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The phase-shifting algorithm has shown good performance in the field of optical metrology, owing to its no-contact feature, high accuracy, and high speed. Therefore, we use the three-step phase-shifting algorithm for phase recovery to evaluate the efficiency of the presented method. The fringe patterns can be mathematically defined in Eqs.(1)-(3):
$${I_1}(x,y) = I'(x,y) + I''(x,y)\cos \left[ {\phi (x,y) - 2\pi /3} \right]$$ (1) $${I_2}(x,y) = I'(x,y) + I''(x,y)\cos \left[ {\phi (x,y)} \right]$$ (2) $${I_3}(x,y) = I'(x,y) + I''(x,y)\cos \left[ {\phi (x,y) + 2\pi /3} \right]$$ (3) where,
$I'(x,y)$ and$I''(x,y)$ represent the average intensity of the fringe imagen and the intensity modulation, respectively;$\phi (x,y)$ is the wrapped phase. Under the given${I_1}$ ,${I_2}$ and${I_3}$ , Eqs. (1)-(3) can be rewritten as:$$I'(x,y) = \frac{1}{3}({I_1} + {I_2} + {I_3})$$ (4) $$I''(x,y) = \frac{1}{3}\sqrt {3{{({I_1} - {I_3})}^2} + {{(2{I_2} - {I_1} - {I_3})}^{\rm{2}}}} $$ (5) $$\phi (x,y) = {\arctan { }}\left( {\frac{{\sqrt 3 ({I_1} - {I_3})}}{{2{I_2} - {I_1} - {I_3}}}} \right)$$ (6) In the Eq.(6), the arctangent function used to calculate the wrapped phase ranges from
$ - \pi $ to$\pi $ with$2\pi $ discontinuities, and then the phase unwrapping procedure is needed. The unwrapped phase$\varPhi (x,y)$ can be calculated as Eq.(7):$$\varPhi (x,y) = \phi (x,y) + K(x,y) \times 2\pi $$ (7) where,
$K(x,y)$ indicates the fringe order of the wrapped phase. Subsequently, the GC method is used for phase unwrapping, and we use${K_{V}}$ to denote the fringe order calculated from GC patterns. For a wrapped phase with$n$ fringe periods, the conventional GC method requires${\log _2}n$ GC patterns to determine the fringe order. For example,$n$ is assumed as 8, and${\log _2}8 = 3$ GC patterns are required for phase unwrapping. And the average intensity of three phase-shifting patterns$I'(x,y)$ is chosen as the suitable threshold to binarize the GC patterns to obtain their codewords. Figure 1 illustrates the decoding process of the GC patterns, in which GC1, GC2, and GC3 are three GC patterns;$V$ is a decimal number, which can be computed as:$$V = \sum\nolimits_{i = 1}^3 {G{C_i} \times {2^{(3 - i)}}} $$ (8) Finally, the fringe order
${K_V}$ can be determined on the basis of the one-to-one mapping relationship between$V$ and${K_V}$ .The binary dithering technique can provide successful image rendering and color reduction, and it operates successfully in generating high-quality sinusoidal patterns based on the binary defocusing technique[23]. Several dithering techniques have been presented, including simple thresholding, random dithering, Bayer-ordered dithering, and error diffusion dithering. Among them, the error-diffusion dithering has been widely employed, since it can better describe the primary image with the quantization errors being propagated[24]. Therefore, we apply this technique to generate sinusoidal fringes. Figure 2 shows the principle of conventional gray-code plus phase-shifting approach in summary.
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Researcher An[22] employed the geometric constraints of the DFP system to present a phase unwrapping method. The main idea is that a minimum phase map
${\varPhi _{{\rm{min}}}}$ can be created at the nearest plane${Z_{{\rm{min}}}}$ of the measurement volume. The wrapped phase$\phi $ can be converted to an unwrapped one pixel-by-pixel based on${\varPhi _{{\rm{min}}}}$ . Essentially,$K$ times$2\pi $ should be added to$\phi $ by comparing the difference between$\phi $ and${\varPhi _{{\rm{min}}}}$ . Figure 3 illustrates the principle of using${\varPhi _{{\rm{min}}}}$ to unwrap$\phi $ , which includes four$2\pi $ discontinuities: A, B, C, and D. The fringe order$K(x,y)$ can be obtained using the following equation:Figure 3. Principle of using
${\varPhi _{{\rm{min}}}}$ to unwrap$\varPhi $ (${\varPhi _A}$ denotes the actual absolute phase, while$\varPhi $ denotes the recovered absolute phase)$$K\left( {x,y} \right) = Ceil\left[ {\frac{{{\varPhi _{\min }} - \phi }}{{2\pi }}} \right]$$ (9) Here, function
$Ceil\left( {} \right)$ returns the closet upper integer value. According to Eq.(7), the absolute phase$\varPhi $ can be finally determined.From Fig.3, we can note that the maximum measurement depth ranging from the object to the plane
${Z_{{\rm{min}}}}$ , which can be handled by this method is$2\pi $ . It means that$\varPhi$ should satisfy the condition shown in the Eq.(10), otherwise phase unwrapping errors will be induced. As shown in Fig. 3 on the left of point C, the phase difference$\varPhi - {\varPhi _{\min }}$ is greater than 0 but less than$2\pi $ , and the wrapped phase$\phi $ is correctly unwrapped whereas on the right of point C, the phase difference is greater than$2\pi $ , and the wrapped phase$\phi $ is wrongly unwrapped.$$0 < \varPhi - {\varPhi _{\min }} < 2\pi $$ (10) -
To reduce the number of required fringe patterns, an enhanced GC method based on geometric constraint method is proposed in this paper, where the GC patterns are designed to have several cycles. We use N to denote the number of the designed GC patterns. Obviously, N can be any integer, we take the N=3 as an example to describe the proposed method specifically in this paper. Figure 4 shows the sinusoidal and GC patterns with several cycles. The phase unwrapping method will be introduced in the following part.
