Simultaneous measurement of multi points using circular dynamic stereoscopy

利用计算机视觉系统获得的三维信息在各个领域都很有吸引力，三维信息的自动推理一直是并将继续是计算机视觉系统的主要目标之一。为了获得三维信息，已经开发了许多方法。立体视觉与两个或更多的CCD相机在许多情况下使用。在立体视觉方法中，通过测量从不同角度观看的帧之间匹配对的视差来测量测点的深度。与立体视觉相关的一个问题是，在帧之间寻找匹配对会导致计算机处理问题，因为选择匹配点有几种可能性。为了解决这些问题，我们开发了一种使用单个CCD相机的圆形动态立体（CDS）系统。提出的CDS系统应用单眼运动立体系统，在非常紧凑的物理设计中移动测量点。通过将分束器和耦合镜与CCD相机镜头的光轴设置成一定角度，在相机曝光过程中，耦合镜在保持相对于光轴的角度不变的情况下，高速物理旋转，记录在成像平面上的测量点的图像会发生与相机到测量点的距离相关的位移。由于环形条纹的半径与摄像机与测点之间的距离成反比，因此通过分析条纹可以得到测点的三维位置。该系统已应用于机器人视觉和通过测量水箱中颗粒的位置来测量水流

The use of three-dimensional information obtained by a computer vision system is attractive in various fields, and the automatic inference of three-dimensional information has been and continues to be one of the primary goals of the computer vision system. A number of methods have been developed in order to obtain three-dimensional information. Stereovision with two or more CCD cameras is used in many cases. In the stereovision method, the depth of measurement points is measured by measuring the disparity of matching pairs between frames viewed from different angles. One problem related to stereovision is that finding matching pairs between frames causes problematic computer processing because there are several possibilities for the choice of matching points.To address these problems, we have developed a circular dynamic stereoscopy(CDS) system that uses a single CCD camera. The proposed CDS system applies a monocular motion stereo system for moving measurement points in a very compact physical design. By setting beam splitter and coupled mirrors at a certain angle to the optical axis of the CCD camera lens, the image of a measurement point recorded on the image plane is displaced by an amount related to the distance between the camera and the measurement point When the coupled mirrors are rotated physically at high speed during the exposure of the camera, while maintaining the angle with respect to the optical axis fixed, the image of a measurement point traces an annular streak Since the radius of the annular streak is inversely proportional to the distance between the camera and the measurement point, the 3D position of the measurement point can be obtained by analyzing the streak This system has been applied to the robot vision and the measurement of water flow by measuring the particle positions in the water tank