CN102102982B - Method and device for measuring two-dimensional infinitesimal displacement with single primary color by using computer camera - Google Patents
Method and device for measuring two-dimensional infinitesimal displacement with single primary color by using computer camera Download PDFInfo
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- CN102102982B CN102102982B CN 200910250916 CN200910250916A CN102102982B CN 102102982 B CN102102982 B CN 102102982B CN 200910250916 CN200910250916 CN 200910250916 CN 200910250916 A CN200910250916 A CN 200910250916A CN 102102982 B CN102102982 B CN 102102982B
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Abstract
The invention relates to a method and device for measuring two-dimensional infinitesimal displacement with a single primary color by using a computer camera, and further provides a method and device for contactless displacement measurement with a computer camera. The device comprises a computer and a computer camera, and is provided with a camera shooting and single-color frame matcher. In the invention, the texture of a reflective surface of an object to be measured can be analyzed by adopting a brightness self-association coefficient calculation method and the size of a comparison window is automatically regulated; one of three primary color frames is selected as an object to be measured, primary color frames selected for a former and a later frames are subjected to a cross correlation matching computation to determine that the highest frame-frame correlation degree is achieved when the cross correlation coefficient value is minimum and close to zero, thereby an instant displacement, a total displacement and an instant speed are obtained; whether to upgrade a reference frame or regulate the position of the comparison window is determined according to result on the instant displacement, the total displacement and the instant speed, the size of a cross association operator array which is used for search matching is regulated automatically; therefore, the method and the device are favorable for overcoming the impacts of other wavelengths and changes to the measurement, and further improving the measurement speed.
Description
Technical field
The present invention relates to method and device thereof that a kind of digital picture is measured, particularly adopt the computing machine camera to measure method and the device thereof of the two-dimentional micro-displacement of object.
Background technology
Recently the patent of invention of submitting to " use computing machine camera three primary colours to measure method and the device of small two-dimension displacement " (application number: the mean value of 200910191317.7) proposed a kind ofly to utilize the three primary colours pattern of picture frame to carry out frame-frame coupling, getting the result of each primary colours frame obtains method and the device thereof of two-dimension displacement.But, the computing workload of this method is big, influences measuring speed.Recently the patent of invention of the Ti Jiaoing (application number: 200910104277.8) though its measuring speed will be hurry up that " uses the computing machine camera to measure method and the device of small two-dimension displacement ", but, this measuring method implement the related coupling of frame-frame to as if the brightness of picture frame, the influence of the various wavelength that can be subjected to shining in the measurement environment.
Summary of the invention
In view of the foregoing, the invention provides a kind of method and device that uses computing machine camera list primary colours to measure small two-dimension displacement, it is photoelectric conversion sensor with the computing machine camera, on certain degree, can overcome some illumination interference that measurement environment takes place, by shooting digital pictures and handle, obtain testee with the perpendicular plane of the optical axis of camera on small two-dimension displacement vector and velocity.
The technical solution adopted for the present invention to solve the technical problems is: the computing machine camera is connected to a computing machine by USB interface, and this computing machine configuration USB interface, internal memory, CPU, hard disk, display card and display, keyboard and mouse, operating system, webcam driver program and camera are taken and single primary colours frame matcher.
