CN205333067U - Laser photogrammetric survey system - Google Patents
Laser photogrammetric survey system Download PDFInfo
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- CN205333067U CN205333067U CN201620099636.0U CN201620099636U CN205333067U CN 205333067 U CN205333067 U CN 205333067U CN 201620099636 U CN201620099636 U CN 201620099636U CN 205333067 U CN205333067 U CN 205333067U
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Abstract
The utility model relates to a laser photogrammetric survey system, including measuring device and calibration device, measuring device includes base, support and computer, the support rotate to set up on the base, is provided with camera, laser range finder and line laser emitter on the support, and laser range finder and line laser emitter are located same plumb line, sets up two in laser range finder's bilateral symmetry the camera, the computer is connected with camera, laser range finder, line laser emitter electricity respectively, calibration device includes the object space identification point that three object space board and equipartition set up. Through measuring device and calibration device, sharp object space board and object space identification point are shot and follow -up corresponding procedure of compiling through the camera, can effectively realize the accurate of measurement system camera and mark, and this camera calibration method step is simple, easily operates, provide reliable basis for subsequent laser photogrammetric survey.
Description
Technical field
This utility model relates to a kind of laser photography and measures system, belongs to measurement apparatus scaling method technical field。
Background technology
Along with the development of computer technology, photogrammetric it is used widely in fields such as robot vision, industry manufacture, engineering construction, historical relic's protection and medical image analysis with Three Dimensional Reconfiguration。Compared to utilizing the instrument with contacts such as three-coordinates measuring machine to outer surface measurement in kind, the non-contact measurements such as laser scanning utilize non-contacting photoelectric method that the three-dimensional appearance of curved surface is quickly measured, the advantage such as have noncontact, speed is fast, precision is high, be widely used, has certain application prospect in fields such as industrial engineering。In measurement process, the image that view-based access control model sensor (such as video camera) obtains, set up the corresponding relation of two dimension picture point and three-dimensional object point, utilize the 2-D data inverse in image to go out the information such as the pattern of three-dimensional body and relevant position of correspondence。
Want to obtain high-precision measurement result, it is necessary first to the measurement system of design has higher precision；Secondly set up the corresponding relation of two dimension picture point and three-dimensional object point namely camera calibration technology, include again video camera modeling and camera marking method。Camera calibration is mainly the external parameters such as the position relationship between the intrinsic inner geometry parameter of calibration for cameras and the relative object coordinates of camera, the quality of its calibration result directly determines to measure the levels of precision of the three-dimensional coordinate point obtained, especially to tolerance field, it is therefore desirable to the scaling method of research camera and the corresponding device of development。
Current camera calibration technique, according to the method used when resolving camera internal geometric parameter and external position Relation Parameters, is classified as linear method, nonlinear method and self-calibrating method。Linear method such as direct linear transformation's method (DLT conversion), relation according to environment point Yu camera image corresponding point, PARAMETERS IN THE LINEAR MODEL is tried to achieve by linear method, and then set up linear model to describe the imaging process of camera, the method estimates that camera parameter process efficiency is higher, but not accounting for the nonlinear distortion problem in imaging process, therefore precision is relatively low。Nonlinear method provides a good approach to improving camera calibration precision, it is very suitable for the demarcation of the nonlinear distortion varying model of multiparameter, when being provided that better initial value, can simulate and compensate various aberration better, can restrain quickly, obtain high accuracy optimum results, but the initial value of timing signal camera model parameter is required higher by it, computationally intensive, calculate speed slow。Self-calibrating method is unknown in scene and can also the inside and outside parameter of calibration for cameras when camera motion unknown parameters, the relation between multiple image corresponding point that only relies in calibration process carries out, its motility is high, be widely used, but the process demarcated is mainly based upon absolute conic and absolute quadric method, additionally need to solve nonlinear multivariable equation, be therefore only applicable to some occasions that required precision is not high。
