Multi-line structured light stripes clustering based on a custom iterative window

Abstract

Objective: This paper proposes a multi-line structured light stripe clustering method based on a custom iterative window to address the issue of stripes confusion caused by stripe breakage and noise points during the multi-line laser stripe matching process in binocular stereo vision. Methods: Firstly, the paper segments the measured object from the carrier plane. Secondly, the extracted centerlines are clustered using the custom iterative window. Finally, the stripes are numbered one by one after clustering the left and right images using barycentric coordinates of the stripes, based on the property of sequential consistency constraint, to complete the stereo matching of the stripes with the same number. Results: The experimental results show that the method can effectively cluster the centerline stripes on the measured object and solve the problem of stripes mis-corresponding when stereo matching of multi-line structured light stripes.

Keywords

• Multi-line structured light
• Stereo matching
• Clustering
• Iterative window