Above-mentioned camera shooting and single primary colours frame matcher have embodied it and have measured the method for small two-dimension displacement, comprise the steps:
1) selects the size (M * N, M, N ∈ positive integer) of bitmap frame according to concrete parameters of pick-up head index, and select shooting speed frame per second faster as far as possible; Take the image of a frame testee, preserve with the form of bitmap, as the reference frame, with the sequential counting of variable i (i ∈ positive integer) the expression reference frame of getting, its initial value is: i=1; For the pel array of captured bitmap correspondence is selected a rectangular coordinate system; Open up a suitable comparison window at the middle section of described pel array, size is taken as m * n, m, and n ∈ integer is chosen suitable initial value: m
0* n
0The horizontal direction of described comparison window and described pel array and the edge pixel of vertical direction be distance h and v pixel respectively, namely has: m+2h=M, n+2v=N, h, v, m, n, M, N ∈ positive integer; Choose one of three kinds of primary colour picture picture frames as measuring object, for example red frame;
2) the auto correlation coefficient of the pel array of comparison window in the described reference frame of calculating:
In the formula, x and y are respectively the coordinates of pixel in the comparison window, and reference (x, the y) value of each pixel of comparison window in the expression reference frame, a=-1,0,1, b=-1,0,1, living 9 the auto correlation coefficient auto_correlation of common property (a, b);
If these auto correlation coefficients have approximately equal more than half and are tending towards 0, the architectural feature on surface that subject is described is meticulous inadequately, value between the neighborhood pixels be can not distinguish, be unfavorable for adopting from now on frame-frame coupling comparative approach to measure displacement, need to enlarge the zone that is used for matching ratio pixel, make m=m
0+ step, n=n
0+ step, step ∈ positive integer namely enlarges the capable and step row of each step of scope of comparison window, recomputate the auto correlation coefficient of comparison window, so repeat, up to finding the coupling that is fit to this body surface texture characteristic with till the comparison window, at this moment, 2h=M-m, 2v=N-n; If exceed certain scope of frame, also do not find suitable comparison window, think that then this part reflecting surface of this object is unsuitable for the surveying work of this device, and provide the prompting warning.
If these auto correlation coefficient approximately equals and be tending towards 0 less than half, the architectural feature on surface that subject is described is enough meticulous, value between the neighborhood pixels can be distinguished, and can further attempt choosing less pel array, to reduce amount of calculation: make m=m
0-step, n=n
0-step, step ∈ positive integer, namely dwindle the capable and step row of each step of scope of comparison window, recomputate the auto correlation coefficient of comparison window, so repeat, up to the auto correlation coefficient approximately equal in present zone and be tending towards 0 be not less than half till, at this moment found under present body surface situation to be used for carrying out matching ratio best pixel array: m=m
0-step, n=n
0-step, 2h=M-m, 2v=N-n.
Step in the above-mentioned formula is the stepping coefficient, chooses according to circumstances, for example step=1.
3) take the second framing bit figure behind Δ t after a while, as the sampling frame and preserve, be illustrated in the sequential counting of same frame reference frame sampling in period frame with variable j (j ∈ positive integer), its initial value is: j=1; The speed of taking the sampling frame is preferably faster than the speed of a pixel unit of object relative displacement.
4) value of the pel array in the comparison window in the described reference frame is carried out cross-matched relatively according to 9 * 9 associate operator arrays in described sampling frame scope, specific algorithm for example:
11) jump to step 4), continue to calculate the cross correlation coefficient, continue to measure.
In the actual measurement process, can also further implement to measure calibration, take this to obtain direct measurement result.
The beneficial effect of patent of the present invention is, (US 7 with respect to " Method for calculating movement value of optical mouseand optical mouse using the same ", 167,161B2, jan.23,2007) displacement measurement method, it has designed the quality of (brightness) auto correlation coefficient calculations methods analyst measured object reflecting surface, the size of regulating the comparison window zone automatically; , two patents of invention of aforementioned relatively submission are only carried out the related coupling of frame-frame of a kind of primary colours frame of image and are calculated, and have both reduced the operational analysis amount, have improved measuring speed, have overcome other wavelength and the influence of variation to measuring thereof again.
Description of drawings
Fig. 1 is measurement mechanism block scheme of the present invention.
Fig. 2 is the synoptic diagram with respect to the auto correlation situation of a point.
Fig. 3 is the synoptic diagram that the photoelectric sensor chip in the computing machine camera carries out the pel array that produces after the opto-electronic conversion.
Related match condition when Fig. 4 represents to upgrade reference frame and comparison window at every turn and is fixed on the middle section of picture frame.
The reverse direction that Fig. 5 represents not upgrade the displacement that reference frame and comparison window calculate toward related coupling moves the related match condition of the amplitude of this displacement.
Among Fig. 1,1. computing machine camera, 2. optical lens, 3. photoelectric sensor chip, 4.USB interface, 5. computer system, 6.USB interface, 7.CPU, 8. internal memory, 9. display card and display, 10. hard disk, 11. keyboards and mouse, 12. operating system, 13. the webcam driver program, 14. cameras are taken and single primary colours frame matcher, 15. light fixture.
