CN103115613B - Three-dimensional space positioning method - Google Patents
Three-dimensional space positioning method Download PDFInfo
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- CN103115613B CN103115613B CN201310057543.2A CN201310057543A CN103115613B CN 103115613 B CN103115613 B CN 103115613B CN 201310057543 A CN201310057543 A CN 201310057543A CN 103115613 B CN103115613 B CN 103115613B
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Abstract
The invention provides a three-dimensional space positioning method. The method comprises a setting process and a positioning process, wherein a corresponding relationship between image pixel coordinates and mapping point space coordinates on a calibration panel is established in the setting process, and mapping points on the calibration panel are defined as intersection points of actual space points imaged on a camera and lines of the camera on the calibration panel; two-dimensional coordinates of a target object can be identified by an image processing technology in the positioning process, and three-dimensional coordinates of the mapping points on the calibration panel can be calculated according to the corresponding relationship; and the camera and the mapping points on the calibration panel are connected to form two space lines, and the intersection point of the two space lines is a target object. The method provided the invention can be applied to a situation not requiring high accuracy to realize the three-dimensional space positioning of the object; and the corresponding relationship is established by manually moving the calibration panel, and the target object is positioned by combining certain measurement data, so that a complicated camera calibration process can be avoided, and the positioning method is simple and direct and is easy to implement.
Description
Technical field
The present invention relates to image procossing and technical field of machine vision, particularly a kind of spatial three-dimensional positioning method utilizing two cameras to realize.
Background technology
The spatial three-dimensional positioning method utilizing two cameras to realize object adopts technique of binocular stereoscopic vision usually, by the two width images of imaging device from different position acquisition testees, obtain object dimensional geological information by the position deviation between computed image corresponding point.As 200910108185.7 " a kind of object dimensional positioning method and video cameras ", 201210075073.8 " a kind of space three-dimensional location technology operating systems " relate to localization method ideally, namely suppose that two cameras are identical, there is identical focal length, optical axis is completely parallel, there is not image deformation in camera lens, then according to similar triangle theory, utilize the image coordinate p of object in two camera imaging planes
1(x
l, y
l), p
2(x
r, y
r), distance b between camera focal distance f, two cameras, object dimensional coordinate (x can be tried to achieve
w, y
w, z
w):
In fact, allowing the optical axis of two cameras is completely parallel cannot be accomplished, there is larger error in the location therefore ideally realized.In order to improve precision, technique of binocular stereoscopic vision is first demarcated camera usually, namely object in world coordinate system and the position corresponding relation between its picture point on the imaging plane of camera is determined, gathered the location drawing picture of target object again by two cameras simultaneously, the three-dimensional localization of object is completed, as Central China University of Science and Technology Liu Jingjing Master's thesis " the three-dimensional localization techniques research based on binocular stereo vision ", 201110390863.0 " space-location methods based on binocular stereo vision " by the camera inside and outside parameter of demarcating acquisition.Camera calibration is the key link obtaining three-dimensional information from two dimensional image, and precision is high, but algorithm is too complicated, operates too loaded down with trivial details.
Summary of the invention
The present invention is the weak point for avoiding existing for above-mentioned prior art, a kind of method realizing object space three-dimensional localization that occasion not high in accuracy requirement can be suitable for is provided, avoid complicated camera calibration process, manually move the corresponding relation between mapping point volume coordinate on scaling board determination image pixel coordinates and scaling board, and utilize described corresponding relation and some measurement data to realize the space three-dimensional location of testee.
