CN102980542A - Multiple-sensor united calibration method - Google Patents
Multiple-sensor united calibration method Download PDFInfo
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- CN102980542A CN102980542A CN2012104291844A CN201210429184A CN102980542A CN 102980542 A CN102980542 A CN 102980542A CN 2012104291844 A CN2012104291844 A CN 2012104291844A CN 201210429184 A CN201210429184 A CN 201210429184A CN 102980542 A CN102980542 A CN 102980542A
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Abstract
The invention discloses a multiple-sensor united calibration method and relates to sensor calibration. The multiple-sensor united calibration method comprises the following steps: calibrating camera parameters through a circular hole target component; calibrating a contact-type measuring head through a standard ball; and united calibration of a camera and the contact-type measuring head. Measurement on geometric dimensioning and form and position errors of small structures can be achieved through data processing in the multiple-sensor united calibration method, ranges in practical application are enlarged, and demands in practical application are met.
Description
Technical field
The present invention relates to transducer calibration, particularly a kind of multisensor combined calibrating method.
Background technology
In multisensor syste, the multisensor registration technology is gordian technique wherein.So-called registration refers to the information from different sensors is transformed in the process of a public system, so that the systematic error that causes owing to reasons such as space-time calibration, coordinate system conversion, sensor self-position information offset and detection skews minimizes, the degree of stability of control sensing system, thus guarantee follow-up multi-sensor data fusion can be correctly, effectively realize.For obtaining relative position between each sensor coordinate system and the transformational relation of direction, need to carry out the combined calibrating of multisensor.
Usually adopt the plane reference plate that camera is demarcated separately in the prior art, by the graphical analysis of acquisition plane scaling board the publish picture position of circular hole in the picture and actual difference, calibrate the distortion parameter of camera etc.
The inventor finds to exist at least in the prior art following shortcoming and defect in realizing process of the present invention:
Mechanical component often are designed with groove, chamfering or central angle less than the accurate micro-structures such as short circular arc of 20 degree, the installation cooperation that provides special passage also to make things convenient for part for sealing lubricating fluid up for safekeeping.The end face of these micro-structures often is the face feature, the reasons such as, end slope reflective owing to end face, the contour images that existing multisensor calibration technique collects can not accurately reflect the end face position, namely can't measure the marginal position of these structures exactly.
Summary of the invention
The invention provides a kind of multisensor combined calibrating method, realized measurement and location to micro-structure, enlarged the scope in the practical application, satisfied the needs in the practical application, see for details hereinafter and describe:
A kind of multisensor combined calibrating method said method comprising the steps of:
Utilize the circular hole targets tender that camera parameter is demarcated; Utilize standard ball that contact measuring head is demarcated; The combined calibrating of camera and contact measuring head;
Wherein, the combined calibrating of described camera and contact measuring head is specially:
1) camera is got back to initial position, and image is obtained in survey end imaging in camera of contact measuring head;
2) with the match center of circle O (Y of image
I, Z
I) as the unique point that participates in demarcating, the camera initial position is demarcated, obtain camera initial position calibration result;
The measuring machine coordinate is (X
M, Y
M, Z
M), the linear relationship between camera and the measuring machine is specially:
X
M=X
I+a
0；Y
M=b
0+a
1Y
I+a
2Z
I；Z
M=c
0+b
1Y
I+b
2Z
I；
A wherein
0, b
0And c
0Represent respectively to be tied to from image coordinate the translational movement of measuring machine coordinate system; a
1, b
1, a
2And b
2The presentation video coordinate is tied to the parameter in the rotation matrix of measuring machine coordinate system; Y
ITo and Z
ITo the plane and the circular hole targets tender place plane parallel that consist of, and the distance between two planes is the object space focal length, Y
ITo and Z
ITo mutually vertical, X
ITo perpendicular to Y
ITo and Z
ITo the plane that consists of;
3) obtain final calibration result according to camera initial position calibration result and camera with the amount of exercise (Δ M, △ Y, △ Z) that motion moves;
Describedly utilize the circular hole targets tender that camera parameter is demarcated to be specially:
1) the circular hole targets tender maintains static, and camera is fixed on the motion and along Y
ITo and Z
ITo the translation motion of making two dimension, motion coordinate figure and unique point plane of delineation coordinate figure on each position as unique point, are recorded respectively in the center of circle of circular hole targets tender;
2) utilize the corresponding relation between motion coordinate figure and the unique point plane of delineation coordinate figure that camera is demarcated.
