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基于改進單調法的陰影區相位噪聲校正方法

Correction Method of Shadow-Area Phase Noise Based on Improved Monotone Method

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摘要

針對雙目視覺系統中單調法校正陰影區相位噪聲時存在校正不足的問題,提出了一種改進型相位校正方法。利用四步相移與多頻外差求解工件表面的絕對相位信息,通過單調不減性對相位噪聲進行校正。分析多組實驗對象校正不足時相位噪聲特點,根據相位頻率矩陣計算固定區間內非零相位出現的頻率來校正離散相位噪聲,利用相鄰間斷點實際相位與預測相位的差值對連續相位噪聲進行校正。計算間斷點間的斜率與兩側非零相位的擬合斜率并進行判斷,利用線性法補齊因隨機噪聲而被置零的部分相位,保證了工件信息的完整性。實驗結果表明:所提方法可以有效校正陰影區的相位噪聲,可適用于不同的實驗對象,圓柱體木質工件的平均測量誤差為0.0859 mm,精度可滿足目標抓取的位姿估計要求。

Abstract

Herein, an improved phase correction method is proposed to address insufficient correction when a monotone method is applied to phase noise in the shadow area of binocular vision systems. The absolute phase information on the workpiece surface is solved using a four-step phase shift and multi-frequency heterodyne, and the phase noise is corrected using a monotone nonreduction method. We then analyze the characteristics of phase noise with insufficient correction of multiple sets of different experimental objects. Discrete phase noise is corrected based on the frequency at which non-zero phase occurs over a fixed interval calculated by the phase frequency matrix, and the continuous phase is corrected using the difference between the actual and predicted phases of the adjacent discontinuous points. The integrity of workpiece information is ensured by calculating and judging the slope between the discontinuous points and the fitting slope of the non-zero phase on both sides, and using the linear method to compensate the partial phase that is set to zero because of the random noise. Experiments are also given to demonstrate that the proposed method effectively corrects phase noise in the shadow area and can be applied to different experimental objects. The cylindrical wooden workpiece has an average measurement error of 0.0859 mm, which meets the accuracy requirements of pose estimation for target grabbing.

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補充資料

中圖分類號:TP391.4

DOI:10.3788/LOP57.021503

所屬欄目:機器視覺

基金項目:江蘇高校優勢學科建設工程、江蘇省產學研前瞻性聯合研究項目、江蘇省科技成果轉化專項資金資助項目;

收稿日期:2019-05-10

修改稿日期:2019-06-24

網絡出版日期:2020-01-01

作者單位    點擊查看

陶四杰:江南大學物聯網工程學院輕工過程先進控制教育部重點實驗室,江蘇 無錫 214122
白瑞林:江南大學物聯網工程學院輕工過程先進控制教育部重點實驗室,江蘇 無錫 214122
王昌龍:江南大學物聯網工程學院輕工過程先進控制教育部重點實驗室,江蘇 無錫 214122

聯系人作者:白瑞林(18861823498@163.com)

備注:江蘇高校優勢學科建設工程、江蘇省產學研前瞻性聯合研究項目、江蘇省科技成果轉化專項資金資助項目;

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引用該論文

Tao Sijie,Bai Ruilin,Wang Changlong. Correction Method of Shadow-Area Phase Noise Based on Improved Monotone Method[J]. Laser & Optoelectronics Progress, 2020, 57(2): 021503

陶四杰,白瑞林,王昌龍. 基于改進單調法的陰影區相位噪聲校正方法[J]. 激光與光電子學進展, 2020, 57(2): 021503

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