以統計質心雷射測距法量測物體表面結構

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姓名

張百耀(Pai-Yao Chang) 查詢紙本館藏

畢業系所

資訊工程學系

論文名稱

以統計質心雷射測距法量測物體表面結構
(Statistical Centroid-based Laser Striped Lighting Method for Surface Profilmetry)

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摘要(中)

在本研究中，我們使用三角雷射測距法量測物體表面的三維結構。質心法一直以來常被用來擷取雷射條紋中心的方法；其他方法如Catmull-Rom曲線內插法、二次多項式逼近、三次多項式逼近、及高斯曲線逼近，都有被用在雷射條紋中心擷取。在本研究中，我們提出了一個統計法改進原本傳統的質心法來擷取雷射條紋中心。我們首先分析了條紋橫切面的灰階變異分佈並建立查表，然後給予每個條紋位置不同的權重值來補償變異過大的位置。我們也提出了一個估計雷射光平面角度的方法。在現實環境中雷射光平面本身存在著一個自我偏轉的角度，我們很難完美地去調整到期待的角度，因此我們分析了雷射光平面與平台的幾何關係，並提出一項公式來補償因雷射裝置偏轉而造成的夾角變化。在實驗中，我們比較了不同雷射條紋中心擷取法的穩定度與執行效率。我們的影像解析度為1536×512像素，視野範圍為16.45×5.48mm2，使用二極體雷射，雷射發散角度為30度。由實驗結果我們得到統計質心法對於擷取雷射條紋中心有最好的穩定性及效率組合。

摘要(英)

In this study, we use striped lighting method to measure the 3-D surface structures. The centroid method was widely used for laser stripe extraction. The other methods such as Catmull-Rom splines interpolation, quadratic curve fitting, cubic curve fitting, and Gaussian curve fitting are also used for laser stripe extraction. In this study, we propose a new method which is modified from centroid method to extract laser stripes. We analyze the distribution of intensity variance of stripe profiles. Based on the distribution of intensity variance, we build up a table to give every location a weight value which can compensate the random error of laser stripe. We also propose a method to estimate the orientation of laser plane. Because the laser emitter is not always perfectly in a desired angle, it is hard to adjust the angle around the axis of rotation of the laser emitter. We analyze the relationship between the laser stripe from the image and the angle around the axis of rotation of the laser emitter. A formula is proposed to compensate the angle in every location of laser stripe. In the experiment, we compared the stability and performance of different laser stripe extraction methods. The resolution of the CCD camera is 1536×512. The FOV of the camera is about 16.45×5.48mm2. The laser emitter has 50mW diode power, 660nm wavelength, and 30° fan angle. The experimental results show that the statistical centroid method has high stability and good performance in laser extraction.

關鍵字(中)

★ 雷射測距
★ 深度量測

關鍵字(英)

★ surface profilmetry
★ laser striped lighting method

論文目次

Abstract ii
Contents iii
List of Figures v
List of Tables viii
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 System overview 2
1.2.1 Laser stripe extraction 4
1.2.2 Laser plane orientation estimation 4
1.2.3 Analysis of laser plane 4
1.3 Thesis organization 5
Chapter 2 Related works 6
2.1 Image-based methods 6
2.2 Structured-light methods 9
2.3 Laser stripe detection 13
Chapter 3 Striped lighting method 15
3.1 Optical triangulation 15
3.2 Striped lighting method 17
3.3 Image preprocessing 19
3.3.1 Speckle noise 19
3.3.2 Spatial Averaging 20
3.3.3 Grayscale morphology 22
Chapter 4 Laser stripe extraction 25
4.1 Least square fitting methods 25
4.1.1 Quadratic curve fitting approximate 25
4.1.2 Cubic curve fitting approximate 27
4.1.3 Gaussian curve fitting approximate 29
4.2 Catmull-rom splines interpolation 31
4.3 Centroid method 34
4.4 Stability of laser stripes 35
4.4.1 Analysis of noise of laser stripe 35
4.4.2 Statistical centroid method 36
Chapter 5 Analysis of laser planes 38
5.1 Deflection compensation of laser plane 38
5.2 Estimation of laser-plane angle 45
Chapter 6 Experiments 52
6.1 Hardware architecture 52
6.2 Experimental results 54
6.2.1 Stability of the intensity of laser stripe 54
6.2.2 Stability of stripe extraction methods and filters 57
6.2.3 Accuracy of stripe extraction methods and filters 67
6.2.4 Performance of extraction methods and filters 73
6.2.5 Result of laser plane compensation 74
6.3 Discussions 76
Chapter 7 Conclusion and future works 77
7.1 Conclusions 77
7.2 Future works 77
References 79

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指導教授

曾定章(Din-Chang Tseng)

審核日期

2010-7-26

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