CN102893174B - 光学扫描、测量和显示环境的方法 - Google Patents

光学扫描、测量和显示环境的方法 Download PDF

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CN102893174B
CN102893174B CN201180023026.2A CN201180023026A CN102893174B CN 102893174 B CN102893174 B CN 102893174B CN 201180023026 A CN201180023026 A CN 201180023026A CN 102893174 B CN102893174 B CN 102893174B
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CN102893174A (zh
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马丁·奥西格
达格·弗罗姆霍尔德
丹尼尔·弗洛尔
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Faro Technologies Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/51—Display arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations

Abstract

在光学扫描和测量环境的方法中，其中，激光扫描器借助于光发射器发射发射光束，借助于光接收器接收接收光束，接收光束从在激光扫描器的环境中的物体反射或散射，并且，借助于控制和评估设备，为多个测量点至少确定每一情况下物体到激光扫描器的中心的距离，并且其中至少一些测量点（X）被显示在显示设备上，为此，测量点（X）被分配给平面（E）的像素，并且测量点（X）到平面（E）的距离被分配给各个深度，根据深度（z0，z1，z2……），通过选择像素（P0）、搜寻与被选择像素（P0）相邻并且具有更小的深度（z1，z2……）的像素（P1，P2……）并通过根据相邻像素（P1，P2……）的值和相邻像素（P1，P2……）的深度（z1，z2……）填充被选择像素（P0），来用值填充至少在被分配给测量点（X）的像素之间的像素。