Figure 4. Patterns of enhanced GC approach. (a)-(c) Phase-shifting dithered patterns; (d)-(f) GC patterns with M cycles
In general, three GC patterns can encode 8 fringe periods. When the number of fringe periods is greater than 8, the fringe order
${K_V}$ obtained from the three GC patterns will be cyclic, as shown in Fig. 5. Thus, the unwrapped phase recovered by cyclic fringe order${K_V}$ is not continuous and ranges from 0 to$16\pi $ with$16\pi $ discontinuities, which is called as pseudo unwrapped phase${\varPhi _P}$ in this paper. To remove the$16\pi $ discontinuities,${\varPhi _P}$ can be further unwrapped using the geometric constraint method.As mentioned above, the pseudo unwrapped phase
${\varPhi _P}$ with several periods can be unwrapped using${\varPhi _{\min }}$ based on the geometric constraint method. Figure 6 shows a case wherein${\varPhi _{\min }}$ is used to unwrap${\varPhi _P}$ , which contains several$16\pi $ discontinuities: E, F, and G. Similarly, we can calculate the cycle order${K_P}$ of${\varPhi _P}$ as:$${K_P}\left( {x,y} \right) = Ceil\left[ {\frac{{{\varPhi _{\min }} - {\varPhi _P}}}{{16\pi }}} \right]$$ (11) Finally, the absolute phase
$\varPhi $ can be finally determined as Eq.(12). Compared with the conventional geometric constraint method[27], the proposed method can theoretically extend the measurement range from$2\pi $ to$16\pi $ .$$\varPhi (x,y) = {\varPhi _P} + {K_P}(x,y) \times 16\pi $$ (12)
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摘要: 传统的格雷码加相移法已经广泛应用于三维测量,但是相位解包裹一般需要投影多幅格雷码条纹,如何实现快速、准确的三维测量仍具有一定挑战性。提出了一种基于几何约束的改进格雷码条纹投影三维测量方法,可以有效减少格雷码条纹的数量。为了实现高速条纹投影,使用二值抖动技术将8位正弦相移条纹转换为1位二值图像。总共使用六幅条纹图像,其中三幅相移条纹用于计算截断相位,三幅格雷码条纹用于对截断相位进行初步展开获得伪展开相位,最后利用几何约束对伪展开相位进行解包裹获得绝对相位。实验结果表明,所提方法可以有效地重建被测物体的三维形貌。Abstract: Conventional Gray-code (GC) plus phase-shifting methods have been extensively utilized for three-dimensional (3D) shape measurements. Nevertheless, how to achieve fast and accurate measurement remains challenging because multiple GC patterns are necessary for absolute phase recovery. An enhanced GC method based on geometric constraint was proposed, which would decrease the number of fringe patterns. The 8-bit phase-shifting patterns could be transferred into 1-bit binary ones by using the binary dithering approach to realize high-speed projection. Specifically, a total of six binary patterns including three phase-shifting patterns and three GC patterns were employed in the proposed method. The phase-shifting patterns were adopted to compute the wrapped phase, and then the GC patterns could be utilized to unwrap the wrapped phase to obtain a pseudo unwrapped phase. In the end, the absolute phase would be reconstructed after using the geometric constraint to unwrap the pseudo unwrapped one. The experiments demonstrate that the enhanced GC method is an effective way to reconstruct the 3D shapes of measured objects.
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Key words:
- phase unwrapping /
- 3D measurement /
- fringe projection /
- Gray-code /
- geometric constraint
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Figure 9. Reconstructed 3D shapes of the Doraemon sculpture. (a) Conventional GC method using three sinusoidal fringe patterns with T=114 pixels and three GC patterns; (b) Conventional GC method using three sinusoidal fringe patterns with T=21 pixels and six GC patterns; (c) Proposed method using three sinusoidal fringe patterns with T=21 pixels and three GC patterns; (d)-(f) Cross-sections of (a)-(c)
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