CN102313515A - Three-dimensional digital image correlation (3D-DIC) correcting method - Google Patents
Three-dimensional digital image correlation (3D-DIC) correcting method Download PDFInfo
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- CN102313515A CN102313515A CN2010102265831A CN201010226583A CN102313515A CN 102313515 A CN102313515 A CN 102313515A CN 2010102265831 A CN2010102265831 A CN 2010102265831A CN 201010226583 A CN201010226583 A CN 201010226583A CN 102313515 A CN102313515 A CN 102313515A
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Abstract
The invention relates to a three-dimensional digital image correlation (3D-DIC) correcting method. The method comprises the following steps of: providing a 3D-DIC system; providing a correction sheet, and fixedly arranging the correction sheet at a position which is the same as that of an object to be detected; performing a system correction program; simultaneously swinging a first image acquisition device and a second image acquisition device which serve as the same unit to acquire a plurality of correction images of the correction sheet, wherein each correction image comprises a plurality of identical circular points on the correction sheet, and gaps among the circular points are the same as one another and are preset; and computing a plurality of system parameters by using the gaps, wherein the system parameters are applied in measurement and operation of the object to be detected. In the invention, the correction sheet is not required to be swung, so that the method can be suitable for a correction program with a longer distance and a wider range.
Description
Technical field
The present invention relates to a kind of bearing calibration of 3-dimensional digital correction of image method; Be particularly related to a kind of wobbling correction sheet that need not, so be suitable for microscopic measurement or distance is long, scope is wide and need not to limit the bearing calibration of the 3-dimensional digital correction of image method of correcting sheet rigidity.
Background technology
Along with the progress of each item science and technology, measuring technique is widely used on the precise verification of industry manufacturing and civil construction.According to whether contacting, measuring technique can be divided into contact and contactless, and contact type measurement technology wherein is longer because of Measuring Time, and has destructiveness, therefore uses to be restricted; And non-contact measurement, for example the ultrasonic formula is measured, optical profile type is measured, and is fast because of its measuring speed, and processing speed is high, and not direct contact measured thing, thereby obtains to use widely.
In the optical profile type measuring technique, 3-dimensional digital correction of image method (three dimensionaldigital image correlation is called for short 3D-DIC) is a kind of 3-dimensional digital radiographic measurement analytic system, and it has noncontact and nondestructive characteristic.Fig. 1 has shown the figure that sets up of known 3-dimensional digital correction of image method system, and it comprises one first image capture unit 1, one second image capture unit 2, a light source 3 and a processor 4.Those image capture units 1,2 can be CCD camera or video camera.One determinand 5 is arranged at the focus point (focus) of this first image capture unit 1 and second image capture unit, 2 camera lenses; The uniform light of said light source 3 projections is in this determinand 5; Obtain the surface image of determinand 5 simultaneously by first image capture unit 1 and second image capture unit 2, and image input processor 4 is carried out data processing and analysis.
The process of analyzing; 3-dimensional digital correction of image method is divided into a plurality of less subregions (subset) with institute's picked image; The left hand view of Fig. 2 shows determinand 5 distortion preceding (un-deformed) subregion 50 before a wherein distortion of over-segmentation; Be generally the accuracy that increases comparison effect and analysis, often make irregular spot figure line (speckle patterns) at random, the GTG figure line that is shown like Fig. 2 subregion 50 before distortion in the surface of determinand 5.After the right part of flg of Fig. 2 is shown in distortion, the image of the determinand 5 that is captured through those image capture units 1,2.Utilize Deformation Theory and related algorithm; And the figure line of determinand 5 before and after the comparison distortion; Can try to achieve subregion 51 after the distortion of subregion 50 before the corresponding distortion; And obtain the displacement and the strain of distortion back subregion 51, through further analyzing all subregions of union comparison, the universe deformation that then can set up out determinand 5.
Before the data processing and analysis of 3-dimensional digital correction of image method, necessary first corrective system is to confirm the accuracy of down-stream.Please get back to Fig. 1, known technology provides a correcting sheet 6, and a plurality of round dots 61 are provided on this correcting sheet 6; To be that equidistance and each item are of a size of preset known because of the spacing of these round dots 61; Therefore through before correcting sheet 6 being arranged at those image capture units 1,2, swing (shown in Fig. 1 arrow) at any angle, and the image of the round dot 61 of acquisition correcting sheet 6 is analyzed; Calculate by the constant spacing between those round dots 61, and accomplish the program of proofreading and correct.