Describedly record respectively that motion coordinate figure and unique point plane of delineation coordinate figure are specially on each position:
Obtain the motion coordinate figure by grating scale or laser interferometer, the image of circular hole targets tender is done the sub-pix segmentation, adopted the method in the least square fitting center of circle to obtain unique point plane of delineation coordinate figure.
The beneficial effect of technical scheme provided by the invention is: this method is transformed into the measurement data under each sensor and the different coordinates in the unified measuring machine coordinate system effectively by the demarcation to camera and contact measuring head, has solved the registration problems of multisensor.The method has accurately been determined the corresponding relation of contact measuring head and camera image coordinate figure, when the micro-structure that contains the face feature is measured, utilize the coordinate information of non-structure division of collected by camera, use contact measuring head to gather face structure division coordinate information, and with in information unification to a coordinate system that collects, finish dealing with to the measurement of micro-structure physical dimension and morpheme error through data; Realize measurement and location to micro-structure, enlarged the scope in the practical application, satisfied the needs in the practical application.
Description of drawings
Fig. 1 is certain type multisensor set measuring machine synoptic diagram;
Fig. 2 is circular hole targets tender synoptic diagram;
Fig. 3 is the synoptic diagram of actual image point and ideal image point coordinate;
Fig. 4 is that U is to the synoptic diagram of distortion;
Fig. 5 is that V is to the synoptic diagram of distortion;
Fig. 6 is standard ball and the calibration strategy synoptic diagram of demarcating touch trigger probe;
Fig. 7 is the image of surveying end and the match center of circle thereof;
Fig. 8 surveys the end centre of sphere at the synoptic diagram of image coordinate system;
Fig. 9 is a kind of process flow diagram of multisensor combined calibrating method.
Shown in components listed is listed as follows in the accompanying drawing:
1: main shaft; 2: the contact probe;
3: the marble worktable; 4: camera;
5: the vertical linear module; 6: horizontal linear module;
7: standard ball.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
In order to realize measurement and the location to micro-structure, enlarge the scope in the practical application, satisfy the needs in the practical application, the embodiment of the invention has proposed a kind of multisensor combined calibrating method, sees for details hereinafter to describe:
101: utilize the circular hole targets tender that camera parameter is demarcated;
1) the circular hole targets tender maintains static, and camera is fixed on the motion and along Y
ITo and Z
ITo the translation motion of making two dimension, motion coordinate figure and unique point plane of delineation coordinate figure on each position as unique point, are recorded respectively in the center of circle of circular hole targets tender;
Referring to Fig. 1 and Fig. 2, the diverse location imaging of circular hole targets tender on the CCD image planes, mobile camera moves according to above-mentioned direction, obtains motion coordinate figure and unique point plane of delineation coordinate figure on each position.Y
ITo and Z
ITo the plane and the circular hole targets tender place plane parallel that consist of, and the distance between two planes is the object space focal length, Y
ITo and Z
ITo mutually vertical, X
ITo perpendicular to Y
ITo and Z
ITo the plane that consists of.Motion is generally: guide rail or linear module etc. can drive the device of mobile camera moving, and the embodiment of the invention does not limit at this.
Wherein, record respectively that motion coordinate figure and unique point plane of delineation coordinate figure are specially on each position: obtain the motion coordinate figure by grating scale or laser interferometer, the image of circular hole targets tender is done the sub-pix segmentation, adopted the method in the least square fitting center of circle to obtain unique point plane of delineation coordinate figure.
