Spatial shift unwrapping for digital fringe profilometry based on spatial shift estimation

An approach is presented to solve the problem of spatial shift wrapping associated with spatial shift estimation-based fringe pattern profilometry (FPP). This problem arises as the result of fringe reuses (that is, use of fringes with periodic light intensity variance), and the spatial shift can only be identified without ambiguity within the range of a fringe width. It is demonstrated that the problem is similar to the phase unwrapping problem associated with the phase-detection-based FPP, and the proposed method is inspired by the existing ideas of using multiple images with different wavelengths proposed for phase unwrapping. The effectiveness of the proposed method is verified by comparing experimental results against several objects, with the last object consisting of more complex surface features. We conclude by showing that our method is successful in reconstructing the fine details of the more complex object

Implementation of spatial shift estimation approach for 3D profilometry based on digital fringe projection

Fringe Pattern Profilometry (FPP) based on Digital Fringe Projection (DFP) is a promising optical noncontact three-dimension (3D) profile measurement technologies due to its accuracy and flexibility. Popular FPP approaches retrieve the 3D profile information using the detection of phase difference, called the Phase Difference Estimation (PDE). Recently, a new kind of FPP approach, referred to as Spatial Shift Estimation (SSE) is introduced, which retrieves the 3D profile information using the detection of spatial shift instead of phase different. Compared with PDE approaches, SSE approaches are advantageous in that the projected fringe patterns do not need to be sinusoidal, and thus accurate reconstruction can be obtained even when nonlinear distortions exist on the fringe patterns. However, efficient implementation of SSE approaches is still an issue. This thesis work aims to implement the SSE approach for 3D profile measurement based on digital fringe projection. Firstly, a DFP system is designed and adopted in our laboratory, which is utilized as an experiment platform for the work presented in this thesis. SSE approaches are implemented on the system. Some problems associated with the implementation are studied and solved, including elimination of noise and distortion in the fringe patterns. Furthermore, an improved Inverse Function based Shift Estimation (IFSE) method is proposed to improve the performance of SSE approaches. Secondly, shift unwrapping problem associated with SSE is investigated. Through reviewing the phase unwrapping problem in PDE based FPP, we indicate that a similar shift unwrapping problem also exists in SSE approaches. A method for solving the problem has been proposed and the experiment results are presented to demonstrate the effectiveness of the proposed method. Finally, the research is carried out to improve the efficiency of SSE approaches. SSE approaches have the advantages that the projected fringe patterns are no longer required to be sinusoidal nor periodic. Therefore, we can choose a fringe pattern which has strong counter-interference capability against the noise and nonlinear distortion with simple implementation. Based on analysis of the limitations of traditional sinusoidal fringe, we propose to use sawtooth fringe pattern. Theoretical analysis has been given to evaluate the complexity of the proposed sawtooth fringe pattern based algorithms, and practical experiment are performed at last to prove the efficiency of this proposed fringe pattern

Development of a calibration pipeline for a monocular-view structured illumination 3D sensor utilizing an array projector

Commercial off-the-shelf digital projection systems are commonly used in active structured illumination photogrammetry of macro-scale surfaces due to their relatively low cost, accessibility, and ease of use. They can be described as inverse pinhole modelled. The calibration pipeline of a 3D sensor utilizing pinhole devices in a projector-camera setup configuration is already well-established. Recently, there have been advances in creating projection systems offering projection speeds greater than that available from conventional off-the-shelf digital projectors. However, they cannot be calibrated using well established techniques based on the pinole assumption. They are chip-less and without projection lens. This work is based on the utilization of unconventional projection systems known as array projectors which contain not one but multiple projection channels that project a temporal sequence of illumination patterns. None of the channels implement a digital projection chip or a projection lens. To workaround the calibration problem, previous realizations of a 3D sensor based on an array projector required a stereo-camera setup. Triangulation took place between the two pinhole modelled cameras instead. However, a monocular setup is desired as a single camera configuration results in decreased cost, weight, and form-factor. This study presents a novel calibration pipeline that realizes a single camera setup. A generalized intrinsic calibration process without model assumptions was developed that directly samples the illumination frustum of each array projection channel. An extrinsic calibration process was then created that determines the pose of the single camera through a downhill simplex optimization initialized by particle swarm. Lastly, a method to store the intrinsic calibration with the aid of an easily realizable calibration jig was developed for re-use in arbitrary measurement camera positions so that intrinsic calibration does not have to be repeated

