocity perception.In this way,the wind disturbance caused by the relative motion of the FMAV can be quantified in real time based on the established altitudinal dynamics model.For the rest of the total disturbance,an active disturbance rejection controller is proposed to estimate and suppress those disturbances.In comparison with the traditional PID controller,this proposed approach has been validated.The results show that,in the hovering flight with the internal unmodeled dynamics,the root-mean-square of height controlled is only 2.53 cm.Even with the different weights of loads mounting on the FMAV,the ascending trajectory of flights remains impressively consistent.In the forward flight with the external disturbance,the root-mean-square error of height controlled is 2.78 cm.When the FMAV flies over a ladder introducing an abrupt external disturbance,the maximum overshoot is only half of that controlled by the PID controller.To our best knowledge,this is the first demonstration of FMAVs with the capability of sensing motion-generated wind disturbance onboard and handling the internal and external disturbances in hover flight.
基金Project supported by the Science Foundation of Shanghai Munici pal Commission of Science and Technology ( Grant No.011461059)
文摘Acquisition of physical data with high precision is a key step in reverse engineering (RE). It is an important stimulative for the progress of reverse engineering with which various digitizing devices are invent ed, developed and made applicable. This paper introduces a three dimensional opt ical measurement method based on digital fringe projection technique in RE to im prove the technique through its application. A practical example is presented an d the result demonstrates the applicability and feasibility of the measurement s ystem as well as the reliability and validity of relevant methods and algorithms .
文摘The configuration principles and functions of the non-contact three-dimensional （3D） body measurement system （BMS） developed by the Textile/Clothing Technology Corporation （[TC]^2） are described in this paper. The advantages of this new system, compared with traditional contact body measurement instruments （ Martin instruments ） are discussed by selecting 40 female undergraduates of Donghna University as the scan objects. In the experiments both the Martin instruments and [TC]^2 BMS were used respectively. According to the data of different position （Bust Circumference, Full Waist, Full Hips, Bust Height, Front Waist Height and Back Waist Height） obtained from both of the methods we can get the correlation coefficient which is close to 1, indicating that the results of both methods have comparability. Finally some suggestions for the further applications of the non-contact BMS in the apparel development of China are given.
文摘Instantaneous three-dimensional (3D) density distributions of a shock-cell structure of perfectly and imperfectly expanded supersonic microjets escaping into an ambient space are measured. For the 3D observation of supersonic microjets, non-scanning 3D computerized tomography (CT) technique using a 20-directional quantitative schlieren optical system with flashlight source is employed for simultaneous schlieren photography. The 3D density distributions data of the microjets are obtained by 3D-CT reconstruction of the projection’s images using maximum likelihood-expectation maximization. Axisymmetric convergent-divergent (Laval) circular and square micro nozzles with operating nozzle pressure ratio 5.0, 4.5, 4.0, 3.67, and 3.5 have been studied. This study examines perfectly expanded, overexpanded, and underexpanded supersonic microjets issued from micro nozzles with fully expanded jet Mach numbers <em>M</em><em><sub>j</sub></em> ranging from 1.47 - 1.71, where the design Mach number is <em>M<sub>d</sub></em> = 1.5. A complex phenomenon for free square microjets called axis switching is clearly observed with two types “upright” and “diagonal” of “cross-shaped”. The initial axis-switching is 45<span style="white-space:nowrap;">°</span> within the first shock-cell range. In addition, from the symmetry and diagonal views of square microjets for the first shock-cells, two different patterns of shock waves are viewed. The shock-cell spacing and supersonic core length for all nozzle pressure ratios are investigated and reported.