Technical solution problem of the present invention adopts following technical scheme:
A kind of spatial three-dimensional positioning method of the present invention, comprise setting up procedure and position fixing process two parts, described setting up procedure comprises the steps:
(1) scaling board that the black and white lattice that preparation length breadth ratio is identical with the image resolution ratio length breadth ratio that camera is shot are alternate;
(2) two cameras are installed, make its optical axis substantially parallel, measure and record the distance between two cameras;
(3) respectively following same treatment is done to two cameras: open camera, move described scaling board along camera optical axis and observe the image of described camera shooting, ensure that scaling board center is on image center location, mobile scaling board, until scaling board fills the image of described camera shooting completely, is now measured and records the distance between scaling board and camera;
(4) set up the pixel coordinate on the image of each camera shooting and the corresponding relation between mapping point volume coordinate on corresponding scaling board respectively, on described scaling board, mapping point is defined as the intersection point that the real space point of imaging on camera and camera line hand over scaling board;
Described position fixing process comprises the steps:
(1) open two cameras, shooting comprises the target object image of needs location simultaneously;
(2) from two width target object image, identify target object respectively by image processing techniques, and calculate the two-dimensional coordinate of target object in two width images;
(3) pixel coordinate on the image that the camera set up according to described setting up procedure is taken and the corresponding relation between mapping point volume coordinate on corresponding scaling board, by the two-dimensional coordinate of target object in two width images, calculate the three-dimensional coordinate of mapping point on two scaling boards respectively;
(4) connect camera and form two space lines with mapping point on corresponding scaling board;
(5) intersection point of two space lines is calculated, as the three-dimensional coordinate of target object.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, a kind of spatial three-dimensional positioning method of the present invention is by setting up the corresponding relation localizing objects object on image pixel coordinates and scaling board between mapping point volume coordinate, and localization method is simply direct, easy to understand;
2, a kind of spatial three-dimensional positioning method of the present invention avoids complicated loaded down with trivial details camera calibration process, manually moves the corresponding relation between mapping point volume coordinate on scaling board determination image pixel coordinates and scaling board, is easy to operation and realizes.
Accompanying drawing explanation
Fig. 1 is the scaling board that a kind of spatial three-dimensional positioning method of the present invention uses.
Fig. 2 is the 3 d space coordinate system of a kind of spatial three-dimensional positioning method setting of the present invention.
Fig. 3 be in a kind of spatial three-dimensional positioning method of the present invention mobile scaling board until the scaling board image shot when scaling board fills the image of described camera shooting completely.
Fig. 4 is that a kind of spatial three-dimensional positioning method of the present invention moves scaling board schematic diagram.
Fig. 5 is a kind of spatial three-dimensional positioning method schematic diagram of the present invention.
Fig. 6 is a kind of spatial three-dimensional positioning method schematic diagram of the present invention.
Symbol in figure:
The spacing d of camera C1, camera C2, camera C1 and camera C2
cam1_cam2, mobile scaling board until scaling board fill completely described camera shooting image time scaling board and camera C1 and C2 between distance d
cb1and d
cb2, target object P, camera C1 imaging plane V1, camera C2 imaging plane V2, scaling board plane B2 that scaling board plane B1, camera C2 that camera C1 is corresponding are corresponding, P and C1 line hand over imaging plane V1 in a P '
1, P and C1 line hand over scaling board plane B1 in a P "
1, P and C2 line hand over imaging plane V2 in a P '
2, P and C2 line hand over scaling board plane B2 in a P "
2.
Below by way of embodiment, and the invention will be further described by reference to the accompanying drawings, but embodiments of the present invention are not limited thereto.
Embodiment
A kind of spatial three-dimensional positioning method of the present embodiment, comprise setting up procedure and position fixing process two parts, described setting up procedure comprises the steps:
(1) scaling board that the black and white lattice that preparation length breadth ratio is identical with the image resolution ratio length breadth ratio that camera is shot are alternate;
If the resolution of camera shooting image is M × N, the wide height of scaling board is respectively BoardWidth and BoardHeight, then requirement
The resolution of the present embodiment camera shooting image is 1024 × 768, and scaling board is see Fig. 1, and be the alternate cardboard of black and white lattice of 8 × 6, wide height is respectively 40cm and 30cm, meets formula (1).
(2) two cameras are installed, make its optical axis substantially parallel, measure and record the distance d between two cameras
cam1_cam2;
For sake of convenience, set up rectangular coordinate system in space, see Fig. 2, horizontal direction is Z axis, vertical direction is Y-axis, and perpendicular to YZ plane is X-axis, with the position at camera C1 place for true origin O (0,0,0), then camera C2 position coordinate is (0, d
cam1_cam2, 0).
(3) respectively following same treatment is done to two cameras: open camera, move described scaling board along camera optical axis and observe the image of described camera shooting, ensure that scaling board center is on image center location, mobile scaling board is until scaling board fills the image of described camera shooting completely, see Fig. 3, now measure and record the distance d between scaling board and camera
cb1and d
cb2, see Fig. 4.
