超长细口径管道内表面三维视觉测量技术及传感器

项目名称： 超长细口径管道内表面三维视觉测量技术及传感器

项目编号： No.61471123

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 无线电电子学、电信技术

项目作者： 谭海曙

作者单位： 佛山科学技术学院

项目金额： 75万元

中文摘要： 围绕超长细口径管道内壁三维形貌测量，构建基于结构光视觉、全景成像和多点同步扫描技术的环形阵列单相机多点结构光传感器视觉测量模式，研制可获得360 视场范围图像的小型化的多点环形阵列单相机结构光传感器，根据结构光视觉测量原理实现超长细口径管道内壁的三维在线测量。主要研究内容为：研究多点环形阵列单相机结构光视觉三维测量的系统方案；研究多点环形阵列结构光投射器及多点环形单相机结构光传感器；建立传感器三维测量数学模型，研究摄像机、多点环形阵列结构光投射器和测量头扫描驱动系统之间的最优配置模式；研究传感器测量模型参数在线标定方法和点阵图像特征高精度鲁棒提取方法；实现相关算法研制多点环形阵列单相机结构光视觉三维测量系统样机。多点环形阵列单相机结构光视觉三维测量技术将为超长细口径管道内壁三维形貌测量提供一种有效技术手段，将在机器系统的自主导航、管道检测和智能监控等领域具有广阔应用前景。

中文关键词： 结构光；多点同步扫描；视觉传感器；全景成像；管道测量

英文摘要： Aiming at the Three-dimensional(3D) measurement of inner surface of extra-long narrow pipe, this research constructs an annular dots array structured-light vision measurement approach with single camera, which is based on structured-light, panorama imaging and dots array simultaneous scanning techniques, and the dots array structured-light vision sensor will be developed, which can obtain dots array structured-light image in 360 field-of-view and is capable of measuring inner surface of extra-long narrow pipe on-site according to the principle of structured-light vision. The detailed research items are mainly described as follows: system solution of annular dots array structured light 3D measurement based on single camera, annular dots array structured light projector and sensor based on single camera, 3D sensor measurement mathematic model, the optimizing model of panorama camera, dot array structured light projector and a scanning drive system, online sensor calibration method and dots array images feature extraction method with high precision and robustness, development of the annular dots array structured-light 3D vision measurement system based on single camera prototype. In conclusion, to study annular dots array structured-light vision measurement technique will provide a new approach with respect to 3D inspection of the inner surfcae of extra-long narrow pipe, which means it has wide applications in various aspects such as autonomous navigation, pipe inspection, intelligent monitoring et al.

英文关键词： structured-light;dots array simultaneous scanning;vision sensor;panorama imaging;pipe profile measuring