CN102628693A - Method for registering camera spindle and laser beam in parallel - Google Patents
Method for registering camera spindle and laser beam in parallel Download PDFInfo
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- CN102628693A CN102628693A CN2012101117507A CN201210111750A CN102628693A CN 102628693 A CN102628693 A CN 102628693A CN 2012101117507 A CN2012101117507 A CN 2012101117507A CN 201210111750 A CN201210111750 A CN 201210111750A CN 102628693 A CN102628693 A CN 102628693A
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Abstract
The invention provides a method for registering a camera spindle and a laser beam in parallel. The method can be used in a system including a camera and a laser transmitter (a laser rangefinder or a laser structure light) to register the system in parallel; namely, the placing positions of the camera and the laser transmitter are adjusted so that the camera spindle of the camera is parallel to the laser beam transmitted by the laser transmitter. The method comprises the following steps of: shooting images of a chessboard calibration block and light spots, wherein the light spots are formed by the laser beam on the chessboard calibration block; and then calibrating camera parameters (a camera matrix) by using shot images and estimating the camera spindle; next, calibrating a laser beam origin by using a plane homographic principle; and finally, estimating an image point parallel to the laser beam by using the plane homographic principle and calibrating the laser beam. By using the method for registering the camera spindle and the laser beam in parallel, provided by the invention, the calibration can be finished only by shooting four images and only one chessboard calibration block is needed for assistance; therefore, the method for registering the camera spindle and the laser beam in parallel, provided by the invention, has the advantages of high calibrating speed, easiness for realization and higher accuracy.
Description
Technical field
The present invention relates to a kind of a kind of method of computer vision field, specifically is a kind of method that video camera main shaft and laser beam are carried out parallel registration that is used for.
Background technology
The sighting system that video camera and generating laser (laser range finder or laser structure light) can be formed; This system has following function: when target during in the video camera center laser beam aim at this target; Perhaps target is in the center of video camera photographic images when laser beam aims at the mark, and promptly captured target and the indicated target of laser beam are same target (or the same positions on the target).The sighting system that video camera and generating laser (laser range finder or laser structure light) are formed is widely used in fields such as range finding, survey appearance; To realize selecting measured target, perhaps confirm the image of photographic subjects after the target through the laser indication from the image of shot by camera.
The video camera main shaft is to adopt pin-hole model to describe the straight line that defines in the video camera imaging process, and when this straight line was parallel with laser beam, the indicated target of shot by camera target and laser beam was same target (or the same position on the target).The sighting system that video camera and generating laser (laser range finder or laser structure light) are formed need be carried out registration to system can operate as normal; The registration here is meant adjusts the putting position of video camera and generating laser; Make the video camera main shaft and the generating laser institute emitted laser bundle of video camera parallel to each other; Be the parallel registration of video camera main shaft and laser beam, can make the indicated target of captured target and laser beam like this is same target (or the same position on the target).The video camera main shaft is the straight line of artificial definition, is sightless in the reality.Therefore, video camera main shaft and laser beam are carried out parallel registration and compare difficulty usually.
Through the correlation technique literature search being found Chao Zhichao rolls up the system that has adopted video camera main shaft and laser range finder laser beam to parallel in " the monocular-camera laser range sensor pose measurement system " delivered on the 3rd phase in March, 2011 " optics journal " the 31st; But it only adopts the method for estimating adjusting manually to carry out the parallel registration of video camera main shaft and laser beam in document; Causing the target of shooting and the target of laser beam indication is not same target (or same position of target), and therefore the measuring accuracy of system has a greatly reduced quality.
Summary of the invention
Problem to above-mentioned prior art existence; The object of the present invention is to provide and a kind ofly video camera main shaft and laser beam are carried out the method for parallel registration based on what singly answered on the plane; Can carry out the parallel registration of video camera main shaft to the sighting system of video camera and generating laser (laser range finder or laser structure light) composition with laser beam.
The present invention realizes through following technical scheme, comprises the steps:
Step 1 is taken the dot pattern picture that chessboard calibrating block and laser beam form on the chessboard calibrating block.
Step 2 is used the image calibrating camera parameters of taking in the step 1 (video camera matrix), and estimation video camera main shaft.
Chessboard calibrating block in the step 1 is a rectangle calibrating block as shown in Figure 1, and the size of rectangle is known on the calibrating block.
Video camera in step 1 focal length of camera in whole calibrating procedure is constant.
Camera parameters described in the step 2 (video camera matrix) is the matrix of a 3x4.This matrix is a matrix of describing camera parameters in the pinhole camera modeling.Said pin-hole model is the model that is commonly used to describe the camera perspective projection imaging process.