Description

光学扫描、测量和显示环境的方法
本发明涉及具有作为总括项的权利要求1的特征的方法。
借助于这种类型的已知方法，三维扫描被记录，然后被以二维的方式显示。假设测量点的密度和范围比显示的像素小，那么，如果在测量点之间进行空隙填充，即，如果根据单个测量点来生成表面，则将产生更好的视觉效果。因此，所有的测量点可被投影到一个平面内并且被分配给单个像素。然后平面的中间像素被填充，例如，通过内插来填充。
本发明基于改善在背景部分中提到的那类方法的目的。根据本发明，通过包括权利要求1的特征的方法来实现所述目的。从属权利要求涉及有益的配置。
根据本发明，像素填充几乎以三维的方式进行，因此，相比于二维填充，可用的深度信息可被用于更好的表示。被选择像素的填充依赖于深度（即到对应于屏幕的平面的距离）而进行。除了考虑被分配给各个被选择像素的深度以外，还考虑被分配给各个相邻像素的深度。因此，尤其因已经被填充的且与被选择像素相邻的像素被分配给测量点而因此对所述已经被填充的且与被选择像素相邻的像素进行搜寻，以便将被选择像素合并到被分配给测量点的这些像素的表面中，或者借助于边缘来分离被选择像素。因此，隐藏的表面和隐藏的边缘保持不可见。选择、搜寻和填充的整个过程优选地在图形卡上并行执行，即对于所有的像素同时执行，从而节省计算时间。
下面基于在附图中说明的示例性实施例详细解释本发明，在附图中：
图1示出了在平面内观察时分配和填充像素的示意图，其中相邻像素在相同的表面上；
图2示出了在平面上方观察时根据图1的分配和填充像素的示意图；
图3示出了在平面上方观察时分配和填充像素的示意图，其中相邻的像素在不同的表面上；
图4示出了在平面上方观察时根据图3的分配和填充像素的示意图；
图5示出了在包括显示设备的环境中的激光扫描器的示意图；以及
图6示出了激光扫描器的局部剖视图。
激光扫描器10被设置作为对激光扫描器10的环境进行光学扫描和测量的设备。激光扫描器10具有测量头12和底部14。测量头12作为可以围绕竖直轴线转动的单元被安装到底部14上。测量头12具有可围绕水平轴线旋转的旋转镜16。在两个旋转轴线之间的交叉点被指定为激光扫描器10的中心C10。
测量头12还具有用于发射发射光束18的光发射器17。优选地，发射光束18是在大约300nm到1600nm的波长范围内的激光束，例如波长为790nm、905nm或小于400nm的激光束，但是原则上还可以使用例如具有更高波长的其他电磁波。发射光束18利用例如正弦或矩形波形调制信号来进行幅度调制。发射光束18从光发射器17传输到旋转镜16上，在此被偏转，并且被发射进入环境。从物体O反射或散射的接收光束20被旋转镜16捕获，被偏转并且传输到光接收器21。发射光束18的方向和接收光束20的方向由旋转镜16和测量头12的角度位置决定，旋转镜16和测量头12的角度位置取决于其各自的旋转驱动的位置，而旋转驱动的位置又被各自的编码器所检测。
在测量头12中，控制和评估设备22具有到光发射器17和光接收器21的数据链路连接，数据链接连接的一部分还被安排在测量头12的外部，例如，作为连接到底部4的计算机。控制和评估设备22被设计成，根据发射光束18和接收光束20的传播时间为多个测量点X确定从物体O（其上的被照明点）到激光扫描器10的距离d。为此，可确定和计算在两个光束18和20之间的相移。
借助于镜16的（快速）旋转，沿圆形线执行扫描。借助于测量头12相对于底部14的（慢速）旋转，以圆形线逐渐扫描整个空间。所述测量的测量点X的全体应被指定为扫描。激光扫描器10的中心C10定义为所述扫描的局部静止参考系的原点。底部14在所述局部静止参考系统中是静止的。
除了到激光扫描器10的中心C10的距离d，每一测量点X还包括由控制和评估设备22确定的亮度值。亮度是例如在分配给测量点X的测量时间段内通过对光接收器21的带通滤波和放大后的信号进行积分所确定的灰度值（gray-tone value）。可选地，可借助于彩色摄影机来产生图片，借助于该图片可将颜色（R，G，B）作为值分配给测量点X（以及亮度或具有亮度的测量点X）。
显示设备30被连接到控制和评估设备22。显示设备30可被集成到激光扫描器10中，例如集成到测量头12内或集成到底部14内，或者该显示设备可以是外部单元，例如，可以是连接到底部14的计算机的一部分。显示设备30具有图形卡32和屏幕34，图形卡和屏幕可被彼此分开布置或作为一个结构单元来布置。控制和评估设备22提供扫描的3D数据。
图形卡32将3D数据转换成2D数据（渲染），所述2D数据在屏幕34上显示。3D数据是测量点X，其中，若干个扫描（从激光扫描器10的不同位置）可被组合成一个画面。为了表示2D数据，一方面存在像素P，即相邻的、小的多边形表面（例如，正方形或六边形），其被布置在（二维）平面E（其对应于屏幕34）中。开始点是在观察器（眼睛，摄像机）处于某一观察点V时测量点X在平面E上的投影。投影可以是透射（观察点V有限）或正射的(观察点V无限)。投影测量点X被分配给单个像素P。另一方面，Z缓冲区用于表示2D数据，即，像素P的二维辅助字段。在所述Z缓冲区中，字段元素（深度z）被分配给每一像素P。每一个投影测量点X的深度z对应于测量点X到平面E的距离(关于观察点V)。像素P的字段和Z缓冲区优选地以相同的方式作为图像处理。