For guaranteeing correcting sheet 6 in the process of swing, be unlikely producing distortion easily and the accuracy of effect correction, correcting sheet 6 is often implemented to have thickness and on-deformable metal plate, to realize preferable rigidity, is out of shape and be unlikely easily.In addition, a kind of correcting sheet 6 of kenel is also arranged, utilize to make to process and offer those round dots 61.Yet these correcting sheets 6 are with high costs because of metal plate, and if realize round dot 61 palpus higher precision usually with processing perforate mode, implement to be difficult for.
In addition, the range of application of 3-dimensional digital correction of image method is quite wide, can be applicable to the relevant building of building in a big way.Yet for those application on buildings on a large scale, because of those image capture units 1,2 must be set up in apart from outside determinand 5 distance quite far away, so wobbling correction sheet 6 is implemented comparatively difficulty.In addition, for the measurement (like millimeter, micron-scale) of microscopic dimensions, the size of proofreading and correct test piece is also relatively small many, the degree of difficulty in the time of so more can significantly deepening to swing formal sheet.
Summary of the invention
Therefore, the object of the present invention is to provide a kind of bearing calibration of 3-dimensional digital correction of image method, it need not the wobbling correction sheet, therefore can be used in the big or distance correction program far away of microscopic measurement or scope, and need not to limit the rigidity of correcting sheet.
The present invention is a kind of bearing calibration of 3-dimensional digital correction of image method; Its step comprises: a 3-dimensional digital correction of image method system is provided: this system is arranged at a determinand one focus point of one first image capture unit and one second image capture unit; And with the uniform light of a light source projection in determinand; System is connected with a processor, and this processor can provide data processing and analytical work; One correcting sheet is provided, correcting sheet is fixedly set in the position identical with this undetected object; Carry out a system compensation program: this first image capture unit and this second image capture unit are regarded as same unit and swing simultaneously, obtain a plurality of correcting images of correcting sheet; Each correcting image all comprises a plurality of round dots identical on the correcting sheet, and the spacing between those round dots is a preset space length for equal and this spacing,, uses for the measurement computing of this determinand to calculate a plurality of systematic parameters through those spacings.Because of the present invention need not the wobbling correction sheet, therefore applicable to microscopic measurement or length and the wider measurement of scope of distance.
Compared to known technology, because of need not the wobbling correction sheet, it is bigger therefore can to use the correcting range distance.In addition, in one embodiment of the invention, because of need not to limit the rigidity of correcting sheet, correcting sheet can be the sheet material, therefore makes upward relatively easy and with low cost.
Relevant detailed technology content of the present invention and preferred embodiment, conjunction with figs. explanation as after.
Description of drawings
Embodiment of the present invention is for combining graphic the description:
Fig. 1 shows the figure that sets up of known 3-dimensional digital correction of image method system;
Fig. 2 shows the wherein subregion of determinand distortion preceding (un-deformed) through over-segmentation, and shows through the corresponding subregion image after the distortion that image capture unit captured;
Fig. 3 shows the model synoptic diagram of 3-dimensional digital image measuring system;
Fig. 4 shows an embodiment of 3-dimensional digital correction of image method of the present invention;
Fig. 5 shows with the resulting determinand surface topography analysis chart of known correction methods;
Fig. 6 shows with the resulting determinand surface topography analysis chart of bearing calibration of the present invention; And
The comparison diagram of Fig. 7 for drawing according to the data of table 1 in this instructions and table 2.
Embodiment
Following explanation and example are in order to explain details of the present invention.But those skilled in the art should understand easily, contains down in embodiments of the invention, and those embodiment that addressed should have suitable variation and improvement.Therefore, the embodiment that carries after is used to limit protection category of the present invention.
Relevant detailed description of the present invention and technology contents, existing conjunction with figs. is explained as follows:
Fig. 3 shows the model synoptic diagram of 3-dimensional digital correction of image method system; It comprises this first image capture unit 1 and this second image capture unit 2, and wherein, the optical center of this first image capture unit 1 is arranged at a device coordinate axis (x
1, y
1, z
1) initial point, the optical center of second image capture unit 2 then is arranged at another device coordinate axis (x
2, y
2, z
2) initial point; The z of first image capture unit 1
1The axle or the z of second image capture unit 2
2All pairing with it optical main axis of axle (optical axis) coincides.The place ahead of its corresponding camera lens will be presented in the ideal image plane of image capture unit 1,2, and wherein, the center of first imaging plane 10 of first image capture unit 1 is defined as an image coordinate axle (x
1', y
1') initial point, the center of second imaging plane 20 of second video camera 2 then is defined as another image coordinate axle (x
2', y
2') initial point.On this determinand 5 certain a bit can be arranged at a reference coordinate axle (X
R, Y
R, Z
R), (x, y is z) with reference coordinate (X for the device coordinate that first image capture unit 1 and second image capture unit 2 can be own
R, Y
R, Z
R) change reference coordinate (X then
R, Y
R, Z
R) and the device coordinate (relation z) can be expressed as following formula (1) for x, y:
Wherein [R] one comprises θ
x, θ
y, θ
zThe 3x3 rotation matrix of three systematic parameters (rotation matrix); And [T] one comprises T
x, T
y, T
zThe translation matrix of three systematic parameters (translation matrix).By the funtcional relationship of similar triangles, further, image coordinate (x ', y ') can by the device coordinate (x, y, z) the formula conversion below utilizing:
Wherein f is the focal length of camera lens.