Among Fig. 3,20. 1 frame pel arrays, comparison window in 21. reference frames, 22. with reference frame in comparison window make matching ratio sampling frame inner region (illustrated embodiment), the extreme position that comparison window is subjected to displacement in 23. reference frames.
Among Fig. 4,11. N frame, 12. N+1 frame, 13. N+2 frame, 12a. the comparison window zone in the N frame, 12b. the N+1 frame is for the optimal relevance matching area in the comparison window zone (12a) in the N frame, the comparison window zone in the 13a. N+1 frame, and 13b. N+2 frame is for the optimal relevance matching area in the comparison window zone (13a) in the N+1 frame.
Among Fig. 5,21. N frame, 22. N+1 frame, 23. N+2 frame, 22a. the comparison window zone in the N frame, 22b. the N+1 frame is for the optimal relevance matching area in the comparison window zone (22a) in the N frame, the new comparison window zone in the 23a. N frame, and 23b. N+2 frame is for the optimal relevance matching area in comparison window zone (23a) new in the N frame.
Fig. 4 and Fig. 5 are derived from Fig. 2 and the Fig. 3 of " Method for calculating movement value of optical mouse and opticalmouse using the same " (US 7,167,161B2, jan.23,2007).
Embodiment
The method of using computing machine camera list primary colours to measure the small two-dimension displacement of object comprises some steps, these steps technical scheme in " summary of the invention " are set forth clearly, and the concept of relevant calculation frame coupling auto correlation or cross correlation coefficient is referring to two patents of invention and accompanying drawing 2 and the accompanying drawing 3 of aforementioned nearest submission.
Described camera take and the step 8) of single primary colours frame matcher (14) described in " ...; be half the amplitude that comparison window takes place in the described reference frame relative displacement has exceeded this comparison window; at this moment; replace described reference frame with up-to-date sampling frame; its comparison window is repositioned at the central part of new reference frame; ", proposed to upgrade a kind of concrete condition of reference frame herein.The cardinal rule of upgrading reference frame is, the match search zone in comparison window wherein and the sampling frame of taking later, and in other words, sampling frame and reference frame have considerable overlapping region, otherwise have lost the meaning of calculating cross correlation coefficient.The method of above-mentioned renewal reference frame can reflect the measuring accuracy less than a pixel unit, is better than each related method of all upgrading later reference frame of calculating, and these two kinds of methods are respectively referring to Fig. 5 and shown in Figure 4.Suppose that the displacement that object took place in each sample period is :+directions X moves 0.3 pixel unit, and+Y-direction moves 3 pixel units, in first and second two sample periods the actual value of ohject displacement be (0.6,6) (pixel).For Fig. 4, each central authorities that all the comparison window zone are fixed on pel array of measuring, the result who calculates the cross correlation coefficient and get its minimum value is: moved two (0,3) in succession (pixel) in first and second two sample periods, that is each sampling is calculated and all lost+0.3 pixel unit that directions X moves, take place " rounding up ", cause the displacement abandoned of Δ x＜0.5 pixel, total result calculated be (0,6) (pixel).And for Fig. 5, in first sample period, the result who calculates the cross correlation coefficient is, movement of objects (a=0, b=3) (pixel), at this moment, upgrade reference frame (i.e. N frame) without the sampling frame in first sample period (i.e. N+1 frame), but the reverse direction of the past displacement vector that calculates of the comparison window in the reference frame is moved (a=-0 ,-b=-3) (pixel); In second sample period, comparison window is carried out related match search at the N+2 frame, the result who calculates the cross correlation coefficient and get its minimum value is, movement of objects (1,3) (pixel), that is to say, in second sample period, comprised in first sample period shift value at+0.3 pixel unit that directions X moves at the shift value of+directions X, reality has moved 0.6 pixel unit, based on the calculation expression of cross correlation coefficient, it is calculated as 1pixel." Method for calculating movementvalue of optical mouse and optical mouse using the same " (US 7,167,161B2, jan.23,2007) described " if the shift value that calculates of this sample period is less than this estimated value; so, per 4 sample periods are upgraded a reference frame with the sampling frame; If the shift value that this sample period calculates is much smaller than this estimated value, so, per 16 sample periods are upgraded a reference frame with the sampling frame " also be to be worth reference.
