具有空間三維幾何量測之八進位井字編碼結構光的設計

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姓名

周錫?(Hsi-Min Chou) 查詢紙本館藏

畢業系所

光電科學與工程學系

論文名稱

具有空間三維幾何量測之八進位井字編碼結構光的設計
(Design of Structure Light with Octal Coded Hashtag Patterns for Spatial 3D Geometric Measurement)

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摘要(中)

本實驗設計的空間編碼結構光，藉由偽隨機序列、絕對編碼方式，達到87的編碼數量，在1.6m橫向可解析最小距離為6mm，到3m橫向可解析最小距離約為1cm左右；在1.6m深度誤差為2mm，到3m深度誤差約為6mm左右。並將本實際的編碼圖樣模擬成繞射光學元件並投影在3m，針對投影光進行SNR、Contrast、MBR的可行性分析，在繞射光學元件尺寸為0.90x0.70mm，相位區分為四階，波長λ=840nm，投影距離d=3m，線寬L_width=225nm的情況下，SNR約為37，Contrast約為5，MBR約為27且該DOE遞迴傅立葉模擬達到理論極限MBR之93.48%。最後還與市面上Kinect v1作比較分析，從系統上來看，在3m下v1掃描之平面深度誤差厚度為25cm，本實驗架構為1.5cm。另外，發現v1資訊點密度為在2.75m時，共約有430個點資訊/m2，而本實驗的架構在2.75m時，約有3215個點資訊/m2；從編碼圖樣設計來說，在相同解析度和DOE尺寸的條件下，Kinect v1有較好的表現在DOE製成模擬，而透過低通模糊成像結果，觀察得到本實驗的編碼對於影像模糊有更好的容忍度。

摘要(英)

In this study, we design a coded structured light pattern whose coding number is 87 by spatial neighborhood, absolute coding strategy and pseudorandom sequences.
First, lateral resolution of our system at 1.6m and 3m is 6mm and 1cm respectively, and deep Resolution at 1.6m and 3m is 2mm and 6mm respectively.
Then, we use this coding pattern performing diffractive optical element simulation projecting at 3m, and do the feasibility analysis of SNR, contrast and MBR. The SNR is 37, contrast is 5, and MBR is 27 which is 93.48% of MBR limitation under conditions that diffractive optical element size is 0.90x0.70mm, lambda is 840nm, projecting distance is 3m, line width is 225nm and divide phase into four orders.
Also, we compare our system with the system of Kinect v1, and have a result that the error at 3m of v1 is 25cm, while only 1.5cm in our system. By the way, the density of signal points of v1 and our system at 2.75m is 430 and 3215 points/m2 respectively. Last but not least, we compare our patterns with the patterns of Kinect v1, the patterns of Kinect v1 have higher contrast and MBR in diffractive optical element simulation, but our patterns have better tolerance for blurred image under the same signal points numbers and camera resolution.

關鍵字(中)

★ 空間編碼
★ 偽隨機序列
★ 絕對編碼
★ 繞射光學元件

關鍵字(英)

★ Spatial Neighborhood
★ Pseudorandom Sequences
★ Absolute Coding Strategy
★ Diffractive Optical Element

論文目次

中文摘要 V
Abstract VI
致謝 VIII
目錄 IX
圖目錄 XIII
表目錄 XVII
第一章緒論 1
1-1 研究背景與動機 1
1-2 相關研究與回顧 2
1-3 論文架構說明 4
第二章基礎原理 6
2-1 三角測距 6
2-2 飛時測距 12
2-3 雙眼視覺 16
2-4 相機校正 17
2-5 質心法 18
2-6 最近鄰居演算法 19
2-7 統計異常值去除 19
2-8 移動最小平方法 20
2-9 繞射光學元件之遞迴傅立葉模擬 20
第三章編碼結構光 22
3-1 編碼設計策略 22
3-1-1 編碼形式 22
3-1-2 編碼序列方式 25
3-1-3 編碼重複形式 29
3-2 編碼圖樣設計 31
3-2-1 編碼模式 31
3-2-2 編碼圖樣分割與解碼 34
3-2-3 運算次數及時間複雜度 37
3-3 實驗結果 40
3-3-1 誤碼率 40
3-3-2 橫向解析度 41
3-3-3 深度解析度及標準差 44
3-3-4 平面及曲面場域 48
3-3-5 模擬成像品質對辨析率的分析 51
3-3-6 討論 54
第四章繞射光學元件設計之可行性評估 55
4-1 評估方式 55
4-1-1 信號雜訊比 55
4-1-2 對比度 56
4-1-3 平均信號背景能量比 57
4-2 相位區分階數 58
4-3 繞射光學元件尺寸 62
第五章與Kinect v1的比較 68
5-1 編碼圖樣的比較 68
5-1-1 編碼圖樣設計 68
5-1-2 DOE製成模擬評估 70
5-1-3 針對低通模糊影像的容忍度 73
5-2 投影圖樣失真探討 75
5-3 系統比較 76
第六章結論 79
參考文獻 81
中英文名詞對照表 86

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指導教授

鍾德元(Te-Yuan Chung)

審核日期

2018-8-20

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