三光帶激光三維人體面部掃描系統的研制

應用物理學論文編號:WLX004  論文字數:26118,頁數:71

目    錄

第一章 緒論 1
1.1 三維數據獲取方法概述 1
1.2面部三維測量的應用 2
1.3面部三維測量的國內外研究狀況 3
1.4課題背景 5
1.5論文主要工作及研究意義 5
第二章 掃描系統的原理和總體設計 6
2.1系統的掃描原理 6
2.2系統的總體設計 7
2.2.1 系統的技術指標 7
2.2.2 系統的總體結構 8
2.3系統的硬件設計 9
2.3.1 傳感器的設計 9
2.3.2 圖像采集卡的選擇 11
2.3.3 同步運動系統設計 12
2.3.4 機械結構的設計 13
2.4 系統的軟件設計 15
2.5本章小結 18
第三章 系統的標定研究 19
3.1攝像機標定方法概述 19
3.1.1 傳統的攝像機標定 19
3.1.2 自標定技術 20
3.2攝像機模型的建立 20
3.2.1 攝像機理想線性模型 20
3.2.2 攝像機實際非線性模型 23
3.3系統的標定及結果 24
3.3.1內參數的標定 24
3.3.2系統的線性標定 26
3.4 本章小結 32
第四章 系統的調試與實驗 33
4.1系統的調試 33
4.2 面部模型掃描實驗 34
4.2.1 光帶中心線提取 34
4.2.2光帶分組 34
4.2.3 面部模型點云的獲取 36
4.3  點云融合及重建 37
4.3.1直接融合 37
4.3.2 均勻采樣融合 39
4.3.3 網格重建 40
4.4 精度驗證 41
4.5 本章小結 45
第五章 基于激光掃描的雙目立體視覺研究 46
5.1 雙目立體視覺傳感器 46
5.1.1 攝像機模型 46
5.1.2立體視覺模型 47
5.2 基本矩陣 48
5.3 立體視覺中的極線幾何 50
5.4 系統結構的調整 51
5.5系統標定 52
5.6立體匹配 53
5.7 掃描實驗 53
5.7.1 實驗結果 53
5.7.2 兩種方法的比較 55
5.8 本章小結 55
第六章 總結與展望 56
6.1 工作總結 56
6.2對后續工作的建議 56
參考文獻 57
發表論文及科研情況說明 61
致    謝 62

摘 要

 本文在全面了解三維人體面部掃描技術國內外研究現狀的基礎上，基于激光三角法原理，根據分辨率高掃描時間短的要求，提出了三光帶激光人體面部掃描方案，設計了系統的軟硬件結構，對關鍵技術進行了研究，并成功研制出系統樣機，進行掃描實驗得到了預期的實驗結果，驗證了所設計系統的正確性。主要工作包括以下幾個方面：
根據實際使用要求，提出了三光帶激光人體面部掃描方案，用三個相同的線激光器產生三條平行且高度方向等間距的光帶，掃描時每條光帶只需移動整個掃描范圍的1/3，滿足了縮短系統掃描時間的要求。
設計了掃描系統的總體結構，包括傳感器、運動系統、圖像采集系統和計算機處理系統，編寫了控制程序實現了圖像采集系統和運動系統的同步運行，系統的技術指標達到：掃描范圍為220mm×250mm×100mm（寬度×高度×深度），典型分辨率為0.4mm×0.4mm×0.5mm（寬度×高度×深度），掃描時間為7s。
建立攝像機理想線性模型和畸變模型得到三維世界坐標和計算機圖像坐標的映射關系。將張正友標定算法和攝像機透視變換矩陣標定法相結合對傳感器進行標定得到了系統的內參數和外參數。
進行系統調試和實際掃描實驗，得到人臉模型的三維點云，通過對點云進行二次采樣使攝像機對三條光帶的分辨率達到一致，對原始點云和二次采樣點云進行重建得到網格模型。對標準量塊進行掃描實驗得到系統的相對測量誤差小于0.25%。
將雙目立體視覺原理與主動式激光掃描相結合，提出攝像機固定不動，利用三條線激光進行掃描的方案，獲得了人臉點云圖和網格模型并對三光帶激光掃描和雙目視覺兩種方法進行了比較。

關鍵詞：人體面部掃描 三光帶 傳感器標定 二次采樣 雙目視覺

ABSTRACT
 After analysis of the 3D human face scanning technology at home and abroad, based on laser triangulation principle, in accordance with the requirements of high resolution and short scanning time, a project of three-line structured light laser 3D human face scanning has been proposed. The hardware and software of the system were designed with the key technology studied. The prototype of the system was developed successfully. Scanning experiments were carried out and the expected results verified the correctness of the system. The main work includes:
According to the actual requirements, a project of three-line structured light laser 3D human face scanning was proposed. Three parallel structured light with the same distance in the height direction were projected from three lasers in the same type. When scanning, each laser should move 1/3 of the entire scanning range which meets the requirement of reducing the scanning time of the system.
The general structure of the system were designed which included sensors, motion system, image capture system and computer processing system. The control program has been completed which realized the synchronous running of the image capture system and motion system. The technical indexes of the system reach that: scanning range of 220mm×250mm×100mm(W×H×D), typical resolution of 0.4mm×0.4mm×0.5mm(W×H×D), scanning time of 7 seconds.
By establishing the ideal linear mode and the distortion model of the camera, the mapping relationship between the 3D world coordinates and the computer image coordinates has been deduced. Zhang Zhengyou calibration algorithms and camera perspective transformation matrix calibration method were combined to carry out calibration to the sensor. The intrinsic parameters and external parameters of the system were obtained.
After debugging the system and processing the actual scanning experiment, the point cloud of the face model was obtained. By resampling of the point cloud, the camera resolution of the three-line structured light reached the same. The original point cloud and the resampling point cloud were reconstructed to receive the mesh model. By scanning the standard gauge block, the relative measurement error of the system was less than 0.25%.
By combining the binocular stereo vision and active laser scanning, a project of three-line structured light scanning with the camera fixed was proposed. Point cloud and reconstruction model of the face were obtained. The two methods of three-line structured light laser scanning and binocular vision were compared.

 KEY WORDS：human face scanning, three-line structured light, sensor calibration, resampling, binocular vision