CN102339463B - Based on the system and method for laser scanner calibration line array camera - Google Patents
Based on the system and method for laser scanner calibration line array camera Download PDFInfo
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- CN102339463B CN102339463B CN201010236249.4A CN201010236249A CN102339463B CN 102339463 B CN102339463 B CN 102339463B CN 201010236249 A CN201010236249 A CN 201010236249A CN 102339463 B CN102339463 B CN 102339463B
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Abstract
A kind of system based on laser scanner calibration line array camera, comprise bogey, laser scanner and resolver, laser scanner is arranged on bogey, bogey is equiped with a support, for fixing a line-scan digital camera, laser scanner is positioned at below line-scan digital camera, swash its laser scanning direction parallel with the lens direction of line-scan digital camera, and the node of laser scanner and line-scan digital camera is on same vertical straight line, laser scanner scans obtains the cloud data of measured target object, the position that line-scan digital camera shooting laser scanner scans is to obtain the view data of measured target thing, resolver receives cloud data and view data, and characteristic matching is carried out to the data received, and according to the elements of interior orientation of data operation line-scan digital camera received.Present invention also offers a kind of method based on laser scanner calibration line array camera, the described system and method based on laser scanner calibration line array camera reduces the workload of calibration line array camera.
Description
Technical field
The present invention relates to a kind of scaling method of line-scan digital camera, particularly relate to a kind of system and method based on laser scanner calibration line array camera.
Background technology
Day by day universal along with three-dimensional spatial information service, people require more and more higher to the verisimilitude of virtual reality, and three-dimensional measurement technology is also more and more concerned.At present, three-dimensional measurement technology obtains the image of measured target thing mainly through line-scan digital camera, and further by resolving the elements of interior orientation of camera to rebuild the absolute three-dimensional coordinate of measured target thing, namely the process resolving camera internal position element is called the demarcation of camera, because the relative position when dynamically taking between line-scan digital camera and object constantly changes, traditional camera calibration technology needs to design target, analyze the distribution of characteristic curve in image on target, determine the relative position relation poster camera, and then the elements of interior orientation of calibration for cameras, this method not only needs a large amount of operands, and stated accuracy is also difficult to ensure.
Summary of the invention
In view of the above-mentioned problems in the prior art, fundamental purpose of the present invention is to address the deficiencies of the prior art, and provides a kind of workload, the calibration system of line-scan digital camera that camera calibration precision is high and the method that reduce camera calibration.
A kind of system based on laser scanner calibration line array camera, comprise a bogey, one laser scanner and a resolver, described laser scanner is arranged on described bogey, described bogey is equiped with a support, for fixing a line-scan digital camera on described support, described laser scanner is positioned at the below of described line-scan digital camera, the laser scanning direction of described laser scanner is parallel with the lens direction of line-scan digital camera, and the node of described laser scanner and line-scan digital camera is on same vertical straight line, described laser scanner scans obtains the cloud data of a measured target object, described line-scan digital camera takes position that described laser scanner scans to obtain the view data of described measured target thing, described resolver is for receiving cloud data and view data, and characteristic matching is carried out to the data received, and the elements of interior orientation of described line-scan digital camera is gone out according to the data operation received,
Also comprise a filter, described filter is fixing on the bracket, and for installing described line-scan digital camera;
Described filter comprises one first dull and stereotyped, one second dull and stereotyped and one the 3rd flat board, and the described first to the 3rd flat board is stacked successively from top to bottom, and is fixed together by the setting nut in space between multiple adjustable first, second flat board described.