A Probabilistic Approach for Spatio-Temporal Phase Unwrapping in Multi-Frequency Phase-Shift Coding

Multi-frequency techniques with temporally encoded pattern sequences are used in phase-measuring methods of 3D optical metrology to suppress phase noise but lead to ambiguities that can only be resolved by phase unwrapping. However, classical phase unwrapping methods do not use all the information to unwrap all measurements simultaneously and do not consider the periodicity of the phase, which can lead to errors. We present an approach that optimally reconstructs the phase on a pixel-by-pixel basis using a probabilistic modeling approach. The individual phase measurements are modeled using circular probability densities. Maximizing the compound density of all measurements yields the optimal decoding. Since the entire information of all phase measurements is simultaneously used and the wrapping of the phases is implicitly compensated, the reliability can be greatly increased. In addition, a spatio-temporal phase unwrapping is introduced by a probabilistic modeling of the local pixel neighborhoods. This leads to even higher robustness against noise than the conventional methods and thus to better measurement results

Development of optical phase evaluation techniques: Application to fringe projection and digital speckle measurement

Ph.DDOCTOR OF PHILOSOPH

A fringe projection profilometry scheme based on embedded speckle patterns and robust principal component analysis

2019 SPIE. Phase unwrapping is one of the key steps for fringe projection profilometry (FPP)-based 3D shape measurements. Conventional spatial phase unwrapping schemes are sensitive to noise and discontinuities, which may suffer from low accuracies. Temporal phase unwrapping is able to improve the reliability but often requires the acquisition of additional patterns, increasing the measurement time or hardware costs. This paper introduces a novel phase unwrapping scheme that utilizes composite patterns consisting of the superposition of standard sinusoidal patterns and randomly generated speckles. The low-rankness of the deformed sinusoidal patterns is studied. This is exploited together with the sparse nature of the speckle patterns and a robust principal component analysis (RPCA) framework is then deployed to separate the deformed fringe and speckle patterns. The cleaned fringe patterns are used for generating the wrapped phase maps using the standard procedures of phase shift profilometry (PSP) or Fourier Transform profilometry (FTP). Phase unwrapping is then achieved by matching the deformed speckle patterns that encode the phase order information. In order to correct the impulsive fringe order errors, a recently proposed postprocessing step is integrated into the proposed scheme to refine the phase unwrapping results. The analysis and simulation results demonstrate that the proposed scheme can improve the accuracy of FPP-based 3D shape measurements by effectively separating the fringe and speckle patterns

A 3D Sensor Based on a Profilometrical Approach

An improved method which considers the use of Fourier and wavelet transform based analysis to infer and extract 3D information from an object by fringe projection on it is presented. This method requires a single image which contains a sinusoidal white light fringe pattern projected on it, and this pattern has a known spatial frequency and its information is used to avoid any discontinuities in the fringes with high frequency. Several computer simulations and experiments have been carried out to verify the analysis. The comparison between numerical simulations and experiments has proved the validity of this proposed method

Micro Fourier Transform Profilometry (μ\muFTP): 3D shape measurement at 10,000 frames per second

Recent advances in imaging sensors and digital light projection technology have facilitated a rapid progress in 3D optical sensing, enabling 3D surfaces of complex-shaped objects to be captured with improved resolution and accuracy. However, due to the large number of projection patterns required for phase recovery and disambiguation, the maximum fame rates of current 3D shape measurement techniques are still limited to the range of hundreds of frames per second (fps). Here, we demonstrate a new 3D dynamic imaging technique, Micro Fourier Transform Profilometry ($\mu$FTP), which can capture 3D surfaces of transient events at up to 10,000 fps based on our newly developed high-speed fringe projection system. Compared with existing techniques, $\mu$FTP has the prominent advantage of recovering an accurate, unambiguous, and dense 3D point cloud with only two projected patterns. Furthermore, the phase information is encoded within a single high-frequency fringe image, thereby allowing motion-artifact-free reconstruction of transient events with temporal resolution of 50 microseconds. To show $\mu$FTP's broad utility, we use it to reconstruct 3D videos of 4 transient scenes: vibrating cantilevers, rotating fan blades, bullet fired from a toy gun, and balloon's explosion triggered by a flying dart, which were previously difficult or even unable to be captured with conventional approaches.Comment: This manuscript was originally submitted on 30th January 1

Three-dimensional geometry characterization using structured light fields

Tese de doutoramento. Engenharia Mecânica. Faculdade de Engenharia. Universidade do Porto. 200