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Limited by the imaging dynamic range of the camera, the phenomenon of over-exposure and over-dark often occurs in the 3D measurement of strong reflective sheet metal parts, resulting in incomplete measurement result. One of existing methods such as multiple exposure can measure most of the visible area under a single viewpoint, but the visible area with too small or too large incidence angle still cannot be measured. To solve this problem, in this paper, a method of viewpoint planning for sheet metal parts with strong reflection is proposed. The method introduces the surface reflection model of reflective sheet metal parts into viewpoint planning to achieve the synchronous optimum of measurement efficiency and data integrity. Firstly, according to the measurable region of the surface structured light 3D measurement system and CAD model, the candidate viewpoint set is randomly generated in the sampling space, and the visibility matrix is constructed by analyzing whether each candidate viewpoint is visible to each patch of the model. Then, the surface reflection model of sheet metal parts with strong reflection is constructed, and the reflection coefficient of the visible patches under each viewpoint is calculated according to the reflection model. Based on this, the measurability of the visible patches of the viewpoint under multiple exposures is calculated, and the visibility matrix is updated. Lastly, through the viewpoint quality evaluation function constructed based on the data coverage increment and multiple-exposure time, the viewpoint with the highest quality is selected heuristically until the coverage requirement is met. Experiments show that the algorithm can improve the measurement efficiency and ensure the integrity of the measurement data.
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