The reason that currently used scaling method exists the problems referred to above is caused to be mainly the measurement system of its correspondence complex。Different measurement systems needs to adopt different scaling methods to demarcate, therefore to scaling method is simplified, avoid the calibrated error that complicated scaling method causes as far as possible, it is necessary first to the measurement system making design is simple, then at the design of measuring system scaling method for design。
In addition, for large-scale measured object, utilize multiple stage camera to measure often during actual measurement simultaneously, and between multiple stage camera, there is no relative position relation, it is thus desirable to individually every camera is demarcated, which adds staking-out work amount, also can increase calibrated error simultaneously, cause certainty of measurement to reduce。So when designing measurement system and scaling method it is also contemplated that demarcate two and above camera simultaneously。
Utility model content
For the deficiencies in the prior art, this utility model provides a kind of laser photography to measure system。
The technical solution of the utility model is as follows:
System is measured in a kind of laser photography, and including measurement apparatus, described measurement apparatus includes base, support and computer；Described support is arranged on base, support is provided with camera, laser range finder and line laser transmitter, laser range finder and line laser transmitter are positioned on same vertical line, lateral symmetry at laser range finder arranges two described cameras, and described computer electrically connects with camera, laser range finder, line laser transmitter respectively。
Preferably, the bottom of described support is provided with Horizontal dividing dish。This design is advantageous in that, when runing rest, can be known the angle being visually observed that support rotates by Horizontal dividing dish。
Preferably, described laser photography is measured system and is also included caliberating device, described caliberating device includes thing side's identification point and three thing side's plates, the profile of three thing side's plates is square, sequentially coaxially it be arranged in parallel before and after three thing side's plates and the length of side of three thing side's plates increases successively, each thing side plate arranges eight described thing side identification points, eight thing side's identification points are distributed as follows: arrange thing side's identification point at the midpoint of each edge, and the intersection point in adjacent two edges arranges thing side's identification point。
Preferably, the size of described three thing side's plates is respectively as follows: 100mm × 100mm × 10mm, 200mm × 200mm × 10mm, 300mm × 300mm × 10mm。
Preferably, described thing side identification point adopts the thin rounded flakes of diameter 5mm。
Preferably, described caliberating device also includes guide rail, and three thing side's plates are arranged on guide rail by sliding support。This design is advantageous in that, is arranged on guide rail by three thing side's plates by the sliding support of bottom, the convenient spacing regulated between three thing side's plates。
The camera calibration method of system is measured in this laser photography, comprises the following steps,
(1) measurement apparatus is placed on the dead ahead of caliberating device, sets up object coordinates system, and record each thing side identification point object coordinates (X under object coordinates systemci, Yci, Zci) (i=1,2 ... 24)；
(2) control camera by computer three thing side's plates are taken pictures, obtain the view data of thing side's identification point, perform procedure identification by computer-internal and go out identification point actual picture coordinate (x under the picture coordinate system of camera in thing side's in view data0i,y0i) (i=1,2 ... 24)；
(3) 9 camera parameters of every camera being composed initial value, 9 camera parameters include the line coordinates (X of cameras, Ys, Zs), angular coordinatePrincipal point is relative to the position x of image center0、y0And focal distance f, each parameter initialization assignment is as follows:
Xs=(∑ Xci)/24, Ys=(∑ Yci)/24, Zs=(∑ Zci)/24；
Utilize camera angular coordinateInitial value determine spin matrix R:
(4) each thing side identification point (X is calculated according to formula (2)i,Yi,Zi) (i=1,2 ... 24) as the theory under coordinate system as coordinate (xi, yi) (i=1,2 ... 24),
Then according to spin matrix R, theory as coordinate (xi, yi) (i=1,2 ... 24) and actual in coordinate (x0i,y0i) (i=1,2 ... 24) according to method of least square calculate obtain error equation coefficient matrices Ai(i=1,2 ... 24), and utilize the actual picture coordinate (x of thing side's identification point0i,y0i) (i=1,2 ... 24) deduct theoretical as coordinate figure (xi, yi) (i=1,2 ... 24) constitute error matrix Li(i=1,2 ... 24):