By formula (1) and formula (2), in known θ
x, θ
y, θ
z, T
x, T
y, T
zAnd under the situation of seven systematic parameters of f, then can three-dimensional reference coordinate system be converted into the image coordinate system of two dimension.
Aforementioned correlation formula that discloses (1) and formula (2) are an ideal model, further consider the distortion (lens distortion) of camera lens like need, and then the image coordinate fibrous root is revised conversion according to distortion; Wherein, distortion coordinate (x
d', y
d') with image coordinate (x ', y ') transformational relation can be expressed as:
Wherein
And k
iBe a coefficient of radial distortion (radialdistortion coefficient).
Behind image capture, (h, v), its coordinate axis unit is picture element (pixel) to be stored in the digitized video coordinate of processor 4.Fig. 3 show 1 pick-up image of corresponding first image capture unit the digitized video coordinate (h1, v1) and the digitized video coordinate of 2 pick-up images of corresponding second image capture unit (h2, v2).And the digitized video coordinate (h is v) with distortion coordinate (x
d', y
d') relation can be expressed as formula (4):
h＝x
d′+C
x
....................................(4)
v＝λy
d′+C
y
(C wherein
x, C
y) be that the center of institute's pick-up image is in digitized video coordinate (h, coordinate position v), and λ is the aspect ratio (aspect ratio) of image.
In this, formula capable of using (1) is to formula (4), with image coordinate (x ', y ') capture have a few, in obtaining θ
x, θ
y, θ
z, T
x, T
y, T
z, f, k
i, C
x, C
y, λ is after totally 11 systematic parameters, can convert into the digitized video coordinate (h, v).
Before applying three-dimensional digital measurement correlation measurement, must further obtain θ via the program of proofreading and correct
x, θ
y, θ
z, T
x, T
y, T
z, f, k
i, C
x, C
y, systematic parameter such as λ, obtain those systematic parameters after, can obtain the measurement result of determinand 5 by comparison and computing.
The present invention is a kind of bearing calibration of 3-dimensional digital correction of image method, and a 3-dimensional digital correction of image method system is provided in this bearing calibration; As shown in Figure 4, this system comprises: one first image capture unit 1, one second image capture unit 2, a light source 3 and a processor 4.One determinand 5 is arranged at the focus point of this first image capture unit 1 and these second image capture unit, 2 camera lenses, and throws uniform light in determinand 5 with this light source 3.This system will provide data processing and analytical work by this processor 4 by this processor 4 of 1,2 picked image inputs of this image capture unit.
In one embodiment of the invention, a correcting sheet 6 is provided, and correcting sheet 6 is fixedly set in the same position with determinand 5.For obtaining θ
x, θ
y, θ
z, T
x, T
y, T
z, f, k
i, C
x, C
y, systematic parameter such as λ, and accomplish the program of proofreading and correct, in one embodiment of the invention,, obtain correcting image to swing the mode of first image capture unit 1 and second image capture unit 2 simultaneously.Above-described " swing simultaneously " is that first image capture unit 1 and second device for image 2 are changed the position as same unit; Carry out three axial rotations or/and position change (such as Fig. 4 arrow signal); Under the immovable situation of relative position of first image capture unit 1 and second image capture unit 2, and obtain the image of different captures position.
