CN103149556A - Thermal imager and three-dimensional (3D) laser radar temperature control calibration target for feature point calibration algorithms - Google Patents
Thermal imager and three-dimensional (3D) laser radar temperature control calibration target for feature point calibration algorithms Download PDFInfo
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Abstract
The invention discloses a thermal imager and three-dimensional (3D) laser radar temperature control calibration target for feature point calibration algorithms. A calibration device uses a thermal imager and a 3D laser radar to collect a same group of feature points on the calibration target respectively to obtain an image and 3D point cloud data to achieve the calibration algorithms based on the feature points. The temperature control calibration target comprises a heating net, a heating net frame, laser retaining sheets, a pitching rotation shaft, a horizontal rotation shaft, an altitude controller, a temperature controller, a temperature sensor and the like. The horizontal rotation shaft and the pitching rotation shaft adjust gestures and orientations of the calibration target, the altitude controller adjusts altitude of the calibration target, and the temperature controller enables current temperature of the heating net to be compared with the preset target temperature to adjust the temperature of the heating net. Points at the crossing position of the heating net provide infrared characteristic angle points. When the laser retaining sheets are embedded in the heating net grid at intervals, the laser retaining sheets provide characteristic angle points for the laser radar, and the laser retaining sheets can further provide image characteristic angle points for a camera when the visible light camera demarcates.
Description
Technical field
The present invention relates to a kind of measuring caliberating device, be specifically related to a kind of thermal imaging system for the unique point calibration algorithm and the temperature control of 3D laser radar and demarcate target.
Background technology
It is to build low light according to the basis of Spatial Coupling sensory perceptual system under condition that the space of 3D laser radar and thermal imaging system is demarcated.The algorithm that the demarcation of " thermal imaging system-laser radar " system is adopted is unanimous on the whole with the calibration algorithm of " visible light camera-laser radar " system, mainly can be divided into three kinds: based on the demarcation of plane characteristic, based on the demarcation of outline line feature and based on the demarcation of unique point.Chinese scholars has obtained a lot of achievements at the design aspect of above-mentioned three kinds of algorithms at present.
Owing to lacking structurized, as to have accurate dimension feature object in physical environment, it is difficult utilizing Characteristics of Natural Environment to demarcate.Therefore most calibration algorithms all need special demarcation target to coordinate.At present, the demarcation target of " visible light camera-laser radar " system is comparative maturity, demarcates the face target, uses the hollow out gridiron pattern that Corner Feature is demarcated to demarcate target etc. such as the gridiron pattern that the normal vector feature of the face of use is demarcated.
" thermal imaging system-3D laser radar " system is very different for the requirement of demarcating target from traditional " visible light camera-laser radar " system.Therefore because visible light camera mainly receives visible light, all can demarcate under can be according to circumstances; And thermal imaging system mainly receives infrared light, and is insensitive to visible light, and therefore the conventional demarcation target of not launching infrared light is not suitable for the demarcation of " thermal imaging system-laser radar " system.
The at present known demarcation target that is used for " thermal imaging system-laser radar " system mainly contains following a few class:
(1) use the material that easily reflects and easily absorb infrared light to be combined in the plane gridiron pattern and form the demarcation target.In this scheme, demarcating target does not have heating arrangement, and its imaging in thermal imaging system mainly relies on bi-material to cause the difference of bright-dark degree for the degree of reflection difference of infrared light, mainly is applicable to the calibration algorithm based on the face feature.Its shortcoming is: under the more serious environment of infrared interference ratio, such as the outdoor environment under sunshine, because self can not generate heat, be difficult to be identified, therefore be not suitable for outdoor demarcation operation.
(2) demarcate the form that target uses planar infrared heat source+porose shutter, this kind demarcation target is applicable to the calibration algorithm based on the face feature.Its shortcoming is: by the hand-held scaling board that several laminate compactings form, general temperature is lower, and antijamming capability is more weak; Due to the diffraction in hole, degree of accuracy is subject to certain impact; The face that can provide is smaller, and being difficult to provides enough coplanar points for the demarcation of laser radar.
(3) use the demarcation target of hollowed-out board+infrared emitter, its principle is to put the infrared emitter of a planar or point-like in the plank back of a hollow out, mainly is applicable to the calibration algorithm based on a feature.Its shortcoming is: due to from the far and near different and ultrared transmission direction problem of thermal source, caused the brightness in each space, building different, be unfavorable for demarcating; Do not realize function of temperature control; Infrared light intensity is lower, is unfavorable for outdoor demarcation.
Simultaneously different calibration algorithms has different requirements for demarcating target.Use 3D laser radar collection to demarcate depth characteristic point target on based on the calibration algorithm of unique point more, use simultaneously the thermal imaging system collection to demarcate the Infrared Image Features point of the same position on target, use afterwards based on the calibration algorithm of unique point and demarcate.Hence one can see that, when adopting calibration algorithm based on unique point to calculate, requires to demarcate target one group of unique point that has simultaneously depth characteristic and Infrared Image Features can be provided.