Li=[lx,ly]T=[x0i–xi, y0i-yi]T；
(5) the error equation coefficient matrices A according to each thing side identification pointi(i=1,2 ... 24) and error matrix Li(i=1,2 ... 24) constructs two big matrix A and L:A=[A respectively1A2……A24]T, L=[L1L2……L24]T；
Then construction method equation,
(6) solving method equation (3) just can obtain the correction of each camera parameter from right of formula, it is judged that three angular coordinates Corresponding correctionWhether it is both less than the threshold value Δ of regulation, if satisfying condition, calculating and terminating；If the condition of being unsatisfactory for, by resolving the correction amendment camera parameter of 9 camera parameters out, then repeat step (3)～(6)；If Iterative number of times is still unsatisfactory for condition more than 20 times, then illustrate that hardware Digital Photogrammetric System is problematic。
Preferably, in step (1), setting up object coordinates system XYZ at the center of thing side's plate, wherein level is to the right X-axis positive direction, is Y-axis positive direction straight up, and being perpendicular to thing side's plate is Z axis。
The beneficial effects of the utility model are in that:
(1) compared to the caliberating device of current existing Digital Photogrammetric System, caliberating device of the present utility model is made up of thing side's plate and thing side's identification point, simple in construction, and cost is low, easy for installation, simple to operate, precision is high。
(2) positioning and orientation data are transformed into image center by traditional method, if there is two or more camera, it is necessary to set up multiple camera coordinates system, add difficulty to calculating, and be not easy to the normalized of data；In this utility model by establishment of coordinate system on caliberating device, the pose coordinate of two cameras is all unified under object coordinates system, it is simple to calculate, decrease programing work amount, it is no longer necessary to the data that two cameras are resolved carry out coordinate transform processing。
(3) the program precision simple, easily operated, that solve write according to this utility model camera calibration method is higher, identify in view data thing side's identification point as coordinate time, quickly, accurately；Iterative process is simple, the nonlinear multivariable equation group that whole calibration process is not related in self-calibrating method owing to conic section and quadratic surface cause。
Accompanying drawing explanation
Fig. 1 is the structural representation of measurement apparatus in this utility model；
Fig. 2 is the position relationship schematic diagram of measurement apparatus and caliberating device in this utility model；
Fig. 3 is the graph of a relation that the laser center axis of measurement apparatus in this utility model is perpendicular to thing side's plate。
Wherein: 1, base；2, Horizontal dividing dish；3, support；4, camera；5, laser range finder；6, line laser transmitter；7, camera；8, data wire；9, computer；10, tripod；11, measurement apparatus；12, some laser；13, first thing side's plate；14, second thing side's plate；15, the 3rd thing side's plate；16, thing side's identification point；17, guide rail；18, sliding support。
Detailed description of the invention
By the examples below and in conjunction with accompanying drawing this utility model is described further, but is not limited to this。
The demarcation of camera, is mainly the elements of interior orientation of calibration for cameras elements of exterior orientation under object coordinates system and camera。Wherein every camera has 3 elements of interior orientation and 6 elements of exterior orientation, and elements of interior orientation includes the principal point position x relative to image center (i.e. optical center)0、y0And optical center to image plane focal distance f (also referred to as main from)。Elements of exterior orientation includes 3 for describing the optical center line element X relative to object coordinates system positions, Ys, ZsWith 3 for describing the image plane angle element in photography temporary airborne attitudeω, k。Laser range finder point laser center coordinate in object coordinates system is (0,0, Zcj)。
Embodiment 1:
As depicted in figs. 1 and 2, system is measured in a kind of laser photography, this laser photography is measured system and is included measurement apparatus and caliberating device, and wherein, measurement apparatus includes base 1, Horizontal dividing dish 2, support 3, two cameras 4 and 7, line laser transmitter 6, laser range finder 5, data wire 8, computers 9。Wherein, camera 4 and camera 7 are symmetrically mounted on laser range finder 5 both sides, and three is arranged on support 3, and computer 9 is connected with the control equipment in support 3 by data wire 8。Measurement system also includes spider 10, and base 1 is connected fixing by the threaded fastener on spider 10 with spider 10。
Camera 4, camera 7, line laser transmitter 6 and laser range finder 5 transmit control command by computer 9 by data wire 8, and the view data of acquisition are delivered in computer 9, facilitate the storage of data, calculating and analysis。
