Method of calibrating a three-dimensional optical measurement system

• US 5,557,410 A
• Filed: 06/06/1995
• Issued: 09/17/1996
• Est. Priority Date: 05/26/1994
• Status: Expired due to Term

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Space Operations Company (Martin Marietta Corporation)
• Inventors: Williams, Rick A., Huber, Edward D., Shough, Dean M., Kwon, Osuk Y., Welling, Rebecca L.
• Primary Examiner(s): EVANS, FANNIE L
• Application Number:
  US08/479,342
• Time in Patent Office: 469 Days
• Field of Search: 356/375, 356/376, 356/243, 250/252.1 A
• US Class Current: 356/604
• CPC Class Codes: G01B 11/2504 Calibration devices
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: H04N 13/167 Synchronising or controlling image signals
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/305 using lenticular lenses, e.g. arrangements of cylindrical lenses
• CPC Class Codes: H04N 13/324 Colour aspects
• CPC Class Codes: H04N 13/349 Multi-view displays for displaying three or more geometrical viewpoints without viewer tracking for viewing without the aid of special glasses using fly-eye lenses H04N13/307
• CPC Class Codes: H04N 13/398 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A method for measuring the contours (30) of a three-dimensional object (4); and a method for calibrating an optical system (2, 8). The object (4) is placed into the field of view of the optical system (2, 8). The optical system (2, 8) is activated to obtain a set of data giving a phase (x_t) at each of a plurality of pixels corresponding to the object (4). The phases (x_t) are unwrapped, e.g., by a method of ordered phase unwrapping. The unwrapped phases are converted into a set of three-dimensional coordinates (x_s, y_s, z_s) of the object (4) for each of the pixels. These coordinates (x_s, y_s, z_s) can be portrayed on a display of a computer (10). The method for calibrating the optical system (2, 8) shares several common steps with the above method. In addition, coordinates of a test calibration fixture (38, 46) are first mechanically measured. Following optical measurement of the calibration fixture (38, 46), an optimization procedure is used to minimize the difference between the mechanically measured coordinates (x_m, y_m, z_m) and the coordinates (x_s, y_s, z_s) calculated from the optical measurements. The optimization procedure in the calibration method fixes the intrinsic and extrinsic parameters of the optical system (2, 8). A blending method can be used to increase the dynamic range of the measured intensity. Phase shifting is performed by either a method of temporal phase shifting or a method of spatial phase shifting.

Claims

1. A method for calibrating a three-dimensional optical measurement system, said method comprising the steps of:

mechanically measuring three-dimensional coordinates at each of a plurality of points on a surface of a three-dimensional test calibration fixture;

placing said test calibration fixture into the field of view of said optical measurement system;

optically acquiring a set of data representing the phase at each of a plurality of pixels corresponding to said optical measurement system'"'"'s view of the surface of said test calibration fixture;

for both the mechanically measuring step and the optically acquiring step, calculating the intersection point of three faces on said surface to uniquely define an accurate correlation between three-dimensional coordinate position and measured phase at that location; and

using an optimization procedure, calculating parameters of said three-dimensional optical measurement system, so as to minimize the difference between intersection point coordinates calculated from the mechanically measuring step and intersection point coordinates calculated from the optically acquiring step; and

fixing said parameters based upon the results of the optimization procedure.

2. The method of claim 1 further comprising the step of using said fixed parameters for subsequent calculations of three-dimensional coordinates of points on the surfaces of objects placed into the field of view of said optical measurement system.

3. The method of claim 1 wherein the optical measurement system comprises a camera and a projector;

and

the parameters that are fixed include;

the focal point of a camera whose field of view includes at least a portion of said test calibration fixture;

the angle between the camera and the projector;

the distance between the test calibration fixture and the camera; and

the distance between the test calibration fixture and the projector.

4. The method of claim 1 further comprising, after said acquiring step, the step of unwrapping said phase data.

5. The method of claim 4 wherein the unwrapping is performed using ordered phase unwrapping, in which a quality metric is applied to each pixel, said quality metric comprising modulation intensity, phase deviation between neighboring pixels, and geometric information.

6. The method of claim 1 wherein the optical system comprises:

a fringe line projector that illuminates the test calibration fixture with a set of sinusoidally varying fringe lines; and

a camera having a field of view that includes at least a portion of said test calibration fixture.

7. The method of claim 6 wherein the acquiring step comprises the camera measuring light intensities emanating from said test calibration fixture in at least three successive frames, said frames characterized by distinct phase shifts.

8. The method of claim 6 wherein the intensity of the fringe lines varies in the horizontal direction, and lines representing values of relative peak intensity are oriented in the vertical direction.

9. The method of claim 1 wherein the acquiring step further acquires a value of signal-to-noise ratio for each of said pixels.

10. The method of claim 1 wherein the test calibration fixture comprises a plurality of flat faces;

and

there are several points on said test calibration fixture that are formed by the intersection of groups of three of said faces.

11. The method of claim 1 wherein the optimization procedure is selected from the group of procedures consisting of grid search, Fletcher-Powell, gradient search, and conjugate gradient.