2) utilize the corresponding relation between motion coordinate figure and the unique point plane of delineation coordinate figure that camera is demarcated.
Distortion is less near considering image plane center, at first utilize 4 * 4 unique points in image plane center zone (during specific implementation, determine the quantity of unique point according to the needs in the practical application) data ask for the internal and external parameter of camera ideal model, then find the solution the distortion error of each point.
The ideal image point coordinate that obtains by camera projection ideal model calculation of parameter and actual image point coordinate are as shown in Figure 3.On the image planes that calculate the U of each point to V to distortion error, respectively as shown in Figure 4 and Figure 5, table 1 is calibration result.
(α, beta, gamma) is tied to three Eulerian angle of the rotation matrix of image coordinate system for camera coordinates; T=[t
x, t
y, t
z]
TBe tied to the translation vector of image coordinate system for camera coordinates; f
uAnd f
vBe respectively the effective focal length of plane of delineation coordinate system horizontal stroke, y direction, unit is pixel; K is horizontal, the inclined to one side modifying factor of longitudinal axis axle; (u
0, v
0) be the intersection point of camera lens primary optical axis and the plane of delineation;
Be the distortion factor vector of simplifying.Utilize the counter instrument coordinates value of asking picture point of camera model, and make comparisons with the coordinate figure that the measuring machine grating scale reads, the deviation between the two is called the object point error.Experiment shows: utilizing the object point error of 49 picture points that camera projection ideal model tries to achieve is respectively 0.006491mm and 0.009831mm in the standard deviation of Y-direction and Z-direction; The standard deviation that obtains Y-direction and Z-direction by above-mentioned demarcation is 0.002761mm and 0.004012mm respectively, has shown that the intrinsic parameter of camera has obtained demarcation, has improved the accuracy of camera.
102: utilize standard ball that contact measuring head is demarcated;
The purpose of contact measuring head demarcation is correctly to determine to survey the sphere center position of holding, and the equivalent diameter of acquisition survey end compensates to obtain precise measurement results in order to call it when actual measurement to measurement point.Sphere centre coordinate (the X of standard ball
C, Y
C, Z
C), the stupalith standard ball of the embodiment of the invention take diameter as 25.3986mm describes as example, and survey end radius to be calibrated is R
CDemarcate in the calibration method of the probe location error of 49 points of standard ball measurement according to the B89 standard that American National Standards Institute (ANSI) formulates.49 points comprise each 12 points and 1 arctic point on 4 specific latitudes (being roughly 100 °, 90 °, 60 ° and 30 °) cross section on the standard ball, as shown in Figure 6.Require the point in each cross section to stagger each other during detection, survey from different directions to guarantee gauge head, usually make the point of adjacent sections rotate 10 °.Through detecting, obtain contact measuring head end radius R
CSide-play amount (the D of the relative contact measuring head pedestal with it of=3.9982mm
X, D
Y, D
Z), obtain each offset component D
X=0.2135mm, D
Y=-0.1823mm, D
Z=-21.8695mm.And the relative grating scale of contact measuring head pedestal has fixing side-play amount, and namely in the movable scope of contact measuring head, the position of contact measuring head end in the measuring machine coordinate system can accurately obtain.
103: the combined calibrating of camera and contact measuring head;
1) camera is got back to initial position, and image is obtained in survey end imaging in camera of contact measuring head;
The motion of control camera position returns zero, make camera be positioned at initial position, it is mobile that control survey this moment machine is surveyed end, make diameter D=4.0mm survey end (when adopting the contact measuring head of other models, survey end diameter is corresponding and change, the embodiment of the invention does not limit this) just can clearly imaging in camera, as shown in Figure 7.
2) with the match center of circle O (Y of image
I, Z
I) as the unique point that participates in demarcating, the camera initial position is demarcated, obtain camera initial position calibration result;
The measuring machine coordinate is (X
M, Y
M, Z
M), the linear relationship between camera and the measuring machine is specially:
X
M=X
I+a
0 (1)
Y
M=b
0+a
1Y
I+a
2Z
I (2)
Z
M=c
0+b
1Y
I+b
2Z
I (3)
A wherein
0, b
0And c
0Represent respectively to be tied to from image coordinate the translational movement of measuring machine coordinate system; a
1, b
1, a
2And b
2The presentation video coordinate is tied to the parameter in the rotation matrix of measuring machine coordinate system.