观察点V本身是任意的，并且当考虑到扫描和/或画面时，通常被改变多次。
由于测量点X是中间有间隙的点,并且在平面E中的像素P通常（在物体O附近的情况下）具有比测量点X的投影更高的密度，因此执行所谓的空隙填充，以填充尽可能多的像素P，从而获得改进的表示。图形卡32使用3D数据和观察点V的指示（和平面E）来并行地执行所述过程。
最初，只对分配有测量点的投影的像素P（即准确地被测量点X所覆盖的像素P）进行填充。这些像素P由所分配的测量点X的值（即亮度，在可适用的情形下以及颜色）所填充。与测量点X的投影未准确对应的所有其他的像素P，即“在中间”的像素P起初是空的，例如，被设置为0。分配给(最初)被填充的像素P的每一个深度z，即Z缓冲区的字段元素被设置为深度z0、z1、z2，其对应于被分配的测量点X到平面E的距离。Z缓冲区的所有其他字段元素(深度z)被设置为极限值，例如，无限大。当对测量点X进行投影时，如果出现一个像素P可得到两个测量点X，则选择具有更小深度z的测量点，而排除另一个，这样隐藏的表面和隐藏的边缘就不可见了。
根据本发明，空隙填充依赖于深度z0、z1、z2，即依赖于到平面E的距离而发生。图形卡32并行地选择所有的像素P（关于时间）。举例来说，下面考虑一个被选择像素P0。被分配的深度z（即Z缓冲区的字段元素）包括深度z0。对于每一个被选择像素P0，连续地搜寻相邻像素P1，P2...，即向左和向右（以及向上和向下）搜索。如果相邻的像素P1还没有被填充，或如果其深度z比被选择像素P0的深度z0大，则其被跳过，并且将第二个接下来的像素P作为相邻像素P1，必要时重复该操作。如果在一个方向上发现深度z1小于被选择像素P0的深度z0的相邻像素P1，则改变到下一个方向，并且搜寻相邻像素P2（其深度z2比被选择像素P0的深度z0小）。可以定义被跳过像素的最大数量，即如果在跳过所述最大数目的被跳过像素之后还没发现相邻像素P1(或P2)，对P1(或P2)的搜寻将中止。
如果已经在相反方向上发现被选择像素P0的相邻像素P1和P2，所述相邻像素P1和P2的深度z1和z2小于深度z0，则检查P1和P2是否在同一平面上，即z2和z1的差值是否低于深度的门限值zcrit，即
|z2-z1|<zcrit
在该情况下，用内插在P1和P2之间的值（即亮度、在可适用的情形下以及颜色）来填充被选择像素P0。Z缓冲区的被分配字段元素同样被设置为在z1和z2之间的内插深度。内插取决于在平面E中从P1和P2到被选择像素P0的距离。
如果深度之差非常大，即，满足以下条件
|z2-z1|>zcrit
则假定P1和P2“位于不同的平面上”。然后用例如更远的像素P1或P2和具有更大深度z1或z2的Z缓冲区的被分配字段元素的值（即亮度、在可适用的情形下以及颜色）来填充被选择像素P0。替代地，具有更小深度z1或z2的像素P1或P2的值和深度被转移。在多于两个相邻像素P1、P2……的情况下，位于相同表面的大多数像素，即相邻像素P1、P2……的(平均)值可被转移。
优选地，已经用测量点的值填充的被选择像素P0由相邻像素P1和P2的内插值重写。替代地，已经被填充的被选择像素P0保持不变。
当查找像素P1和P2时，如果像素P因其未被填充或因其深度z过大而被跳过，则其相邻像素P1、P2……与被选择像素P0相同，这样，在并行执行选择的方案中，被跳过像素P和Z缓冲区的被分配字段元素，同样用内插在像素P1和P2之间和/或深度z1和z2之间的值(取决于平面E中从P1和P2到被选择像素P0的距离)或用像素P1或P2中更远的那个的值和/或深度z1或z2（或用大多数像素的平均值）进行填充。
由于选择并行执行，基于过大的深度差而用像素P1或P2中更远的像素的值和/或深度z1或z2进行填充，将导致在像素P1或P2附近形成边缘。即使由于被选择像素P0在（屏幕34的）一侧而导致没有发现深度z1或z2比被选择像素P0的深度z0小的相邻像素P1或P2，由于这些被选择像素P0（在边缘处）还未被填充，也会生成边缘。
空隙填充优选地再次发生，以填充另外的像素，即以便改善(再次)表示。
空隙填充可在控制和评估设备22中进行，或者借助于在外部计算机上的软件而进行。由于并行选择节省时间，在图形卡32上进行基于硬件的空隙填充是优选的，优选地使用图形卡的编程接口来进行所述基于硬件的空隙填充。
附图标记列表
10 激光扫描器
12 测量头
14 底部
16 镜
17 光发射器
18 发射光束
20 接收光束
21 光接收器
22 控制和评估设备
30 显示设备
32 图形卡
34 屏幕
C10 激光扫描器的中心
d 距离
E 平面
O 物体
P，P0,P1,P2 像素
V 观察点
X 测量点
z0，z1，z2 深度
zcrit 深度的门限值

