TOF相机误差实验分析以及基于滤波器的随机误差-信号与信息处理专业论文.docxVIP

TOF 相机误差实验分析以及基于滤波器的随机误差校正 摘 要 基于 TOF(Time-of-Flight)理论的三维相机是当今的研究热点，具有很高的 研究价值和广阔的应用前景。TOF 三维相机可以同时获取灰度图像和距离图像， 具有体积小巧、帧率高、无需扫描、不依赖于外界光照等特点。在工业控制、 机器人技术、医疗技术及三维重建等行业有广泛的应用。但是由于其自身成像 条件的限制以及外界环境的干扰，TOF 相机获取的数据存在一定的误差。论文 主要围绕影响 TOF 相机测量准确性的因素，进行相应的校正方法研究。 论文的主要工作如下： (1)介绍了 TOF 测距理论以及 TOF 相机的发展历程和研究背景。分别介绍 了目前常用的几种 TOF 相机并比较了每种相机的成像原理、优缺点及应用领 域。 (2)详细阐述了 TOF 相机的测量原理、系统结构以及数学模型。根据测量 时间方法的不同以及光源发射信号调制方式的不同对 TOF 测距法进行分类介 绍。 (3)分别对 TOF 相机的系统误差和随机误差进行介绍。理论分析了产生误 差的原因并通过大量实验分析造成误差的各种因素对测量结果的影响。 (4)对 TOF 相机的数据处理和误差校正过程进行研究。引入各种常见滤波 器对目标物体颜色差异、物体运动状态不同引起的随机误差进行校正，以改进 TOF 图像的距离精度和成像效果。采用了双边滤波器对距离图像进行滤波降噪， 该算法可有效提高测量的精度，在对图像进行平滑降噪的同时可以有效的保留 目标的边缘信息。 关键词：TOF 技术、三维成像、系统误差、随机误差、误差校正 Error experimental analysis and random error calibration based on filter of the TOF camera ABSTRACT Basing on TOF (Time-of-Flight) theory, 3D camera technology, a popular topic in the scientific world, is of great researching value and broad application prospect. TOF 3D camera that catches gray level images and distant images synchronously becomes well noted for its features as small and portable, high frame rate, needing no scans, relying little on the external light, etc. This technology has been widely applied in the industrial controlling, robot technology, medical technology, digital photography and other fields. However, data obtained by the TOF camera could have errors due to the limitation of the camera imaging condition and external environmental interference. This thesis focuses on the factors that may reduce the accuracy of TOF camera and its corresponding correction. Main content of the thesis are as follows: Making introduction to the TOF ranging theory, the development process and background study of TOF camera. The imaging theory, advantages and disadvantages, application fields of several commonly used TOF cameras are also studied and compared. Analyzing the measuring theory, systemic structure and mathematical model of TOF cameras. Making introduction to the TOF ranging methods re