Summary of the invention
In view of this, the invention provides a kind of thermal imaging system based on the unique point calibration algorithm and the temperature control of 3D laser radar and demarcate target, this demarcation target provides infrared Corner Feature by the controlled net with heating function of temperature for thermal imaging system, make net with heating function sharpness in the thermal imaging system image high, be fit to the more serious environment of infrared interference ratio, the present invention simultaneously also can be directly used in the demarcation of visible light camera and 3D laser radar.
Temperature control of the present invention is demarcated target and is comprised: net with heating function framework, bracing frame, net with heating function, black laser catch, base, temperature controller, temperature sensor and power lead.
Its annexation is: described net with heating function framework is the framed structure of hollow, the grid that described net with heating function forms in the coiling of the hollow part of net with heating function framework for the outside line with heating function that is surrounded by temperature-resistant insulation layer; Two terminals of net with heating function all are connected with temperature controller.Temperature sensor be fixed on net with heating function and with the line with heating function close contact, the signal output part of temperature sensor is connected with temperature controller on being fixed on base; Two side frames of heating framework are connected with two side frames of bracing frame by the level connection joint axle respectively.Bracing frame bottom frame is connected with base by vertical coupling shaft.Described power lead is connected with temperature controller, and external power source is the temperature controller power supply by power lead.Described temperature controller can be controlled the electric current that flows through net with heating function; Right-angled intersection place of described net with heating function grid provides the Infrared Image Features angle point for thermal imaging system.After in the grid that described black laser catch compartment of terrain is embedded in net with heating function, right-angled intersection place of net with heating function grid provides the depth characteristic angle point for the 3D laser radar.
This temperature control is demarcated target and is further comprised pitching rotating shaft, horizontal rotating shaft and height adjuster; The centre position of two side frames of described net with heating function framework is flexibly connected by the side frame of pitching rotating shaft and bracing frame respectively, and the net with heating function framework can rotate around the axis of pitching rotating shaft; The bottom frame of support frame as described above is connected with height adjuster by the horizontal rotating shaft of vertically placing, and height adjuster is fixed on base; Support frame as described above can rotate around the axis of horizontal rotating shaft; Described height adjuster is the column construction of hollow, and height adjuster coordinates with horizontal rotating shaft, by regulating the height that stretches adjusting support frame of horizontal rotating shaft; The axis of described pitching rotating shaft is mutually vertical with the axis of horizontal rotating shaft.
This temperature control is demarcated target and is also comprised heat insulation handle, and described heat insulation handle is fixed on the top frame of heating framework.
Described net with heating function framework is that heat-resisting stiff materials is made.
Beneficial effect:
1, demarcation target of the present invention provides infrared Corner Feature by net with heating function for thermal imaging system, control the net with heating function temperature by temperature sensor and temperature controller, thereby control imaging definition and the brightness of thermal imaging system, can effectively get rid of the impact of infrared clutter in environment, be fit to the more serious environment of infrared interference ratio.
2, the present invention for laser radar provides degree of depth Corner Feature, can be good at completing the staking-out work between 3D laser radar and thermal imaging system by the laser catch.
3, the present invention has taken into account the requirement that general visible video camera and 3D laser radar are demarcated, and can be directly used in the demarcation of visible light camera and 3D laser radar.
4, the height of this demarcation target, attitude all can be regulated, and simple and compact for structure, and be easy to use, is easy to dismounting and transportation.
Description of drawings
Fig. 1 is whole structure figure of the present invention;
Fig. 2 is laser catch and the feature angle point design sketch of installing on net with heating function of the present invention.
Wherein, 1-net with heating function framework, 2-bracing frame, the heat insulation handle of 3-, 4-net with heating function, 5-pitching rotating shaft, 6-base, 7-temperature controller, 8-horizontal rotating shaft, 9-height adjuster, 10-laser catch
Embodiment
Below in conjunction with the accompanying drawing embodiment that develops simultaneously, describe the present invention.
Target is demarcated in the temperature control based on the unique point calibration algorithm that the present embodiment provides, be used for realization to the demarcation of " thermal imaging system and 3D laser radar ", this temperature control is demarcated target and is provided infrared Corner Feature by net with heating function for thermal imaging system, control the net with heating function temperature by temperature sensor and temperature controller, make net with heating function sharpness in the thermal imaging system image high, can adapt to the more serious environment of infrared interference ratio.
The concrete structure of this demarcation target comprises net with heating function framework 1, bracing frame 2, heat insulation handle 3, net with heating function 4, pitching rotating shaft 5, base 6, temperature controller 7, horizontal rotating shaft 8, height adjuster 9, laser catch 10, temperature sensor and power lead as shown in Figure 1.
