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研究生:黃世昕
研究生(外文):Peter Huang
論文名稱:發展可攜式之光學定位雷射掃描
論文名稱(外文):Development of Portable Laser Range Scanner Using Optical Marker Registration
指導教授:方晶晶方晶晶引用關係
指導教授(外文):Jing-Jing Fang
學位類別:碩士
校院名稱:國立成功大學
系所名稱:機械工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:中文
論文頁數:93
中文關鍵詞:光學定位雷射掃描器立體視覺
外文關鍵詞:range scanneroptical registrationstereo vision
相關次數:
  • 被引用被引用:3
  • 點閱點閱:211
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  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
本文的研究目標是開發立體視覺系統並搭配雷射標線器來擷取物體表面之雲點資料,同時提出新穎的光學定位方法,以定位立體視覺系統的空間座標,藉此達到小物件的物體表面雲點掃描功能。本研究奠基於立體視覺理論與相機校正理論,以此複合理論的結合實現立體視覺系統,發展可攜式之光學定位雷射掃描,此設備使用兩個1394數位攝影機做為影像來源,以LED標記物做為空間定位之用,搭配雷射標線器可對物體表面進行資料收集,即可取得物體表面之雲點分佈。此掃描器著重於高精度的小範圍掃描,掃描範圍限定於30×30×30 cm3的正方體範圍內,雲點掃描的取得過程必需經過相機校正、影像處理、影像扭正、深度計算、座標轉換,其研究成果適用於逆向工程應用。
The main concept of this study is to develop a portable optical scanner system and obtain the reliable point clouds of the scanned object by using the optical 3D scanners and laser line. To register the fragments of the point clouds in the different time zone, we propose a novel method to locate cameras positions. We use optical markers to fulfill the processes, every fragment belong to point clouds can be merge into one scene. The developed system is based on the principle of stereo vision and camera calibration. This scanner consists of two IEEE 1394 cameras and one laser line projector. The complete procedure for scanning an object has through the operations of camera calibration, image processing, image rectification, and depth calculation. Outcomes of this research prove to be useful and reliable to be used in reverse engineering.
摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 X
第一章 緒論 1
1.1 前言 1
1.2 研究背景 1
1.3 研究動機與目的 2
1.4 本文架構 4
第二章 文獻回顧 5
2.1 立體視覺理論 5
2.2 相機校正理論 6
2.3 三維掃描器與發展概況 10
第三章 系統架構 15
3.1 硬體架構 16
3.1.1 數位攝影機 17
3.1.2 光學定位標記物 21
3.1.3 鏡頭與濾鏡 22
3.1.4 雷射標線器 24
3.1.5 相機校正板 25
第四章 立體視覺系統 29
4.1 影像處理 29
4.1.1 影像二值化 29
4.1.2 雷射細線化 31
4.1.3 標記點辨識 34
4.2 蔡氏校正 37
4.2.1 相機模型與相機參數 38
4.2.2 相機校正 46
4.3 極線幾何 53
4.3.1 極線幾何 54
4.3.2 影像扭正 56
4.4 雙攝影機深度計算 61
4.5 單攝影機深度計算 62
第五章 研究成果 64
5.1 系統實體架構 64
5.2 光學定位方式 64
5.3 座標轉換方法 65
5.4 雙攝影機掃描 68
5.5 單攝影機掃描 69
5.6 全物件掃描 69
5.7 系統精度驗證 73
5.7.1 相機校正穩健性評估 73
5.7.2 相機校正逆運算誤差 75
5.7.3 光學定位移動誤差 76
5.7.4 雷射面擬合誤差 78
5.7.5 雙攝影機與單攝影機的掃描比較 79
5.7.6 雙攝影機與CT影像重建模型的掃描比較 80
5.7.7 系統精度總整理與市售產品精度比較 82
第六章 結論與未來展望 87
6.1 結論 87
6.2 討論 89
6.3 未來展望 90
參考文獻 91
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