Video camera main shaft described in the step 2 is the straight line that defines in the pin-hole model, and some imaging point on video camera that this straight line satisfies on all these straight lines is same point.
Laser beam initial point described in the step 3 be in the space a bit, generating laser is fixed in this point, and only being rotated around this point, and the straight line at generating laser emitted laser bundle place passes this point.
Plane described in the step 3 singly should be the mathematical model that is used for describing mapping relations between the point on two planes.
Collimated laser beam picture point described in the step 4 be too drastic beam origin and with the straight line of video camera spindle parallel intersection point imaging point in video camera with calibrating block.
Compared with prior art, the present invention has following beneficial effect: this method only need be taken four width of cloth images can accomplish demarcation, only needs a chessboard calibrating block auxiliary, and demarcation speed is fast, is easy to realize, and has degree of precision.
Description of drawings
Fig. 1 is used for the used gridiron pattern calibrating block synoptic diagram of method that video camera main shaft and laser beam are carried out parallel registration for the present invention;
Fig. 2 is calibration principle figure of the present invention.
Embodiment
How further specify the present invention below in conjunction with accompanying drawing 1 with Fig. 2 realizes.Present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
Embodiment
Step 1 is taken the dot pattern picture that chessboard calibrating block and laser beam form on the chessboard calibrating block.
Calibration process adopts calibrating block shown in Figure 1.Before calibrating block was placed on video camera, video camera was a focusing video camera.The world coordinate system of setting up as shown in Figure 2, X among the figure, Y, Z are the coordinate axis of world coordinate system, P
0Be laser beam initial point, S
1Plane for calibrating block initial position place.The anglec of rotation of adjustment generating laser can be radiated on the calibrating block it, and laser beam is in calibrating block (planar S
1) on luminous point be designated as P
11, and the fixed laser emitter position, photographic images I
1With calibrating block along Z-direction vertical translation distance B
1, this moment, the plane at calibrating block place was S
2, in calibrating block translation process, guarantee that the generating laser angle is constant, and can be radiated on the calibrating block that laser beam is in calibrating block (planar S
2) on luminous point be designated as P
12, this moment photographic images I
2Because of generating laser in mobile calibrating block process keeps motionless, so P
11And P
12On same laser beam.Guarantee that calibrating block is motionless, the adjustment generating laser anglec of rotation makes a walk around angle and can being radiated on the calibrating block of generating laser, and laser beam is in calibrating block (planar S
2) on luminous point be designated as P
21, I takes pictures this moment
3With calibrating block along Z-direction vertical translation distance B again
2, this moment, the plane at calibrating block place was S
A, guarantee that the generating laser angle is constant in the calibrating block translation process, and can be radiated on the calibrating block that laser beam is in calibrating block (planar S
4) on luminous point be designated as P
22, I takes pictures this moment
4, obvious P
21And P
22On same laser beam.Camera position need remain unchanged in the shooting process, and has taken image I
4After, need to keep the calibrating block invariant position.
Step 2 is used the image calibrating camera parameters of taking in the step 1 (video camera matrix), and estimation video camera main shaft.
Black (in vain) grid size on the chessboard calibrating block shown in Figure 1 is that survey is measured in advance; Therefore in world coordinate system shown in Figure 2; The world coordinates on each the grid summit of calibrating block respectively on three positions the time is known; The grid summit is commonly called angle point, and the coordinate of angle point on image can be confirmed through manual the selection.
The perspective projection camera model can be described with pin-hole model, and pin-hole model is described the imaging process of video camera with the matrix of a 3x4.The note world coordinates is X (three-dimensional coordinate), and its respective coordinates on the image that video camera became is x (two-dimensional coordinate), and then the imaging process of video camera can be described as:
Kx=PX (formula 1)
Wherein, k is a constant.Confirm that matrix P needs the coordinate of at least 6 group three-dimensional point and its corresponding picture point.
From image I
1Middle at least 3 angle points (not conllinear) of selecting are confirmed its world coordinates and corresponding image coordinate, from image I
2Middle at least 3 angle points (not conllinear) of selecting are confirmed its world coordinates and corresponding image coordinate.Utilize these points to combine formula 2 just can obtain matrix P.If M is the 3x3 submatrix on the matrix P left side, then the third line of M is the direction vector of video camera main shaft.Note video camera photocentre is G, and then C satisfies
PC=0 (formula 3)
Can obtain the coordinate of photocentre C by formula 4.The video camera main shaft is crossed photocentre, and the major axes orientation vector is known, therefore can obtain the main shaft straight-line equation.
