Method and device arrangement for high-precision, (semi-) automatic in-situ calibration and registration of a projector-camera system to a component

摘要

A method for highly accurate, (semi-) automatic in-situ calibration and registration of a projector-camera system to a component comprises the following steps: projector and camera are set up so that both devices point to the component and the component preferably one the largest part of the image area of the projector and camera occupies; the projector projects a sequence of structured light patterns onto the component; the camera takes a picture of the thus illuminated component for each pattern; a rough estimate of the projector's main point and / or the camera's main point is taken; based on this, an initial projector-camera calibration (intrinsic: focal length, main point, extrinsic: rotation and translation) and a 3D reconstruction of the component is calculated by means of fundamental matrix decomposition; the 3D reconstruction is roughly aligned to the virtual component, in particular by predetermining or automatically determining rotation and / or translation and / or scaling of the 3D reconstruction; It is calculated iteratively: a best-fit of the 3D reconstruction to the virtual device, a Best-Fit resulting, optimized projector-camera calibration, preferably incorporating a radial distortion parameter, and registration to the device, and a new 3D -Reconstruction based on the optimized calibration. The calibration of the camera and the projector is so far automated that a dedicated calibration device is no longer necessary. Even an otherwise required additional registration step can be dispensed with.