Based on a method for laser scanner calibration line array camera, comprising:
The cloud data of a measured target object is obtained by a laser scanner;
Take position that described laser scanner scans to obtain the view data of described measured target thing by a line-scan digital camera to be calibrated, the direction of scanning of wherein said laser scanner and the node of described laser scanner and line-scan digital camera parallel with the lens direction of line-scan digital camera is on same vertical straight line; And
Receive described cloud data and view data by a resolver, and characteristic matching is carried out to the data received, and go out the elements of interior orientation of described line-scan digital camera according to the data operation received;
Described line-scan digital camera is mounted on a filter, and described filter is arranged between described laser scanner and line-scan digital camera, and the described method based on laser scanner calibration line array camera is further comprising the steps of:
The attitude of being finely tuned described line-scan digital camera by described filter plate is parallel with the direction of scanning of the lens direction with laser scanner that make described line-scan digital camera.
The described system and method based on laser scanner calibration line array camera is by making the laser scanning direction of described laser scanner parallel with the lens direction of the line-scan digital camera that generation is demarcated, and both nodes are on same vertical straight line, and by described resolver, characteristic matching is carried out to the cloud data obtained and view data, obtain cloud data and the view data with same characteristic features, and the elements of interior orientation of calibration line array camera is carried out according to described cloud data and view data, getting final product side in calibration line array camera without the need to design demarcation target is element, reduce the operand that line-scan digital camera is demarcated, and there is higher stated accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of the better embodiment of the system that the present invention is based on laser scanner calibration line array camera.
Fig. 2 is the process flow diagram of better embodiment that is that the present invention is based on laser scanner calibration line array camera and method.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings and the specific embodiments.
Please refer to Fig. 1, the better embodiment that the present invention is based on the system 1 of laser scanner calibration line array camera comprises bogey 10, laser scanner 12, filter 14 and a resolver 18, the described system 1 based on laser scanner calibration line array camera is for demarcating a line-scan digital camera 16, and described camera 16 for obtaining the image of a measured target object in three-dimensional measurement process.
Described laser scanner 12, filter 14 and line-scan digital camera 16 are installed on described bogey 12, wherein, described laser scanner 12 is arranged on the surface of described bogey 10, described bogey 10 is vertically fixed with a support 15, described support 15 is fixed on laser scanner 12 around, described filter 14 is fixed on described support 15, is positioned at the top of described laser scanner 12.
Described filter 14 comprises one first flat board 141,1 second flat board 142, the 3rd dull and stereotyped 143 and multiple setting nut 144, described first, second and third dull and stereotyped 141-143 is stacked successively from top to bottom, and be fixed together by described multiple setting nut 144, described multiple setting nut 144 is distributed in the diverse location of described filter 14.Described line-scan digital camera 16 is fixed on described 3rd flat board 143, the lens direction of described line-scan digital camera 16 and the laser scanning line parallel of described laser scanner 12, and both nodes (i.e. the scanning center of described laser scanner 12 and the optical centre of described line-scan digital camera) are on same vertical straight line.In other embodiment, the mode of described line-scan digital camera 16 also by suspending in midair is fixed on the top of described laser scanner 12, described line-scan digital camera 16 also can be arranged on the below of described laser scanner 12, as long as make the laser scanning direction of the lens direction of described line-scan digital camera 16 and laser scanner 12 parallel, and both nodes are at same vertical straight line.
Described resolver 18 is a computing machine, and described resolver is connected with described laser scanner 12 and line-scan digital camera 16 by cable.
Described line-scan digital camera 16 is for taking a measured target object to obtain the view data of described measured target object, described laser scanner 12 is for obtaining the cloud data of described measured target object by the mode of laser scanning, described laser scanner 12 is also as the external trigger source of described line-scan digital camera 16, take by triggering described line-scan digital camera 16 to described line-scan digital camera transmission pulse signal, keep synchronousing working with described laser scanner 12 to make described line-scan digital camera 16, namely described laser scanner 12 makes described line-scan digital camera 16 also take this position while a certain position of scanning.Described resolver 18 receives cloud data that described laser scanner 12 obtains and view data carries out characteristic matching, and calculates the elements of interior orientation of described line-scan digital camera 16 by adjustment computing.