The laser beam initial point be in the space a bit, satisfy following condition: generating laser is fixed in this point, and only being rotated around this point, and the straight line at generating laser emitted laser bundle place passes this point.
Note H is the matrix of a 3x3, under the X world coordinate system on certain planar S a bit, the image that planar S is become in video camera is I, its corresponding image coordinate of some X is x, then has
KX=Hx (formula 5)
H is called the homography matrix of plane of delineation I to planar S.Point on given N (N >=4) the group world coordinates lower plane S just can obtain planar S through formula 6 with its corresponding image coordinate and singly answer H to the plane of image I.
The note image I
1Plane X Y's singly should be H to the world
1, through the point and its corresponding image I under N (N>=4) the group world coordinates
1On image coordinate, just can obtain H
1The note image I
2Plane X Y's singly should be H to the world
2, through the point and its corresponding image I under N (N>=4) the group world coordinates
2On image coordinate, just can obtain H
2The note image I
4Plane X Y's singly should be H to the world
4, through the point and its corresponding image I under N (N>=4) the group world coordinates
4On image coordinate, just can obtain H
4Point selected in the said process can use the angle point on the calibrating block, because the coordinate under world coordinate system of these angle points is known, and is easy to find its corresponding diagram picture point.
Artificial definite laser beam becomes luminous point P on calibrating block
11In image I
1On image coordinate p
11, P
11Z coordinate under world coordinate system is 0, its X, and the Y coordinate satisfies:
KX=H
1p
11(k is a constant) (formula 7)
Therefore can obtain P by formula 8
11X, the Y coordinate.P
12The Z coordinate be D
1, similarly utilize H
2Can obtain P
12X under world coordinate system, the Y coordinate.P
21The Z coordinate be D
1, similarly utilize H
3Can obtain P
21X under world coordinate system, the Y coordinate.P
22The Z coordinate be D
1+ D
2, similarly utilize H
4Can obtain P
22X under world coordinate system, the Y coordinate.
P
11And P
12On same straight line, remember that this straight line is L
1, P
21And P
22On same straight line, remember that this straight line is L
2, the world coordinates of these four points is known, therefore can obtain L
1And L
2Equation.Further can obtain L
1And L
2Intersection point P
0, L
1And L
2Intersection point P
0Be the laser beam initial point.
Here the collimated laser beam picture point is only too drastic beam origin P
0And with the straight line of video camera spindle parallel intersection point imaging point in video camera with calibrating block.Because the major axes orientation vector is known, the laser beam initial point is known, therefore can obtain too drastic beam origin and with the straight-line equation of video camera spindle parallel, remember that this straight line is L
3Note photographic images I
4The time plane, calibrating block place be S
4, planar S
4Equation under world coordinate system is Z=D
1+ D
2, in conjunction with straight line L
3Equation, can obtain L
3With S
4Intersection point P
3World coordinates.Note P
3Picture point in video camera is p
3, through H
4Can obtain p
3Image coordinate.Regulate the angle of generating laser, make generating laser and planar S
4The picture point and the p of intersection point
3Overlap, then this moment, generating laser emitted laser bundle was parallel to the video camera main shaft, had promptly accomplished the parallel registration of laser beam and video camera main shaft.
Claims (7)
1. one kind is used for the method that video camera main shaft and laser beam are carried out parallel registration, comprises the steps:
Step 1 is taken the dot pattern picture that chessboard calibrating block and laser beam form with video camera on the chessboard calibrating block;
Step 2 is used the image calibrating camera parameters of taking in the step 1, and estimation video camera main shaft;
Step 3 uses the imagery exploitation plane of taking in the step 1 singly to answer principle Calibration of Laser Shu Yuandian;
Step 4 utilizes the plane singly to answer the picture point and the Calibration of Laser bundle of principle estimation collimated laser beam; The picture point of said collimated laser beam be meant too drastic beam origin and with the straight line of video camera spindle parallel intersection point imaging point in video camera with calibrating block;
Said camera parameters is meant the video camera matrix.
2. a kind of method that video camera main shaft and laser beam are carried out parallel registration that is used for according to claim 1 is characterized in that, and is constant in focus of camera described in the whole calibrating procedure.
3. a kind of method that video camera main shaft and laser beam are carried out parallel registration that is used for according to claim 1 is characterized in that the video camera that adopts in the step 2 is a pinhole camera modeling, and described video camera main shaft is the video camera main shaft that defines in the pin-hole model.
