One method for three-dimensional (3D) measurement based on structured light is proposed for the medical electric endoscope in the present study. The structured light of black and white strips is generated by that the point sources illuminate the grating mask plate. Four point sources are aligned linearly by a certain space and they are lighted sequentially. Then four images of modulated fringes by the height of object with different phase shifts can be obtained. The algorithm proposed by Wang Z is employed to extract the accurate phase shift from the fringe images since the phase shift cannot be exactly set as π/2 by hardware. An experimental prototype endoscope was built according to the proposed method. One high-definition CMOS camera module developed by ourselves was used to acquire the endoscopic images and the structured light was generated by four fiber LEDs and a transmission grating with a pitch of 0.1 mm. one C# program was designed to light up LEDs in turn, acquire the phase shifted images and calculate the 3D information. The experimental results indicate that its precise of depth measurement at the working distance of 40 mm is better than 0.5 mm and its consuming time of 3D depth calculation is less than 0.5 s.
A new encoding method for absolute angular encoder based on optical diffraction was proposed in the present study. In this method, an encoder disc is specially designed that a series of elements are uniformly spaced in one circle and each element is consisted of four diffraction gratings, which are tilted in the directions of 30°, 60°, -60° and -30°, respectively. The disc is illuminated by a coherent light and the diffractive signals are received. The positions of diffractive spots are used for absolute encoding and their intensities are for subdivision, which is different from the traditional optical encoder based on transparent/opaque binary principle. Since the track's width in the disc is not limited in the diffraction pattern, it provides a new way to solve the contradiction between the size and resolution, which is good for minimization of encoder. According to the proposed principle, the diffraction pattern disc with a diameter of 40 mm was made by lithography in the glass substrate. A prototype of absolute angular encoder with a resolution of 20" was built up. Its maximum error was tested as 78" by comparing with a small angle measuring system based on laser beam deflection.
Nowadays, binocular stereo matching technology has achieved a great progress in theory, but most of the algorithms have good results only for standard image pairs. In the actual binocular systems, the image pair will be different in color, intensity and sharpness because of the inconsistence of illumination, optical defocus, color response of image sensors and so on, which will significantly reduce the stereo matching accuracy or even totally get wrong matching result. To acquire a good disparity map, a new stereo matching method was proposed for actual binocular system in this paper. After acquiring image pair, an automatic method based on Log-space is used to rectify left and right images in order that they are consistent in color, intensity and sharpness. Then the disparity map is obtained from the rectified images by Census algorithm. Experimental results show that our proposed method is more robust to illumination changes and can improve disparity map largely.