TOF三维摄像机的误差分析及补偿方法研究-信号与信息处理专业论文.docxVIP

TOF 三维摄像机的误差分析及补偿方法研究 摘 要 基于 TOF(飞行时间法，Time-of-flight)技术的三维摄像机是一种新型的、 小型化三维成像设备，可同时捕捉动态目标的灰度图像和深度信息，具有诸多 传统平面相机和测量设备无法比拟的优点，TOF 三维摄像机技术的研究已成为 国内外测量成像领域的研究热点。论文开展 TOF 三维摄像机的误差分析与补偿 方法研究，系统地分析了目前 TOF 摄像机存在的误差，并针对误差特点设计对 应的补偿算法，论文的主要工作如下： (1) 系统介绍了 TOF 摄像机的测量原理、系统结构和信号处理模型。分析了 TOF 摄像机存在的曝光误差、弯曲误差、测量角度误差等误差，按照形成 机理分为静态误差和动态误差两类并进行了实验验证。 (2) 设计了 TOF 摄像机静态误差补偿算法。通过亮度信息找出曝光过度的像 素，采用均值滤波法去除噪点；结合摄像机测量信号的光学模型，推导弯 曲误差纠正公式，使用的纠偏系数矩阵降低测量误差，解决传感器边角测 距数值大于中心的问题。 (3) 设计 TOF 摄像机动态误差补偿框架。通过分析数据判断目标特征，使用 自适应的纠偏系数，实现不同材质、不同颜色的动态误差补偿。 (4) 结合静态和动态误差补偿算法，建立 TOF 摄像机误差补偿的综合模型。 通过对比实验证明，该模型不仅有效纠正了摄像机固定存在的静态误差， 同时也在抑制了测量环境引起的动态误差，显著的提高了 TOF 摄像机的 测量精度。 关键词：TOF 技术;三维成像;静态误差;动态误差;误差补偿 Error analysis and compensation research of the TOF 3D camera ABSTRACT The 3D camera based on TOF (Time-of-flight) technology is an innovative, small imaging and distance measuring equipment. It has the ability to get gray image synchronously with distance data. This 3D camera has an advantage over conventional 2D-camera, and is the focus of research home and abroad. This thesis studies on the error analysis and compensation research of the TOF 3D camera, synthesize analyse the errors exist in the camera. Design different compensation algorithms to suit different errors. The main work includes: Synthesize illustrates measurement principle, system architecture and signal processing model of TOF camera. Analyse different errors exist in the camera, like exposure error, winding error and angle error. According to different causes of generation, classify them into Static Error and Dynamic Error, and demonstrated by experiments. Design Static Error compensation algorithms. Analyse brightness data to find overexposure pixels, and use Median-Filter to correct noise points. Combine optical model, derive winding error correct formula. Use bias-corrected coefficient matrix to solve the problem that corner distance longer than center. Design Dynamic Error compensation framework. Aim at different errors, Judge the object cha