Computer 9 is equipped with the driving of camera 4, camera 7, line laser transmitter 6 and laser range finder 5 and controls program, is responsible for controlling to launch laser, camera rotates and shooting photo etc.。
Computer 9 is also equipped with realizing the execution program of camera calibration method, obtains camera position and attitude coordinate (the angle element of position coordinates namely the line element of camera, attitude coordinate namely camera is called for short pose coordinate) by reading view data resolving。
As shown in Figure 2, caliberating device is thing side's model, this thing side's model includes three thing side's plates for cloth glove side identification point 16, three thing side's plates include first thing side's plate 13, second thing side's plate 14 and the 3rd thing side's plate 15, it is provided with sliding support 18 bottom first thing side's plate 13 and second thing side's plate 14, placing on guide rail 17 by sliding support 18 by first thing side's plate 13 and second thing side's plate 14, one end of the 3rd thing side's plate 15 and guide rail 17 is fixed together (the 3rd thing side's plate is arranged on guide rail) also by sliding support。First thing side's plate 13, second thing side's plate 14 and the 3rd thing side's plate 15 are all provided with 8 thing side's identification points 16, are evenly arranged on each thing side plate four edges。
Wherein, the size (length and width are thick) of first thing side's plate 13 is 100mm × 100mm × 10mm, second thing side's plate 14 is of a size of 200mm × 200mm × 10mm, 3rd thing side's plate 15 is of a size of 300mm × 300mm × 10mm, parallel placement successively before and after three thing side's plates, the center of thing side's plate and the laser center of measurement apparatus 11 are all on the same line, therefore, when measurement apparatus 11 faces the image that thing side's model obtains thing side's identification point 16, a photo just can show the image of property side's identification point simultaneously。
Thing side's identification point 16 is the thin rounded flakes of diameter 5mm, in order to have obvious difference with background colour, by thing side's identification point 16 surface painted black。
First thing side's plate 13 and second thing side's plate 14 can be slided by coupled sliding support 18 on guide rail 17, such that it is able to the distance regulated between three thing side's plates。
On described thing side's model, setting up object coordinates system at the center of the 3rd thing side's plate 15, level is to the right X-axis positive direction, is Y-axis positive direction straight up, and being perpendicular to the 3rd thing side's plate 15 is Z axis, and the right-hand rule is followed in direction。
Laser photography simple in measurement system structure in the present embodiment, convenient operation, precision are high, are by the basis of camera calibration method, and it is also follow-up carry out laser photography measurement and obtain the guarantee of high-acruracy survey result that system is measured in high-precision laser photography simultaneously。
Embodiment 2:
On the basis of embodiment 1, the present embodiment describes the process utilizing the laser photography measurement system described in embodiment 1 to carry out camera calibration method in detail。
The present embodiment provides a kind of laser photography to measure the camera calibration method of system, first the coordinate of each thing side identification point 16 under object coordinates system is obtained, then adjust measurement apparatus 11, make two cameras just thing side's model be taken pictures, obtain the view data of 24 thing side's identification points 16。The picture coordinate of each thing side identification point 16 is read by computer 9 realizes the execution program of camera calibration method, utilize object coordinates and the corresponding relation as coordinate of thing side's identification point 16, obtained two cameras and the laser range finder point laser center pose coordinate in object coordinates system and elements of interior orientation parameter by performing program computation。Concrete scaling method is as follows:
Step 1: determine each thing side identification point 16 coordinate figure (X under object coordinates systemci, Yci, Zci) (i=1,2 ... 24)；
Step 2: measurement apparatus 11 is fixed on spider 10 by threaded fastener, then computer 9 is connected with measurement apparatus by data wire 8, start the driving controlling camera and laser range finder point laser center on computer 9 and control program, measure system pose by controlling program adjustment, make laser range finder axis horizontal；
Step 3: adjust the position of thing side's model so that it is facing measurement apparatus 11, first thing side's plate 13 is up front；
Step 4: as shown in Figure 2 and Figure 3, adjusts the pose of measurement apparatus 11, makes a laser 12 vertical with first thing side's plate 13 of thing side's model。Specifically comprise the following steps that
