双频曲线拟合线结构光条纹中心提取方法 
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Extracting Method for Light Strip Center of Linear Structural Light Based on Dual Frequency Curve Fitting
1 湖北工业大学机械工程学院, 湖北 武汉 430068
2 现代制造与质量工程湖北省重点实验室, 湖北 武汉 430068
图 & 表
图 1. 光条纹法线方向的光强灰度值。(a)灰度值;(b)频谱图
Fig. 1. Light intensity gray value in the normal direction of the light stripe. (a) Gray value; (b) spectrogram
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图 2. 拟合直线角度分类示意图
Fig. 2. Angle classification diagram of fitting straight line
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图 3. 线结构光光条纹法线方向提取结果
Fig. 3. Light stripe normal direction extracting result of linear structural light
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图 4. 光条纹中心提取结果
Fig. 4. Results of light strip center extraction
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图 5. 多种方法的拟合结果
Fig. 5. Fitting results of various methods
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图 6. 不同材质线激光条纹图像。(a)木板;(b)橡胶;(c)纸板;(d)铜管;(e)瓷盖;(f)锈蚀铁块
Fig. 6. Images of linear laser strips for different materials. (a) Board; (b) rubber; (c) paper board; (d) copper pipe; (e) ceramic cover; (f) rust iron
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图 7. 不同曝光时间拍摄的铜管表面光条纹。(a) 700 μs;(b) 4700 μs;(c) 9200 μs;(d) 17200 μs
Fig. 7. Light streaks on the surface of copper tube taken at different exposure time. (a) 700 μs; (b) 4700 μs; (c) 9200 μs; (d) 17200 μs
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图 8. 不同曝光时间下三种方法提取光条纹中心位置的RMSE
Fig. 8. RMSE of light fringe center position for three extraction methods under different exposure time
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表 1四种拟合曲线的结果评价
Table1. Evaluation of the results of four fitting curves
| Fitting method | SSE | RMSE | R-square | Adj R-sg | Peak Position/pixel |
|---|
| Gaussian curve | 9514.1 | 27.0528 | 0.9438 | 0.9352 | 635.2000 | | Single frequency curve | 62124.0 | 69.1286 | 0.6331 | 0.5767 | 634.9789 | | Dual frequency curve | 8638.3 | 29.3910 | 0.9490 | 0.9235 | 635.1573 | | Three frequency curve | 7262.8 | 32.2110 | 0.9571 | 0.9081 | 635.4525 |
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表 2光条纹中心提取结果
Table2. Results of stripe center extraction
| Extraction method | Average center position /pixel | RMSE /pixel | Average processing time /s |
|---|
| Steger method | 479.428 | 0.291 | 13.905 | | Double frequency curve fitting | 479.267 | 0.382 | 0.534 | | Gaussian curve fitting | 479.183 | 0.458 | 1.155 |
|
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表 3不同材质光条中心提取结果
Table3. Results of stripe center extraction for different materials
| Serialnumber | Material | Central mean position /pixel | RMSE /pixel |
|---|
| Double frequency | Gaussian | Steger | Double frequency | Gaussian | Steger |
|---|
| 1 | board | 366.7903 | 366.8162 | 366.9250 | 0.0080 | 0.0101 | 0.0032 | | 2 | rubber | 462.1439 | 462.0366 | 462.0482 | 0.0090 | 0.0092 | 0.0029 | | 3 | paper board | 521.4027 | 521.3555 | 521.6177 | 0.0075 | 0.0087 | 0.0033 | | 4 | copper pipe | 415.4636 | 415.4884 | 415.5580 | 0.0079 | 0.0079 | 0.0049 | | 5 | ceramic cover | 437.2967 | 437.1962 | 437.2102 | 0.0084 | 0.0063 | 0.0044 | | 6 | rust iron | 366.3628 | 366.2859 | 366.4073 | 0.0071 | 0.0093 | 0.0023 |
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吴庆华, 周阳, 李子奇, 蔡琼捷思, 万偲. 双频曲线拟合线结构光条纹中心提取方法[J]. 激光与光电子学进展, 2020, 57(14): 141502. Qinghua Wu, Yang Zhou, Ziqi Li, Qiongjiesi Cai, Cai Wan. Extracting Method for Light Strip Center of Linear Structural Light Based on Dual Frequency Curve Fitting[J]. Laser & Optoelectronics Progress, 2020, 57(14): 141502.
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