4. a kind of method that video camera main shaft and laser beam are carried out parallel registration that is used for according to claim 1 is characterized in that the plane described in the step 3 singly should be the mathematical model that is used for describing mapping relations between the point on two planes.
5. a kind of method that video camera main shaft and laser beam are carried out parallel registration that is used for according to claim 1; It is characterized in that; Laser beam initial point in the step 3 is in the space a bit; Generating laser is fixed in this point, and only being rotated around this point, and the straight line at generating laser emitted laser bundle place passes this point.
6. a kind of method that video camera main shaft and laser beam are carried out parallel registration that is used for according to claim 1; It is characterized in that; Adopt the method for singly answering to obtain the world coordinates of laser beam and calibrating block intersection point when demarcating the laser beam initial point in the step 3, utilize the world coordinates of intersection point to obtain the laser beam initial point then based on the plane.
7. a kind of method that video camera main shaft and laser beam are carried out parallel registration that is used for according to claim 1; It is characterized in that, at first utilize the correlation parameter that had before obtained to obtain being parallel to the straight line L of video camera main shaft and too drastic beam origin when demarcating laser beam in the step 4
3, estimation straight line L
3World coordinates P with the calibrating block intersection point
3, utilize the plane singly to answer principle to obtain this coordinate p on image then
3, the angle of regulating generating laser makes the picture point and the p of generating laser and calibrating block intersection point
3Identical, promptly accomplished demarcation.
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Cited By (7)
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| CN105554363A (en) * | 2015-06-30 | 2016-05-04 | 宇龙计算机通信科技(深圳)有限公司 | Method for laser-assisted automatic focusing, and apparatus |
| CN107169921A (en) * | 2017-04-26 | 2017-09-15 | 国网上海市电力公司 | The figure registration system and method for a kind of pair of spectrum |
| CN109116663A (en) * | 2018-07-26 | 2019-01-01 | 信利光电股份有限公司 | A kind of parallel AA method, apparatus and readable storage medium storing program for executing of structure optical mode group |
| CN113079314A (en) * | 2021-03-04 | 2021-07-06 | 首都医科大学附属北京安贞医院 | Visual guide target of operation video acquisition system |
| CN117589063A (en) * | 2024-01-18 | 2024-02-23 | 宁德时代新能源科技股份有限公司 | Dimension detection method and dimension detection system |
| WO2024083368A1 (en) * | 2022-10-20 | 2024-04-25 | Robert Bosch Gmbh | Hybrid eye-tracking device and laboratory calibration method and field calibration method for calibrating the hybrid eye-tracking device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104751912A (en) * | 2013-12-30 | 2015-07-01 | 中核武汉核电运行技术股份有限公司 | Viewing-angle-correction-based video measurement method |
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| CN105554363A (en) * | 2015-06-30 | 2016-05-04 | 宇龙计算机通信科技(深圳)有限公司 | Method for laser-assisted automatic focusing, and apparatus |
| CN105554363B (en) * | 2015-06-30 | 2019-04-12 | 宇龙计算机通信科技(深圳)有限公司 | A kind of method and device of laser assisted auto-focusing |
| CN107169921A (en) * | 2017-04-26 | 2017-09-15 | 国网上海市电力公司 | The figure registration system and method for a kind of pair of spectrum |
| CN107169921B (en) * | 2017-04-26 | 2020-04-28 | 国网上海市电力公司 | Double-spectrum image registration system and method |
| CN109116663A (en) * | 2018-07-26 | 2019-01-01 | 信利光电股份有限公司 | A kind of parallel AA method, apparatus and readable storage medium storing program for executing of structure optical mode group |
| CN113079314A (en) * | 2021-03-04 | 2021-07-06 | 首都医科大学附属北京安贞医院 | Visual guide target of operation video acquisition system |
| CN113079314B (en) * | 2021-03-04 | 2022-09-02 | 首都医科大学附属北京安贞医院 | Visual guide target of operation video acquisition system |
| WO2024083368A1 (en) * | 2022-10-20 | 2024-04-25 | Robert Bosch Gmbh | Hybrid eye-tracking device and laboratory calibration method and field calibration method for calibrating the hybrid eye-tracking device |
| CN117589063A (en) * | 2024-01-18 | 2024-02-23 | 宁德时代新能源科技股份有限公司 | Dimension detection method and dimension detection system |
| CN117589063B (en) * | 2024-01-18 | 2024-05-14 | 宁德时代新能源科技股份有限公司 | Dimension detection method and dimension detection system |
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Application publication date: 20120808 |