【作者】 邱实；

【导师】 葛宝臻；

【作者基本信息】 天津大学 ， 光学工程， 2009， 硕士

【摘要】 本文采用基于激光三角法原理的结构光照明方式设计了一套针对人体足部的激光三维扫描系统,对系统的关键技术进行了研究,成功研制出人体足部激光扫描系统样机。主要工作如下:1、在查阅国内外相关文献的基础上,分析了基于激光三角法的足部激光三维扫描系统原理,推导了基于摄像机模型的足部表面轮廓点与对应光带像素点的映射关系。2、设计了扫描系统的总体结构,包括图像采集系统、同步运动系统和机械结构,并编写了调试控制程序,实现了图像采集系统与运动系统的同步运行。3、对足部激光扫描系统进行了标定,包括摄像机标定和系统全局标定。采用黑白棋盘格标定靶和张正友算法标定了摄像机内部参数;设计了精密的细丝标定靶,在摄像机标定的基础上,采用直接线性变换方法,得到世界坐标与像素坐标之间的变换矩阵,从而完成了足部激光扫描系统的全局标定。4、对扫描系统安装调试后,进行了人脚模型扫描实验和标准金属块扫描实验。分析点云截面,得到长度方向、高度方向、宽度方向的相对测量误差小于0.6%。系统技术指标达到:扫描范围:360mm×120mm×160mm(长度×高度×宽度),典型分辨率:1mm×0.2mm×0.3mm(长度×高度×深度)。更多还原

【Abstract】 Basing on laser triangulation principle and structured illumination, this dissertation designed a set of laser 3-D scanning system for foot, studied the key technology of this system, and successfully developed the prototype of foot laser scanning system.The main work includes:1. After consulting relative references domestic and abroad, the principle of the scanning system based on laser triangulation principle is analyzed. Basing on the camera model, the mapping relationship between the surface profile points of foot and the corresponding pixel points of light band is deduced.2. The general structure is designed which includes image capture system, synchronous motion system and mechanical structure. The debug and control program is completed which realized the synchronous running of the image capture system and motion system.3. The calibration of foot laser scanning system is implemented, including the camera calibration and global calibration. A black-white chessboard calibration target and Zhang Zhengyou’s algorithm are adopted to calculate the intrinsic parameters of cameras. Basing on these, an accurate filament calibration target is designed to calculate the transformation matrix between world coordinates and pixel coordinates by DLT method so as to complete the global calibration of the foot laser scanning system.4. After the installation and adjustment of scanning system, the scanning tests on the foot model and standard metal block were completed. Analysis on the section of point cloud shows that the relative measurement error in the length direction, height direction and depth direction is less than 0.6%. The technical indexes reach that: scanning range of 360mm×120mm×160mm(length×height×width), typical resolution of 1mm×0.2 mm×0.3mm(length×height×depth).更多还原