(4) set up the pixel coordinate on the image of each camera shooting and the corresponding relation between mapping point volume coordinate on corresponding scaling board respectively, on described scaling board, mapping point is defined as the intersection point that the real space point of imaging on camera and camera line hand over scaling board;
For camera C1, what camera adopted is the perspective projection imaging model similar with the vision system of people.See Fig. 5, basic perspective projection model is made up of viewpoint and view plane two parts, and viewpoint position can be regarded as the position that camera is placed, and view plane has infinite multiple.The imaging plane V1 of camera is a view plane, in described setting up procedure, when scaling board moves along camera optical axis, scaling board place plane is all view plane, until when scaling board fills the image of described camera shooting completely, scaling board place plane B1 is a view plane equally.Line for any point P in real world and viewpoint C1 hands over imaging plane place view plane V1 in a P '
1, P '
1the imaging point of P on imaging plane; The line of P and viewpoint C1 hands over scaling board place view plane B1 in a P "
1, P "
1for mapping point on described scaling board.
For camera C1, the pixel choosing the lower left of image is initial point O1, and the horizontal sides direction of image is x1 axle, and the vertical edges direction of image is y1 axle.By the mode of the table of comparisons, record when there is not lens distortion, the corresponding relation on the image pixel coordinates that described camera C1 takes and scaling board between mapping point volume coordinate, P '
1represent the pixel two-dimensional coordinate on the image of camera C1 shooting, P "
1represent mapping point three-dimensional coordinate on scaling board.
P′
1(0，0)→P″
1(-BoardWidth/2，-BoardHeight/2，d
cb1)
P′
1(M/8，0)→P″
1(-BoardWidth/2+BoardWidth/8，-BoardHeight/2，d
cb1)
P′
1(M/4，0)→P″
1(-BoardWidth/2+BoardWidth/4，-BoardHeight/2，d
cb1)
P′
1(3*M/4，0)→P″
1(-BoardWidth/2+3*BoardWidth/8，-BoardHeight/2，d
cb1)
P′
1(M/2，0)→P″
1(0，-BoardHeight/2，d
cb1)
P′
1(0，N/6)→P″
1(-BoardWidth/2，-BoardHeight/2+BoardWidth/6，d
cb1)
P′
1(M/8，N/6)→P″
1(-BoardWidth/2+BoardWidth/8，-BoardHeight/2++BoardHeight/6，d
cb1)
The resolution of the present embodiment camera shooting image is 1024 × 768, the wide height of scaling board is respectively 40cm and 30cm, when there is not lens distortion, the table of comparisons on the pixel two-dimensional coordinate on the image that described camera C1 takes and scaling board between mapping point three-dimensional coordinate is as follows:
P′
1(0，0)→P″
1(-20，-15，d
cb1)
P′
1(128，0)→p″
1(-15，-15，d
cb1)
P′
1(256，0)→P″
1(-10，-15，d
cb1)
P′
1(384，0)→P″
1(-5，-15，d
cb1)
P′
1(512，0)→P″
1(0，-15，d
cb1)
P′
1(0，128)→P″
1(-20，-10，d
cb1)
P′
1(128，128)→P″
1(-15，-10，d
cb1)
But all there is distortion, actual P ' in the image of general camera shooting
1(x, y) can be obtained by the Corner Detection Algorithm of image processing techniques.The corresponding relation of mapping point three-dimensional coordinate on angle point two-dimensional coordinate on the image of camera C1 shooting and scaling board is designated as f
1: P '
1(x, y) → P "
1(x, y, z).
Described position fixing process comprises the steps:
(1) open two cameras, shooting comprises the target object image of needs location simultaneously;
(2) from two width target object image, identify target object respectively by image processing techniques, and calculate the two-dimensional coordinate of target object in two width images;
(3) pixel coordinate on the image that the camera set up according to described setting up procedure is taken and the corresponding relation between mapping point volume coordinate on corresponding scaling board, by the two-dimensional coordinate of target object in two width images, calculate the three-dimensional coordinate of mapping point on two scaling boards respectively;
Corresponding relation f on pixel coordinate on the image that the camera C1 utilizing formula (2) to set up according to described setting up procedure takes and scaling board between mapping point volume coordinate
1, obtain the three-dimensional coordinate P of mapping point on scaling board corresponding to target object on image that camera C1 takes "
1(x ", y ", z ").Wherein, the two-dimensional coordinate in the image that (x ', y ') takes at camera C1 for target object, (x '
near, y '
near) for from the nearest angular coordinate of the target object detected (x ', y '), f
1x(x '
near, y '
near) be the x coordinate of mapping point on scaling board, f
1y(x '
near, y '
near) be the y coordinate of mapping point on scaling board.
