Development of a model of a laser triangulation rangefinder with a structured backlight


DOI: 10.34759/trd-2023-130-12

Аuthors

Gumenyuk A. A.*, Marinina I. A.**, Shtrunova E. S.***

Ryazan State Radio Engineering University, 59/1, Gagarin Str., Ryazan, 390005, Russia

*e-mail: gr912.gymenyuk.a.a@gmail.com
**e-mail: ira.marinina.01@mail.ru
***e-mail: shtrunova.e.s@rsreu.ru

Abstract

The article considers the problem of developing a laser triangulation rangefinder mathematical model with a structured backlight. Unlike the well-known approach based on Bresenham algorithm application, the model enables sub-pixel accuracy of the centers forming of the backlight markers, as well as accounts for their shape and brightness distribution while the structured lighting projecting onto the object at various angles.

Sub-pixel accuracy ensuring is achieved by determining the 3D-coordinates of the highlight markers’ brightness peaks employing the ray tracing method, and their pixel coordinates by the projective camera model. Lambert’s law of cosines is used to compute the reflections intensity. The shape and angular orientation of the highlight marker image are being determined by information about the angle between the normal to the surface and the direction of the radiation incident on the object, as well as by the parameters variation of the two-dimensional Gaussian distribution.

Keywords:

projective camera model, structured backlight, triangulation laser rangefinder, Lambert reflection law, subpixel accuracy

References

  1. Geng J. Structured-light 3D surface imaging: a tutorial, Advances in Optics and Photonics, 2011, vol. 3, pp. 128-160. DOI:10.1364/AOP.3.000128
  2. Guzhov V.I. Metody izmereniya 3D-profilya ob«ektov. Kontaktnye, triangulyatsionnye sistemy i metody strukturirovannogo osveshcheniya (Methods for measuring the 3D profile of objects. Contact, triangulation systems and structured lighting methods), Novosibirsk, Izd-vo NGTU, 2015, 82 p.
  3. Baranchikov A.I., Muratov E.R., Nikiforov M.B., Ustyukov D.I. Izvestiya Tul’skogo gosudarstvennogo universiteta. Tekhnicheskie nauki, 2018, no. 9, pp. 10-19.
  4. Mikhailichenko A.A., Kleshchenkov A.B. 27-ya Mezhdunarodnaya konferentsiya po komp’yuternoi grafike i mashinnomu zreniyu «GraphiCon 2017»: trudy konferentsii. — Perm’, PGNIU, 2017, pp. 223-227.
  5. Efimov A.I., Kostyashkin L.N., Loginov A.A., Muratov E.R., Nikiforov M.B., Novikov A.I. Vestnik Ryazanskogo gosudarstvennogo radiotekhnicheskogo universiteta, 2017, no. 60, pp. 83-92.
  6. Novikov A.I., Pron’kin A.V. Vestnik Ryazanskogo gosudarstvennogo radiotekhnicheskogo universiteta, 2019, no. 68, pp. 68-76.
  7. Khismatov I.F. Trudy MAI, 2019, no. 108. URL: https://trudymai.ru/eng/published.php?ID=109572. DOI: 10.34759/trd-2019-108-18
  8. Trufus M.V., Abdullin I.N. Trudy MAI, 2021, no. 116. URL: https://trudymai.ru/eng/published.php?ID=121099. DOI: 10.34759/trd-2021-116-13
  9. Sel’vesyuk N.I., Veselov Yu.G., Gaidenkov A.V., Ostrovskii A.S. Trudy MAI, 2018, no. 103. URL: http://trudymai.ru/eng/published.php?ID=100782
  10. Gusev S.N., Sakhno I.V., Khubbiev R.V. Trudy MAI, 2019, no. 104. URL: http://trudymai.ru/eng/published.php?ID=102169
  11. Alpatov B.A., Babayan P.V., Evteev I.E. Vestnik Ryazanskogo gosudarstvennogo radiotekhnicheskogo universiteta, 2020, no. 71, pp. 128-136.
  12. Bresenham J.E. Algorithm for computer control of a digital plotter, IBM Systems Journal, 1965, vol. 4, no. 1, pp. 25-30.
  13. Hartley R., Zisserman A. Multiple view geometry in computer vision: 2nd edition. Cambridge: Cambridge university press, 2003, 656 p.
  14. Landsberg G.S. Optika (Optics), Moscow, FIZMATLIT, 2017, 852 p.
  15. Kalinkin A.I., Kholopov I.S. Radiotekhnika, 2019, vol. 83, no. 11 (18), pp. 57-63.
  16. Brown D.C. Close-range camera calibration, Photogrammetric engineering, 1971, vol. 37, no. 8, pp. 855-866.
  17. Rodzhers D., Adams Dzh. Matematicheskie osnovy mashinnoi grafiki (Mathematical foundations of computer graphics), Moscow, Mir, 2001, 608 p.
  18. Elkin J.M. A deceptively easy problem, Mathematics Teacher, 1965, vol. 58, no 3, pp. 194-199.
  19. Berry E.M. The reflection of light from a sphere, Journal of the Optical Society of America, 1929, vol. 7, pp. 679-682.
  20. Glaeser G. Reflections on spheres and cylinders of revolution, Journal for Geometry and Graphics, 1999, vol. 3, no. 2, pp. 121-139.

Download

mai.ru — informational site MAI

Copyright © 2000-2024 by MAI

 Вход