Concrete measuring process is:
One, moves the webcam driver program on computers, connect camera to computing machine.
Two, note accomplishing that surveying work environment intraoral illumination evenly and does not substantially change.
Three, camera is aimed at measured object, and the good camera of focus adjustment makes imaging clear.
Four, the operation camera is taken and single primary colours frame matcher (14).
Claims (1)
1. method of using computing machine camera list primary colours to measure small two-dimension displacement, it provides a kind of method of using a computing machine and camera thereof to measure the small two-dimension displacement of object generation, this camera is connected to computing machine by the USB interface on the camera, it is characterized in that, this method is taken by camera and is adopted single primary colours frame matching process to obtain testee in small two-dimension displacement vector and the velocity that take place with the perpendicular plane of the optical axis of camera, comprises the steps:
1) the concrete parameters of pick-up head index of basis is selected the big or small M * N of bitmap frame, M, N ∈ positive integer, and select shooting speed frame per second faster as far as possible, operation computing machine camera is taken the image of a frame testee, preserves with the form of bitmap, as the reference frame; For the pel array of described bitmap correspondence is selected a rectangular coordinate system; Choose a comparison window at the middle section of described pel array, size is taken as m * n, m, n ∈ integer, and for they choose suitable initial value: m
0* n
0, the horizontal direction of described comparison window and described pel array and the edge pixel of vertical direction be distance h and v pixel respectively, namely has: m+2h=M, n+2v=N, h, v ∈ integer; Choose in the picture frame one of three kinds of primary colours as measuring object;
2) the auto correlation coefficient of the pel array of comparison window in the described reference frame of calculating:
In the formula, x and y are respectively the coordinates of pixel in the comparison window, and reference (x, the y) value of each pixel of comparison window in the expression reference frame, a=-1,0,1, b=-1,0,1, living 9 the auto correlation coefficient auto_correlation of common property (a, b);
If these auto correlation coefficients have approximately equal more than half and are tending towards 0, the architectural feature on surface that subject is described is meticulous inadequately, value between the neighborhood pixels be can not distinguish, be unfavorable for adopting from now on frame-frame coupling comparative approach to measure displacement, need to enlarge the zone that is used for matching ratio pixel, make m=m
0+ step, n=n
0+ step, step ∈ positive integer namely enlarges the capable and step row of each step of scope of comparison window, recomputate the auto correlation coefficient of comparison window, so repeat, up to finding the coupling that is fit to this body surface texture characteristic with till the comparison window, at this moment, 2h=M-m, 2v=N-n; If exceed certain scope of frame, also do not find suitable comparison window, think that then this part reflecting surface of this object is unsuitable for the surveying work of this device, and provide the prompting warning;
If these auto correlation coefficient approximately equals and be tending towards 0 less than half, the architectural feature on surface that subject is described is enough meticulous, value between the neighborhood pixels can be distinguished, and can further attempt choosing less pel array, to reduce amount of calculation: make m=m
0-step, n=n
0-step, step ∈ positive integer, namely dwindle the capable and step row of each step of scope of comparison window, recomputate the auto correlation coefficient of comparison window, so repeat, up to the auto correlation coefficient approximately equal in present zone and be tending towards 0 be not less than half till, at this moment found under present body surface situation to be used for carrying out matching ratio best pixel array: m=m
0-step, n=n
0-step, 2h=M-m, 2v=N-n;
Step in the above-mentioned formula is the stepping coefficient, chooses according to circumstances;
3) take the second framing bit figure behind a period of time Δ t, as the sampling frame and preserve, be illustrated in the sequential counting of same frame reference frame sampling in period frame with variable j, wherein, j ∈ positive integer, its initial value is: j=1; Take the speed of sampling frame faster than the speed of a pixel unit of object relative displacement;