Claims (6)

1.一种用于光学扫描和测量环境的方法，在该方法中，
a)激光扫描器(10)借助于光发射器(17)发射发射光束(18)，借助于光接收器(21)接收接收光束(20)，激光扫描器(10)的环境中的物体(O)反射或散射反射光束，并且对于多个测量点(X)，借助于控制和评估设备(22)确定至少从物体(O)到激光扫描器(10)的中心(C10)的距离(d)，并且其中，至少一些测量点(X)被显示在显示设备(30)上，为此，
b)测量点(X)被分配给平面(E)的像素(P)，并且用值填充至少在被分配给测量点(X)的像素(P)之间的像素(P)，其中
c)为每个像素(P)分配深度(z)，所述深度(z)是辅助字段的字段元素，
d)将要被显示的每个测量点(X)分配给与测量点(X)在平面(E)上的投影对应的像素(P)，所述像素(P)获得被分配测量点(X)的值，并且将分配有下述像素(P)的深度(z)设置为与被分配测量点(X)到平面(E)的距离对应的深度(z0，z1，z2……)：所述像素(P)具有被分配测量点(X)的值，
e)选择所有像素(P)，
f)对于每一个被选择像素(P0),连续地搜寻相邻像素(P1,P2,……)，其中，未被填充和/或深度(z1，z2,……)比被选择像素(P0)的深度(z0)大的像素(P)被跳过，
g)在搜到被选择像素(P0)的相邻像素(P1,P2)之后，检查相邻像素(P1,P2)的深度(z1,z2)之间的差值是否低于深度的门限值(zcrit)，其中所述相邻像素已被填充并且其深度(z1,z2)小于被选择像素(P0)的深度(z0)，
h)如果所搜到的相邻像素(P1,P2)的深度(z1,z2)之间的差值小于深度的门限值(zcrit)，则被选择像素(P0)用在相邻像素(P1,P2)的值之间内插的值进行填充，并且被选择像素(P0)的深度(z0)被设置为内插在所搜到的相邻像素(P1,P2)的深度(z1,z2)之间的深度(z)。
2.如权利要求1所述的方法，特征在于，已经填充的被选择像素(P0)保持不变。
3.如权利要求1或2所述的方法，特征在于，如果在任意的搜寻方向上搜到已经填充并且深度(z1)小于所述被选择像素(P0)的深度(z0)的相邻像素(P1)，则将方向改变到还未被搜寻的方向。
4.如权利要求1或2所述的方法，特征在于，如果所搜到的相邻像素(P1,P2)的深度(z1,z2)之间的差值高于深度的门限值(zcrit)，则被选择像素(P0)用具有更大深度(z1,z2)的相邻像素(P1,P2)的值进行填充，并且被选择像素(P0)的深度(z0)被设置为具有更大深度(z1,z2)的相邻像素(P1,P2)的深度(z)。
5.如权利要求1或2所述的方法，特征在于，在时间上并行地选择要被选择的像素(P0)，和/或至少两次进行填充。
6.一种用于执行如前述权利要求中的任意一项所述的方法的设备，该设备具有激光扫描器(10)，所述激光扫描器具有光发射器(17)、旋转镜(16)、光接收器(21)以及控制和评估设备(22)；并具有显示设备(30)，特征在于，所述显示设备(30)具有连接到控制和评估设备(22)的图形卡(32)以及屏幕(34)，其中图形卡(32)用于选择像素(P0)，搜寻被选择像素(P0)的相邻像素(P1,P2，……)，所述相邻像素具有更小的深度(z1,z2，……)，并且依赖于相邻像素(P1,P2，……)的值和相邻像素(P1,P2，……)的深度(z1,z2，……)来填充被选择像素(P0)。
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