For the survey end that makes contact measuring head can become blur-free imaging in image, the survey end that keeps in touch the formula gauge head is not mobile at directions X, and the control survey machine is surveyed end and moved in Y, Z-direction, and the survey end of contact measuring head is in the diverse location imaging of CCD image planes.As shown in Figure 8, each match center of circle is 11 * 8 array distribution in image planes, utilizes these 88 groups of coordinate datas to form the overdetermined equation group, uses least square method to find the solution seven coefficients, thereby realizes demarcating, and obtains camera initial position calibration result.
3) obtain final calibration result according to camera initial position calibration result and camera with the amount of exercise (Δ X, Δ Y, △ Z) that motion moves, the side-play amount of the relative initial position of (Δ X, Δ Y, △ Z) expression motion.
Owing to just demarcate at the camera initial position, after camera was with motion motion (Δ X, Δ Y, △ Z), the survey end of the contact measuring head of energy blur-free imaging should be under the measuring machine coordinate system:
By above step, the combined calibrating of camera and contact measuring head is finished, and a bit can obtain this coordinate position in measuring machine by certain that obtain in the image.
The measuring machine of the below in Fig. 1 realized the combined calibrating of camera and contact measuring head seeing hereinafter and describe for details as example:
This measuring machine specifically comprises: marble worktable 3, main shaft 1, X-axis and Y-axis, and main shaft 1 is as Z axis; Be provided with standard ball 7 and along the moving vertical linear module 5 of y-axis shift at marble worktable 3; Be provided with contact measuring head 2 in the bottom of main shaft 1; Be fixedly installed horizontal linear module 6 on the vertical linear module 5; Horizontal linear module 6 moves up and down at vertical linear module 5; Be respectively arranged with grating scale in horizontal linear module 6, vertical linear module 5, main shaft 1, X-axis and Y-axis; Be provided with camera 3 at horizontal linear module 6; Horizontal linear module 6 and vertical linear module 5 are equivalent to motion above; Camera 3 is along Y
ITo and Z
ITo the translation motion of making two dimension.Adopt above-described method to carry out combined calibrating, obtain the calibration result in table 1 and the table 2.
Table 1 camera internal and external parameter calibration result
Table 2 combined calibrating coefficient repeated experiment result
By the demarcation to the internal and external parameter of camera 6, the distortion of camera 6 is proofreaied and correct, improved the accuracy of camera 6; Below 0.01mm, satisfy well the requirement of combined calibrating by resulting calibration coefficient repeatability maximum error value in the table 2, can adopt the method for this combined calibrating to realize micro-structure is carried out precision measurement.Detailed process is for measuring micro-structure face feature by contact measuring head 3, measure the remaining edge information of this small mechanism by camera, the relationship conversion that the data point coordinate that afterwards camera 6 is gathered obtains by combined calibrating is united with the face characteristic information that gathers before this micro-structure is measured in the measuring machine coordinate system.Can effectively solve the problem that traditional multisensor is difficult to measure micro-structure by said method.