(1) by the control program on computer 9, open the laser range finder 5 of measurement apparatus 11, the point laser 12 that laser range finder 5 is launched, makes a laser 12 approximately perpendicular to first thing side's plate 13 of thing side's model by perusal, and some laser 12 dozens is at the O of first thing side's plate 132Position, as shown in Figure 3；
(2) with O1O2Line is reference position, by runing rest 3, makes O1O2Around a laser center O1Point turns over θ counterclockwise1To O1The position of A, obtains O by laser ranging1The length L of Aa；
(3) with O1O2Line is reference position, by runing rest 3, makes O1O2Around measurement apparatus center O1Point turns over θ clockwise1To O1The position of B, obtains O by laser ranging1The length L of Bb；
(4) L is comparedaWith LbSize, if La>Lb, rotate horizontal stand 3 and make O2Move to right to B close；If La<Lb, rotate horizontal stand and make O2Move to left to A close；
(5) if La=Lb, then some laser 12 is perpendicular to first thing side's plate 13 in the horizontal direction；Otherwise repeat step (2)～(4), finally make a laser 12 vertical in the horizontal direction with first thing side's plate 13 of thing side's model；
(6) the same above-mentioned steps of method that some laser 12 in the vertical direction is vertical with first thing side's plate 13 is ensured, it is only necessary to direction is changed into the position of in the vertical direction fine setting point laser 12。
Step 5: by the control program on computer 9, opens camera 4 and camera 7, thing side's model is taken pictures, and obtains each thing side's identification point 16 respectively as the actual picture coordinate (x under coordinate system by program0i,y0i) (i=1,2 ... 24)；
Step 6: composing initial value to the 9 of every camera parameters, 9 parameters include the line coordinates (X of cameras, Ys, Zs), angular coordinatePrincipal point is relative to the position x of image center (i.e. optical center)0、y0And focal distance f, each parameter initialization assignment is as follows:
Xs=(∑ Xci)/24, Ys=(∑ Yci)/24, Zs=(∑ Zci)/24；
Step 7: according to formula (1), utilizes camera angular coordinate element valueW, κ determine the value of each element in spin matrix R:
Step 8: utilize the program computation write based on space resection's principle to obtain ideally thing side's identification point theory under the picture coordinate system of camera and, as coordinate, calculate each thing side identification point (X according to formula (2)i,Yi,Zi) as the theory under coordinate system as coordinate (xi, yi) (i=1,2 ... 24),
Step 9: then according to spin matrix R, each thing side identification point theory as coordinate (xi, yi) (i=1,2 ... 24) and actual in coordinate (x0i,y0i) (i=1,2 ... 24) according to method of least square calculate error equation coefficient matrices Ai(i=1,2 ... 24)；
Step 10: utilize thing side's identification point as the actual value (x of coordinate0i,y0i) deduct theory as coordinate figure (xi, yi) constitute error matrix Li(i=1,2 ... 24):
Li=[lx,ly]T=[x0i–xi, y0i-yi]T；
Step 11: according to each thing side identification point coefficient matrices Ai(i=1,2 ... 24) and error matrix Li(i=1,2 ... 24) is respectively configured to two big matrix A and L:A=[A1A2……A24]T, L=[L1L2……L24]T；
Step 12: construction method equation,Solving method equation just can obtain the correction of each parameter of camera from right of formula；
Step 13: judge three angular coordinatesCorresponding correctionWhether it is both less than the threshold value Δ of regulation, if satisfying condition, calculating and terminating；If the condition of being unsatisfactory for, by resolving the correction amendment camera parameter of 9 camera parameters out, then repeat step 7～12；If Iterative number of times is still unsatisfactory for condition more than 20 times, illustrate that hardware Digital Photogrammetric System is problematic。
Step 14: two cameras all resolve according to above-mentioned steps, what be different in that thing side's identification point is taken respectively from, as coordinate, the view data that two cameras each photographed, and final resolving obtains 9 parameters of two cameras。Owing to laser range finder point laser center is positioned at the symmetrical centre of two cameras, therefore its line coordinates is the meansigma methods of two camera line coordinates。
Actual in shooting photo and carrying out camera parameter resolving, in order to avoid random error, each camera 3～5 photos of shooting, and resolve the data of every photo, by analytical data, reject the data that deviation is bigger, remaining several groups of data are averaged and obtains 9 parameters of camera。
This utility model has used for reference prior art in implementation process, as space is limited, prior art part is not described in detail；The NM technology segment of every this utility model, all can adopt existing techniques in realizing。
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for a person skilled in the art, this utility model can have various modifications and variations。Any amendment that is all within spirit of the present utility model and principle, that make, equivalent replacement, improvement etc., should be included within protection domain of the present utility model。