There is deviation when causing the lens direction of described line-scan digital camera 16 and the laser scanning direction of laser scanner 12 due to external factor such as vibrations and not parallel time, can according to the setting nut 144 of the operating angle diverse location of deviation, make described first, second flat board 141, between 142, there is space, and according to extent of deviation described first, second flat board 141, pad chi or the pad 17 of suitable thickness is filled in space between 142, to finely tune the attitude of described line-scan digital camera 16, make the lens direction of described line-scan digital camera 16 parallel with the laser scanning direction of laser scanner 12.In other embodiments, such as, enough hour of the vibrations produced in the measuring system that some accuracy requirements are lower or when described laser scanner 12 and line-scan digital camera 16, can not finely tune the attitude of described line-scan digital camera 16, therefore can directly make the 3rd flat board 143 of the described line-scan digital camera of carrying 16 be fixed on described support 15, and omit described first, second flat board 141,142, described multiple setting nut 144 and described pad or pad chi 17.
Please refer to Fig. 2, the present invention is based on the approach application of laser scanner calibration line array camera in the described system 1 based on laser scanner calibration line array camera, its better embodiment comprises the steps:
Step S1: scan measured target object to obtain the cloud data of target object by described laser scanner 12;
Step S2: described laser scanner 12 triggers described line-scan digital camera 16 takes to obtain described measured target object view data to described measured target object, described laser scanner 12 while scanning measured target object, triggers described line-scan digital camera 16 take, to make described line-scan digital camera 16 and laser scanner 12 synchronous working, because the lens direction of described line-scan digital camera 16 is parallel with the direction of scanning of laser scanner 12, and the laser node of described laser scanner 12 and the camera lens node of described line-scan digital camera are at same vertical straight line, described line-scan digital camera 16 can photograph current the scanned position of described laser scanner 12.In present embodiment, described step S2 and step S1 carries out simultaneously;
Step S3: regulate space between first, second flat board 141,142 described by operating described multiple setting nut 144, and in this space, fill in pad or pad chi 17 makes the lens direction of described line-scan digital camera 10 parallel with the direction of scanning of laser scanner 12; And
Step S4: the view data that the cloud data obtained described laser scanner 14 by described resolver 18 and described line-scan digital camera 10 are obtained carries out characteristic matching, and computing is carried out to obtain the elements of interior orientation of described line-scan digital camera 16 to described cloud data and view data, realize the demarcation to described line-scan digital camera 16, wherein, described resolver 18 is that to obtain in described line-scan digital camera 160 side be element by the mode of adjustment computing.
Because the laser scanning direction of laser scanner 12 is parallel with the lens direction of line-scan digital camera 16, and the node of described laser scanner 12 and line-scan digital camera 16 on the same line, gathered cloud data and the consistance of view data can be ensured, contribute to scanning searching of the some cloud obtained and the same characteristic features point taking the image obtained, therefore demarcate without the need to design the demarcation that target can realize line-scan digital camera, save operand and there is higher stated accuracy.
Claims (7)
1. the system based on laser scanner calibration line array camera, comprise a bogey, one laser scanner and a resolver, described laser scanner is arranged on described bogey, described bogey is equiped with a support, for fixing a line-scan digital camera on described support, described laser scanner is positioned at the below of described line-scan digital camera, the laser scanning direction of described laser scanner is parallel with the lens direction of line-scan digital camera, and the node of described laser scanner and line-scan digital camera is on same vertical straight line, described laser scanner scans obtains the cloud data of a measured target object, described line-scan digital camera takes position that described laser scanner scans to obtain the view data of described measured target thing, described resolver is for receiving cloud data and view data, and characteristic matching is carried out to the data received, and the elements of interior orientation of described line-scan digital camera is gone out according to the data operation received,
Also comprise a filter, described filter is fixing on the bracket, and for installing described line-scan digital camera;
Described filter comprises one first dull and stereotyped, one second dull and stereotyped and one the 3rd flat board, and the described first to the 3rd flat board is stacked successively from top to bottom, and is fixed together by the setting nut in space between multiple adjustable first, second flat board described.