It will be appreciated by those skilled in the art that accompanying drawing is the synoptic diagram of a preferred embodiment, the invention described above embodiment sequence number does not represent the quality of embodiment just to description.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. a multisensor combined calibrating method is characterized in that, said method comprising the steps of:
Utilize the circular hole targets tender that camera parameter is demarcated; Utilize standard ball that contact measuring head is demarcated; The combined calibrating of camera and contact measuring head;
Wherein, the combined calibrating of described camera and contact measuring head is specially:
1) camera is got back to initial position, and image is obtained in survey end imaging in camera of contact measuring head;
2) with the match center of circle O (Y of image
I, Z
I) as the unique point that participates in demarcating, the camera initial position is demarcated, obtain camera initial position calibration result;
The measuring machine coordinate is (X
M, Y
M, Z
M), the linear relationship between camera and the measuring machine is specially:
X
M=X
I+a
0；Y
M=b
0+a
1Y
I+a
2Z
I；Z
M=c
0+b
1Y
I+b
2Z
I；
A wherein
0, b
0And c
0Represent respectively to be tied to from image coordinate the translational movement of measuring machine coordinate system; a
1, b
1, a
2And b
2The presentation video coordinate is tied to the parameter in the rotation matrix of measuring machine coordinate system; Y
ITo and Z
ITo the plane and the circular hole targets tender place plane parallel that consist of, and the distance between two planes is the object space focal length, Y
ITo and Z
ITo mutually vertical, X
ITo perpendicular to Y
ITo and Z
ITo the plane that consists of;
3) obtain final calibration result according to camera initial position calibration result and camera with the amount of exercise (Δ X, △ Y, △ Z) that motion moves;
2. a kind of multisensor combined calibrating method according to claim 1 is characterized in that, describedly utilizes the circular hole targets tender that camera parameter is demarcated to be specially:
1) the circular hole targets tender maintains static, and camera is fixed on the motion and along Y
ITo and Z
ITo the translation motion of making two dimension, motion coordinate figure and unique point plane of delineation coordinate figure on each position as unique point, are recorded respectively in the center of circle of circular hole targets tender;
2) utilize the corresponding relation between motion coordinate figure and the unique point plane of delineation coordinate figure that camera is demarcated.
3. a kind of multisensor combined calibrating method according to claim 2 is characterized in that, describedly records respectively that motion coordinate figure and unique point plane of delineation coordinate figure are specially on each position:
Obtain the motion coordinate figure by grating scale or laser interferometer, the image of circular hole targets tender is done the sub-pix segmentation, adopted the method in the least square fitting center of circle to obtain unique point plane of delineation coordinate figure.
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| CN106052607A (en) * | 2016-06-28 | 2016-10-26 | 天津大学 | Multi-sensor measuring machine coordinate unification and precision verification standard device and using method |
| CN106092008A (en) * | 2016-06-28 | 2016-11-09 | 天津大学 | The coordinate unification calibration device of high-accuracy composite type measuring machine and scaling method |
| CN106705888A (en) * | 2016-12-05 | 2017-05-24 | 北京空间机电研究所 | CCD coordinate system and mirror coordinate system nonlinear relation calibration method in interference detection |
| CN106871949A (en) * | 2017-04-17 | 2017-06-20 | 重庆市计量质量检测研究院 | For many ball plate standards and joint error detection method of multi-sensor measurement system |
| CN107063330A (en) * | 2017-04-17 | 2017-08-18 | 重庆市计量质量检测研究院 | Porous plate standard and joint error detection method for multi-sensor measurement system |
| CN107991665A (en) * | 2017-11-23 | 2018-05-04 | 江苏理工学院 | It is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring |
| CN108286946A (en) * | 2018-01-30 | 2018-07-17 | 周蕊 | The method and system of sensing station mark fixed sum data splicing |