In like manner, the corresponding relation f on the pixel coordinate on the image that the camera C2 utilizing formula (3) to set up according to described setting up procedure takes and scaling board between mapping point volume coordinate
2, obtain the three-dimensional coordinate P of mapping point on scaling board corresponding to target object on image that camera C2 takes "
2(x ", y ", z "):
(4) connect camera and form two space lines with mapping point on corresponding scaling board;
See Fig. 6, connect C1 and P "
1, C2 and P "
2form two space lines respectively.
(5) intersection point of two space lines is calculated, as the three-dimensional coordinate of target object.
Article two, space line intersection point is object position, and due to the existence of error, two space lines are possible without intersection point, therefore using the perpendicular bisector mid point of two space lines as the three-dimensional coordinate of target object.Described two space line perpendicular bisector mid-point computation methods are space multistory geometry category, no longer describe in detail.
In described setting up procedure, the chequered with black and white grid of scaling board is more, and setting accuracy is higher.
Claims (1)
1. a spatial three-dimensional positioning method, comprise setting up procedure and position fixing process two parts, described setting up procedure comprises the steps:
(1) scaling board that the black and white lattice that preparation length breadth ratio is identical with the image resolution ratio length breadth ratio that camera is shot are alternate;
(2) two cameras are installed, make its optical axis substantially parallel, measure and record the distance between two cameras;
(3) respectively following same treatment is done to two cameras: open camera, move described scaling board along camera optical axis and observe the image of described camera shooting, ensure that scaling board center is on image center location, mobile scaling board, until scaling board fills the image of described camera shooting completely, is now measured and records the distance between scaling board and camera;
(4) set up the pixel coordinate on the image of each camera shooting and the corresponding relation between mapping point volume coordinate on corresponding scaling board respectively, on described scaling board, mapping point is defined as the intersection point that the real space point of imaging on camera and camera line hand over scaling board;
Described position fixing process comprises the steps:
(1) open two cameras, shooting comprises the target object image of needs location simultaneously;
(2) from two width target object image, identify target object respectively by image processing techniques, and calculate the two-dimensional coordinate of target object in two width images;
(3) pixel coordinate on the image that the camera set up according to described setting up procedure is taken and the corresponding relation between mapping point volume coordinate on corresponding scaling board, by the two-dimensional coordinate of target object in two width images, calculate the three-dimensional coordinate of mapping point on two scaling boards respectively;
(4) connect camera and form two space lines with mapping point on corresponding scaling board;
(5) intersection point of two space lines is calculated, as the three-dimensional coordinate of target object.
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Cited By (1)
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| CN110148173A (en) * | 2019-05-21 | 2019-08-20 | 北京百度网讯科技有限公司 | The method and apparatus of target positioning, electronic equipment, computer-readable medium |
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| CN109751992B (en) * | 2017-11-03 | 2021-07-20 | 北京凌宇智控科技有限公司 | Indoor three-dimensional space-oriented positioning correction method, positioning method and equipment thereof |
| CN108648237B (en) * | 2018-03-16 | 2022-05-03 | 中国科学院信息工程研究所 | Space positioning method based on vision |
| CN109341530B (en) * | 2018-10-25 | 2020-01-21 | 华中科技大学 | Object point positioning method and system in binocular stereo vision |
| CN110670860B (en) * | 2019-10-15 | 2021-03-09 | 广东博智林机器人有限公司 | Laying method, laying robot and storage medium |
| CN112066950B (en) * | 2020-07-24 | 2022-10-14 | 北京空间机电研究所 | Multi-optical-axis parallel mapping camera single-center projection conversion method |
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Effective date of registration: 20170309 Address after: 213000 Changzhou, Jiangsu new North Road, No. 8 Patentee after: Changzhou Yutian Electronics Co., Ltd. Address before: 230039 Hefei West Road, Anhui, No. 3 Patentee before: Anhui University |