2. as claimed in claim 1 based on the system of laser scanner calibration line array camera, it is characterized in that: described laser scanner is by realizing the synchronous working between described laser scanner and line-scan digital camera to described line-scan digital camera transmission pulse signal.
3., as claimed in claim 1 based on the system of laser scanner calibration line array camera, it is characterized in that: described resolver is a computing machine.
4., based on a method for laser scanner calibration line array camera, comprising:
The cloud data of a measured target object is obtained by a laser scanner;
Take position that described laser scanner scans to obtain the view data of described measured target thing by a line-scan digital camera to be calibrated, the direction of scanning of wherein said laser scanner and the node of described laser scanner and line-scan digital camera parallel with the lens direction of line-scan digital camera is on same vertical straight line; And
Receive described cloud data and view data by a resolver, and characteristic matching is carried out to the data received, and go out the elements of interior orientation of described line-scan digital camera according to the data operation received;
Described line-scan digital camera is mounted on a filter, and described filter is arranged between described laser scanner and line-scan digital camera, and the described method based on laser scanner calibration line array camera is further comprising the steps of:
The attitude of being finely tuned described line-scan digital camera by described filter plate is parallel with the direction of scanning of the lens direction with laser scanner that make described line-scan digital camera.
5. as claimed in claim 4 based on the method for laser scanner calibration line array camera, it is characterized in that: described laser scanner is arranged on the upper surface of bogey, described filter is fixed on described bogey upper surface by a support and is positioned at the top of described laser scanner, described filter comprises one first flat board, one second dull and stereotyped and one the 3rd flat board, described first to the 3rd flat board is stacked successively from top to bottom, and be fixed together by multiple setting nut, described line-scan digital camera is arranged on described 3rd flat board, the described method based on laser scanner calibration line array camera is the attitude of finely tuning described line-scan digital camera by the following method:
Operate described multiple setting nut and make, between first, second flat board described, there is space; And
Pad or the pad chi of predetermined thickness is filled between the space of first, second flat board described.
6. as claimed in claim 5 based on the method for laser scanner calibration line array camera, it is characterized in that: the step that described line-scan digital camera obtains the view data of measured target thing comprises: described line-scan digital camera receives the pulse signal from described laser scanner.
7., as claimed in claim 5 based on the method for laser scanner calibration line array camera, it is characterized in that: described resolver calculates the elements of interior orientation of described line-scan digital camera by adjustment computing.
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| CN201010236249.4A CN102339463B (en) | 2010-07-22 | 2010-07-22 | Based on the system and method for laser scanner calibration line array camera |
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| CN201010236249.4A CN102339463B (en) | 2010-07-22 | 2010-07-22 | Based on the system and method for laser scanner calibration line array camera |
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| CN102339463B true CN102339463B (en) | 2015-10-21 |
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| CN106651964A (en) * | 2017-02-28 | 2017-05-10 | 嘉兴锐视智能科技有限公司 | Calibration system and calibration device of laser camera |
| CN107977997B (en) * | 2017-11-29 | 2020-01-17 | 北京航空航天大学 | Camera self-calibration method combined with laser radar three-dimensional point cloud data |
| CN107991662B (en) * | 2017-12-06 | 2023-12-15 | 南京添马机械科技股份有限公司 | 3D laser and 2D imaging synchronous scanning device and scanning method thereof |
| CN111781610A (en) * | 2020-07-14 | 2020-10-16 | 中国人民解放军国防科技大学 | Moving target space position measuring method based on wide beam laser and linear array photoelectric tube |
| CN111929309B (en) * | 2020-09-14 | 2021-01-08 | 成都卓识维景科技有限公司 | Cast part appearance defect detection method and system based on machine vision |
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| CN114286017A (en) * | 2021-11-15 | 2022-04-05 | 华能国际电力股份有限公司上海石洞口第二电厂 | Super-large scale power equipment image acquisition method and system based on free view angle |
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