| CN108444419A (en) * | 2018-02-01 | 2018-08-24 | 阿尔特汽车技术股份有限公司 | Realize three coordinate arrangement on-line measurement systems and method |
| CN110220454A (en) * | 2019-06-03 | 2019-09-10 | 西安飞机工业（集团）有限责任公司 | A kind of pose scaling method of three coordinate locating mechanisms |
| CN110458894A (en) * | 2019-07-31 | 2019-11-15 | 天津大学 | A kind of camera of measuring machine and the scaling method of contact measuring head |
| CN110567372A (en) * | 2019-09-16 | 2019-12-13 | 立讯智造(浙江)有限公司 | Auxiliary measuring tool |
| CN111182290A (en) * | 2019-12-31 | 2020-05-19 | 未来（北京）黑科技有限公司 | Image detection method and device, storage medium and electronic device |
| CN111833396A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Method and system for converting camera coordinate system of blood sampling device into world coordinate system |
| CN112665517A (en) * | 2020-12-17 | 2021-04-16 | 太原科技大学 | Multi-camera large-view-field surface shape measurement calibration method |
| CN112729087A (en) * | 2020-12-16 | 2021-04-30 | 中国科学院苏州生物医学工程技术研究所 | Differential eddy current micro-displacement sensor calibration device, method, computer equipment and storage medium |
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| CN106052607A (en) * | 2016-06-28 | 2016-10-26 | 天津大学 | Multi-sensor measuring machine coordinate unification and precision verification standard device and using method |
| CN106092008A (en) * | 2016-06-28 | 2016-11-09 | 天津大学 | The coordinate unification calibration device of high-accuracy composite type measuring machine and scaling method |
| CN106705888A (en) * | 2016-12-05 | 2017-05-24 | 北京空间机电研究所 | CCD coordinate system and mirror coordinate system nonlinear relation calibration method in interference detection |
| CN106705888B (en) * | 2016-12-05 | 2019-04-09 | 北京空间机电研究所 | CCD coordinate system and mirror surface coordinate system non-linear relation scaling method in interference detection |
| CN106871949A (en) * | 2017-04-17 | 2017-06-20 | 重庆市计量质量检测研究院 | For many ball plate standards and joint error detection method of multi-sensor measurement system |
| CN107063330A (en) * | 2017-04-17 | 2017-08-18 | 重庆市计量质量检测研究院 | Porous plate standard and joint error detection method for multi-sensor measurement system |
| CN107063330B (en) * | 2017-04-17 | 2019-03-15 | 重庆市计量质量检测研究院 | Porous plate standard and joint error detection method for multi-sensor measurement system |
| CN107991665A (en) * | 2017-11-23 | 2018-05-04 | 江苏理工学院 | It is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring |
| CN108286946A (en) * | 2018-01-30 | 2018-07-17 | 周蕊 | The method and system of sensing station mark fixed sum data splicing |
| CN108444419A (en) * | 2018-02-01 | 2018-08-24 | 阿尔特汽车技术股份有限公司 | Realize three coordinate arrangement on-line measurement systems and method |
| CN110220454A (en) * | 2019-06-03 | 2019-09-10 | 西安飞机工业（集团）有限责任公司 | A kind of pose scaling method of three coordinate locating mechanisms |
| CN110458894A (en) * | 2019-07-31 | 2019-11-15 | 天津大学 | A kind of camera of measuring machine and the scaling method of contact measuring head |
| CN110458894B (en) * | 2019-07-31 | 2023-05-09 | 天津大学 | Calibration method for camera and contact type measuring head of measuring machine |
| CN110567372A (en) * | 2019-09-16 | 2019-12-13 | 立讯智造(浙江)有限公司 | Auxiliary measuring tool |
| CN111182290A (en) * | 2019-12-31 | 2020-05-19 | 未来（北京）黑科技有限公司 | Image detection method and device, storage medium and electronic device |
| CN111833396A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Method and system for converting camera coordinate system of blood sampling device into world coordinate system |
| CN111833396B (en) * | 2020-06-05 | 2024-03-29 | 哈工大机器人(中山)无人装备与人工智能研究院 | Method and system for converting camera coordinate system of blood sampling device into world coordinate system |
| CN112729087A (en) * | 2020-12-16 | 2021-04-30 | 中国科学院苏州生物医学工程技术研究所 | Differential eddy current micro-displacement sensor calibration device, method, computer equipment and storage medium |
| CN112729087B (en) * | 2020-12-16 | 2022-03-22 | 中国科学院苏州生物医学工程技术研究所 | Differential eddy current micro-displacement sensor calibration device, method, computer equipment and storage medium |
| CN112665517A (en) * | 2020-12-17 | 2021-04-16 | 太原科技大学 | Multi-camera large-view-field surface shape measurement calibration method |
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