In above-mentioned 11 systematic parameters, θ wherein
x, θ
y, θ
z, T
x, T
y, T
zBe external parameter, and f, k
i, C
x, C
y, λ is inner parameter; Because of 5 " inner parameters " only are relevant to image capture unit, therefore the change position of the image capture unit in correction program will can not change inner parameter, and only can change other 6 external parameters.Suppose in correction program; At least must swing first image capture unit 1 and second image capture unit 2 simultaneously; And obtain M correcting image, because of each correcting image is relevant with the external parameter of 6 the unknowns, so M correcting image will be relevant to the individual external parameter of 6M (6 times M).Suppose all identical N the round dot 61 that captures on the correcting sheet 6 of each correcting image, also be relevant to X because of the position of each round dot 61 is provided with
R, Y
R, Z
RThree coordinate axis parameters, so N round dot 61 will produce the unknown number of 3N (3 times of N).Consider that again inner parameter has 5, it does not receive the influence of correction oscillation, and is therefore all irrelevant with M or N.Therefore, M correcting image all captures N round dot 61 and will produce 6M+3N+5 unknown number.In each correcting image; Each round dot 61 of correcting sheet (6) will provide a numerical value supplier formula to find the solution; Therefore M image will provide MN (M N doubly) individual numerical solution; Satisfy under the situation of MN＞6M+3N+5 in M correcting image, the correcting image that is then captured enough solves all systematic parameters of correction program.It is following to separate MN＞6M+3N+5:
M＞(3N+5)/(N-6)-------------------------------------(5)
In other words, the correcting image number M must satisfy formula (5) and can obtain all systematic parameters.
Please get back to Fig. 1, as previously mentioned, consider in the prior art that correcting sheet 6 carries out correction oscillation, therefore need keep the rigidity of correcting sheet 6, therefore known correcting sheet 6 often uses the rigidity material or/and offers those round dots 61 through Precision Machining.Because of the bearing calibration of 3-dimensional digital correction of image method provided by the present invention need not wobbling correction sheet 6; Therefore in another embodiment of the present invention; Correcting sheet 6 can use the sheet material, for example replaces with paper or plastic plate, will print off with the mode of the printing round dot 61 with correcting sheet 6.In the use, the sheet material that only needs to comprise round dot 61 is pasted mode with one and is fixedly set in determinand 5 surfaces, can carry out correction work.So, correcting sheet 6 does not occupy large space, and making and with low cost easily.
In the accuracy of checking bearing calibration provided by the present invention, use known correction methods and bearing calibration of the present invention that measuring system is proofreaied and correct respectively, carry out follow-up process of measurement again.Fig. 5 and Fig. 6 show respectively that with known correction methods and bearing calibration of the present invention to the resulting determinand surface topography of macroscopical determinand analysis chart, the visual field size that image capture unit is taken is about 50mm*50mm, and it shows that both are very close.Therefore on the practice, the surface topography map that the correction program of failure will be twisted very much can be verified the feasibility of bearing calibration provided by the present invention.Following table 1 and table 2 show under known correction methods and the bearing calibration of the present invention; Resulting data are tested in translation of rigid body to macro object; Percentage error wherein is with the measurement of gained under the different bearing calibrations and the difference of actual displacement, is compared to the number percent of actual displacement.The comparison diagram of Fig. 7 for drawing according to the data of table 1 and table 2, both experimental results are almost consistent.Table 3 item is that the present invention is applied to the translation of rigid body experimental data that micro-object is measured; The image capture unit of its use comprises a high-resolution lens; It is taken visual field size and is about 3mm*3mm, and the result shows that the error after the present invention proofreaies and correct is minimum, can be used for the measurement of microcosmic.
Translation of rigid body under table 1 known correction methods is measured
| Real displacement | (mm) measured in the translation of rigid body of known correction method | Error (%) |
| 0.1 | 0.099382 | 0.62 |
| 0.2 | 0.198629 | 0.69 |
| 0.3 | 0.298717 | 0.43 |
| 0.4 | 0.397927 | 0.52 |
| 0.5 | 0.496397 | 0.72 |
| 0.6 | 0.59466 | 0.89 |
| 0.7 | 0.692633 | 1.05 |
| 0.8 | 0.791698 | 1.04 |
| 0.9 | 0.891195 | 0.98 |
| 1 | 0.988782 | 1.12 |
| 2 | 1.98091 | 0.95 |
Translation of rigid body under table 2 bearing calibration of the present invention is measured
| Real displacement | Translation of rigid body under the bearing calibration of the present invention is measured | Error % |
| 0.1 | 0.0986577 | 1.34 |
| 0.2 | 0.198158 | 0.92 |
| 0.3 | 0.297187 | 0.94 |
| 0.4 | 0.398678 | 0.33 |
| 0.5 | 0.498635 | 0.27 |
| 0.6 | 0.596883 | 0.52 |
| 0.7 | 0.696831 | 0.45 |
| 0.8 | 0.796599 | 0.43 |
| 0.9 | 0.895341 | 0.52 |
| 1 | 0.994967 | 0.50 |
| 2 | 1.99524 | 0.24 |
Microcosmic translation of rigid body under table 3 bearing calibration of the present invention is measured
| Real displacement (mm) | Translation of rigid body under the bearing calibration of the present invention is measured | Error % |
| 0.01 | 0.010296 | 2.96 |
| 0.02 | 0.020165 | 0.83 |
| 0.03 | 0.030205 | 0.68 |
| 0.04 | 0.040402 | 1 |
| 0.05 | 0.050442 | 0.88 |
| 0.06 | 0.060681 | 1.14 |
| 0.07 | 0.070779 | 1.11 |
| 0.08 | 0.080421 | 0.53 |
| 0.09 | 0.091522 | 1.69 |
| 0.10 | 0.101509 | 1.51 |
| On average | 1.23 |
The above is merely the preferred embodiments of the present invention, and the scope of patent protection of non-desire limitation patent of the present invention so the equivalence of using instructions of the present invention and accompanying drawing content to do such as changes and modifies, all in like manner is contained in rights protection scope of the present invention.