Claims (6)
1. a system is measured in laser photography, including measurement apparatus, it is characterised in that described measurement apparatus includes base, support and computer；Described support is arranged on base, support is provided with camera, laser range finder and line laser transmitter, laser range finder and line laser transmitter are positioned on same vertical line, lateral symmetry at laser range finder arranges two described cameras, and described computer electrically connects with camera, laser range finder, line laser transmitter respectively。
2. system is measured in laser photography as claimed in claim 1, it is characterised in that the bottom of described support is provided with Horizontal dividing dish。
3. system is measured in laser photography as claimed in claim 1, it is characterized in that, described laser photography is measured system and is also included caliberating device, described caliberating device includes thing side's identification point and three thing side's plates, the profile of three thing side's plates is square, sequentially coaxially it be arranged in parallel before and after three thing side's plates and the length of side of three thing side's plates increases successively, each thing side plate arranges eight described thing side identification points, eight thing side's identification points are distributed as follows: arrange thing side's identification point at the midpoint of each edge, intersection point in adjacent two edges arranges thing side's identification point。
4. system is measured in laser photography as claimed in claim 3, it is characterised in that the size of described three thing side's plates is respectively as follows: 100mm × 100mm × 10mm, 200mm × 200mm × 10mm, 300mm × 300mm × 10mm。
5. system is measured in laser photography as claimed in claim 3, it is characterised in that described thing side identification point adopts the thin rounded flakes of diameter 5mm。
6. system is measured in laser photography as claimed in claim 3, it is characterised in that described caliberating device also includes guide rail, and three thing side's plates are arranged on guide rail by sliding support。
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486289A (en) * | 2016-01-31 | 2016-04-13 | 山东科技大学 | Laser photography measuring system and camera calibration method |
| CN106249427A (en) * | 2016-08-31 | 2016-12-21 | 河北汉光重工有限责任公司 | A kind of optic axis adjusting method based on laser imaging |
| CN106767713A (en) * | 2016-11-22 | 2017-05-31 | 北京空间机电研究所 | A kind of multi-channel integrated active-passive composite mapping camera system |
| CN107967701A (en) * | 2017-12-18 | 2018-04-27 | 信利光电股份有限公司 | A kind of scaling method, device and the equipment of depth camera equipment |
| ES2692168A1 (en) * | 2017-05-30 | 2018-11-30 | Equipos Nucleares, S.A. S.M.E. | Device and method for calibrating laser distance meters. (Machine-translation by Google Translate, not legally binding) |
| CN109115172A (en) * | 2018-08-23 | 2019-01-01 | 西安科技大学 | Coalcutter fuselage position and posture detection method based on machine vision |
| CN109520477A (en) * | 2018-10-30 | 2019-03-26 | 成都飞机工业（集团）有限责任公司 | A method of the high-acruracy survey scale factor based on two dimension photography |
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2016
- 2016-01-31 CN CN201620099636.0U patent/CN205333067U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486289A (en) * | 2016-01-31 | 2016-04-13 | 山东科技大学 | Laser photography measuring system and camera calibration method |
| CN105486289B (en) * | 2016-01-31 | 2018-03-23 | 山东科技大学 | A kind of laser photography measuring system and camera calibration method |
| CN106249427A (en) * | 2016-08-31 | 2016-12-21 | 河北汉光重工有限责任公司 | A kind of optic axis adjusting method based on laser imaging |
| CN106249427B (en) * | 2016-08-31 | 2018-11-20 | 河北汉光重工有限责任公司 | A kind of optic axis adjusting method based on laser imaging |
| CN106767713A (en) * | 2016-11-22 | 2017-05-31 | 北京空间机电研究所 | A kind of multi-channel integrated active-passive composite mapping camera system |
| ES2692168A1 (en) * | 2017-05-30 | 2018-11-30 | Equipos Nucleares, S.A. S.M.E. | Device and method for calibrating laser distance meters. (Machine-translation by Google Translate, not legally binding) |
| CN107967701A (en) * | 2017-12-18 | 2018-04-27 | 信利光电股份有限公司 | A kind of scaling method, device and the equipment of depth camera equipment |
| CN107967701B (en) * | 2017-12-18 | 2021-10-15 | 信利光电股份有限公司 | Calibration method, device and equipment of depth camera equipment |
| CN109115172A (en) * | 2018-08-23 | 2019-01-01 | 西安科技大学 | Coalcutter fuselage position and posture detection method based on machine vision |
| CN109115172B (en) * | 2018-08-23 | 2020-09-08 | 西安科技大学 | Machine vision-based method for detecting pose of body of coal mining machine |
| CN109520477A (en) * | 2018-10-30 | 2019-03-26 | 成都飞机工业（集团）有限责任公司 | A method of the high-acruracy survey scale factor based on two dimension photography |
| CN109520477B (en) * | 2018-10-30 | 2021-01-26 | 成都飞机工业（集团）有限责任公司 | High-precision scale factor measuring method based on two-dimensional photography |
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