4) value of the pel array in the comparison window in the described reference frame is carried out cross-matched relatively according to 9 * 9 associate operator arrays in described sampling frame scope, specific algorithm is as follows:
In the formula, reference (x, y) and comparison (x+a, y+b) represent respectively in the described reference frame with described sampling frame in the brightness value of selected primary colours of each pixel;
Corresponding 9 * 9 associate operator array: a=-4 ,-3 ,-2 ,-1,0 ,+1 ,+2 ,+3 ,+4b=-4 ,-3 ,-2 ,-1,0 ,+1 ,+2 ,+3 ,+4, institute get single primary colours frame common property give birth to 9 * 9 * 1=81 cross correlation coefficient cross_correlation (a, b);
5) value is minimum and be tending towards 0 cross correlation coefficient cross_correlation (a, b) represent that its frame-frame correlation degree is the highest, therefore, corresponding single primary colours frame of getting, obtain direction and mobile amplitude that described sampling frame moves relative to described reference frame: Δ X=a, Δ Y=b, this is the relative displacement vector that object takes place in this sample period;
6) in the measuring process, the total relative displacement vector of object is the relative displacement vector of object accumulation in the past and the relative displacement vector sum that object takes place in this sample period;
7) according to above-mentioned displacement vector and take Δ t interval time between the above-mentioned two continuous frames, obtain the velocity of ohject displacement:
Δv
x＝ΔX/Δt，Δv
y＝ΔY/Δt；
8) if the relative displacement that comparison window takes place in the described reference frame has exceeded half of amplitude of this comparison window, at this moment, replace described reference frame with up-to-date sampling frame, its comparison window is repositioned at the central part of new reference frame; If the relative displacement that comparison window takes place in the described reference frame does not exceed half of amplitude of this comparison window, then do not upgrade described reference frame, but the comparison window generation relative displacement in the described reference frame: Δ x=-a, Δ y=-b;
9) adjust the interior comparison window of described reference frame and in described sampling frame scope, carry out cross-matched associate operator array relatively: if satisfy condition: | a|＜3﹠amp; | b|＜3 change and get 5 * 5 associate operator array: a=-2 ,-1,0 ,+1 ,+2, b=-2 ,-1,0 ,+1 ,+2; If do not satisfy this condition, and satisfy condition: 3≤| a|＜5﹠amp; 3≤| b|＜5 change and get 7 * 7 associate operator array: a=-3 ,-2 ,-1,0 ,+1 ,+2 ,+3, b=-3 ,-2 ,-1,0 ,+1 ,+2 ,+3; If above-mentioned two conditions are not being met, then still be taken as 9 * 9 associate operator arrays, to reduce amount of calculation;
10) take a new frame as the sampling frame and preserve, the frame-frame period time of taking the sampling frame faster than or time of spending near pixel unit of object relative displacement;
11) jump to step 4), continue to calculate the cross correlation coefficient, obtain relative displacement vector and velocity.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6249591B1 (en) * | 1997-08-25 | 2001-06-19 | Hewlett-Packard Company | Method and apparatus for control of robotic grip or for activating contrast-based navigation |
| WO2002071046A1 (en) * | 2001-03-05 | 2002-09-12 | Camtek, Ltd. | Method for optically enhancing contrast in high-throughput optical inspection |
| CN1776358A (en) * | 2005-11-23 | 2006-05-24 | 宁铎 | Newmethod for contactless measuring displacement and deformation of object in three-dimensional space |
| CN1818545A (en) * | 2006-03-02 | 2006-08-16 | 浣石 | Small-displacement measuring system in long-distance plane |
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2009
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6249591B1 (en) * | 1997-08-25 | 2001-06-19 | Hewlett-Packard Company | Method and apparatus for control of robotic grip or for activating contrast-based navigation |
| WO2002071046A1 (en) * | 2001-03-05 | 2002-09-12 | Camtek, Ltd. | Method for optically enhancing contrast in high-throughput optical inspection |
| CN1776358A (en) * | 2005-11-23 | 2006-05-24 | 宁铎 | Newmethod for contactless measuring displacement and deformation of object in three-dimensional space |
| CN1818545A (en) * | 2006-03-02 | 2006-08-16 | 浣石 | Small-displacement measuring system in long-distance plane |
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