Claims (7)
1. the bearing calibration of a 3-dimensional digital correction of image method is characterized in that, the step of said bearing calibration comprises:
(a) a 3-dimensional digital correction of image method system is provided: said system is arranged at a determinand one focus point of one first image capture unit and one second image capture unit; And pass through a light source to the uniform light of said determinand projection; Said system is connected with a processor, and said processor can provide data processing and analytical work;
(b) correcting sheet is provided, said correcting sheet is fixedly set in and the identical position of said undetected object (5);
(c) carry out a system compensation program: said first image capture unit and said second image capture unit are regarded as same unit and swing simultaneously, obtain a plurality of correcting images of correcting sheet; Said a plurality of correcting image all comprises a plurality of round dots on the correcting sheet, and the spacing between the said round dot is a preset space length for equal and said spacing, goes out a plurality of systematic parameters by said distance computation, uses for the measurement computing of said determinand.
2. the bearing calibration of 3-dimensional digital correction of image method according to claim 1; It is characterized in that; Swing is under the immovable situation of both relative positions in the time of said first image capture unit and said second image capture unit, and carries out three axial rotations or/and position change.
3. the bearing calibration of 3-dimensional digital correction of image method according to claim 1; It is characterized in that; Said correcting sheet is a sheet material; And with mode of printing said round dot is printed on said correcting sheet, wherein, said correcting sheet is pasted mode with one and is fixedly set in the position identical with said determinand.
4. the bearing calibration of 3-dimensional digital correction of image method according to claim 3 is characterized in that, said sheet material can be paper or plastics.
5. the bearing calibration of 3-dimensional digital correction of image method according to claim 1 is characterized in that, (c) also comprises one (d) step after the step: carry out a process of measurement.
6. the bearing calibration of 3-dimensional digital correction of image method according to claim 1 is characterized in that, the quantity of said systematic parameter is 11.
7. the bearing calibration of 3-dimensional digital correction of image method according to claim 6; It is characterized in that; When correcting image is M; And each correcting image all comprises N round dot of correcting sheet, and then M must be following in the situation greater than (3N+5)/(N-6), and the correcting image that is captured just enough solves said a plurality of systematic parameter.
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| CN104811604A (en) * | 2014-01-28 | 2015-07-29 | 聚晶半导体股份有限公司 | Image obtaining device and image deformation correction method thereof |
| CN109360246A (en) * | 2018-11-02 | 2019-02-19 | 哈尔滨工业大学 | Stereo vision three-dimensional displacement measurement method based on synchronous sub-district search |
| CN109974577A (en) * | 2019-04-25 | 2019-07-05 | 业成科技（成都）有限公司 | Wavefront interferometer and its bearing calibration |
| CN113310420A (en) * | 2021-04-22 | 2021-08-27 | 中国工程物理研究院上海激光等离子体研究所 | Method for measuring distance between two targets through image |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104811604A (en) * | 2014-01-28 | 2015-07-29 | 聚晶半导体股份有限公司 | Image obtaining device and image deformation correction method thereof |
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| CN109360246B (en) * | 2018-11-02 | 2021-10-29 | 哈尔滨工业大学 | Stereoscopic vision three-dimensional displacement measurement method based on synchronous subarea search |
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| CN109974577B (en) * | 2019-04-25 | 2020-12-08 | 业成科技（成都）有限公司 | Wave surface interferometer and correction method thereof |
| CN113310420A (en) * | 2021-04-22 | 2021-08-27 | 中国工程物理研究院上海激光等离子体研究所 | Method for measuring distance between two targets through image |
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