Its integrated connection closes: net with heating function 4 is a complete line with heating function grid that coiling forms on net with heating function framework 1, and the size of grid demarcates required feature angle point number according to reality and imaging definition determines.Wherein net with heating function framework 1 is made for heat-resisting stiff materials, and net with heating function framework 1 provides high-intensity structure for net with heating function 4, guarantees that the size of net with heating function 4 keeps high precision.Net with heating function 4 outsides are surrounded by temperature-resistant insulation layer, and when having electric current to pass through, net with heating function 4 can send Joule heat, thereby improve the temperature of self.Two terminals of net with heating function 4 all be fixed on base 6 on temperature controller 7 be connected, described temperature controller 7 is used for controlling the electric current that flows through net with heating function 4.Temperature sensor is bundled on net with heating function 4, and with the line with heating function close contact.The signal output part of temperature sensor is connected with temperature controller 7.Support frame as described above 2 is the framed structure of upper end open, the middle part of 1 two side frames of net with heating function framework is connected by the movable upper end of pitching rotating shaft 5 with two side frames of bracing frame 2 respectively, net with heating function framework 1 can rotate around the axis of pitching rotating shaft 5, thereby adjusts the pitch attitude of net with heating function 4.The bottom frame of bracing frame 2 is connected with height adjuster 9 by the horizontal rotating shaft 8 of vertically placing.Support frame as described above 2 can rotate around the axis of horizontal rotating shaft 8, thereby adjusts the horizontal attitude of net with heating function 4.The axis of the axis vertical and horizontal rotating shaft 8 of described pitching rotating shaft 5.Height adjuster 9 is fixed on base 6, height adjuster 9 inner hollow, and height adjuster 9 coordinates with horizontal rotating shaft 8, comes the height of adjusting support frame 2 by the extension elongation of regulating horizontal rotating shaft 8, realizes demarcating the adjusting of target height.Heat insulation handle 3 is arranged on the top frame of heating framework 1, is not burned for the protection of the user.Power lead is connected on temperature controller 7, connects external power source by power lead, thereby provides the energy for demarcating target.
In said apparatus, right-angled intersection place of net with heating function 4 grids (as the some A in Fig. 2) provides accurate Infrared Image Features angle point (whether the laser catch being installed on the not impact of demarcation of thermal imaging system) for thermal imaging system.After in the grid that black laser catch 10 compartment of terrains is embedded in net with heating function 4, as shown in Figure 2, by the embedded laser catch reflector laser of heating grid, for the 3D laser radar provides accurate depth characteristic angle point, also can carry out timing signal at visible light camera provides the feature angle point for visible light camera.
The principle of work of this device is:
Before using this demarcation target, after first black laser catch 10 compartment of terrains being embedded in the grid of net with heating function 4.Then adjust the attitude of demarcating targets by horizontal rotating shaft 8 and pitching rotating shaft 5 and towards, the extension elongation of regulating horizontal rotating shafts 8 by height adjuster 9, thereby adjust the height of demarcating target.After demarcating target and being adjusted to correct position, switch on power by power lead, and the target temperature of design temperature controller 7.The Current Temperatures of the net with heating function 4 that temperature controller 7 reception temperature sensors return, and itself and the target temperature of setting are compared, then flow through the electric current of net with heating function 4 by control, thereby adjust the heating power of net with heating function 4, and then reach the purpose of regulation heating net 4 temperature, make the temperature stabilization of net with heating function 4 near the target temperature of setting.After the temperature adjustment is completed, just can realize from demarcating by the Infrared Image Features point that the thermal imaging system collection is demarcated on target, simultaneously because compartment of terrain in the grid of net with heating function 4 is inlaid with black laser catch 10, can demarcate by the collection of 3D laser radar the depth characteristic point of same position on target, use afterwards based on the calibration algorithm of unique point and demarcate mutually, thereby realization is to the demarcation of thermal imaging system and 3D laser radar.
Above-mentioned caliberating device is applicable to various 3D laser radars based on unique point and the calibration algorithm of thermal imaging system, also is applicable to various 3D laser radars based on unique point and the calibration algorithm of visible light camera simultaneously.
In sum, these are only preferred embodiment of the present invention, is not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. target is demarcated in thermal imaging system and the temperature control of 3D laser radar that is used for the unique point calibration algorithm, it is characterized in that, comprising: net with heating function framework (1), bracing frame (2), net with heating function (4), black laser catch (10), base (6), temperature controller (7), temperature sensor and power lead;
Its annexation is: described net with heating function framework (1) is the framed structure of hollow, the grid that described net with heating function (4) forms in the hollow part coiling of net with heating function framework (1) for the outside line with heating function that is surrounded by temperature-resistant insulation layer; Two terminals of net with heating function (4) all are connected with temperature controller (7); Temperature sensor be fixed on net with heating function (4) upper and with the line with heating function close contact, the signal output part of temperature sensor is connected with temperature controller (7) on being fixed on base (6); Two side frames of heating framework (1) are connected with two side frames of bracing frame (2) by the level connection joint axle respectively; Bracing frame (2) bottom frame is connected with base (6) by vertical coupling shaft; Described power lead is connected with temperature controller (7), and external power source is temperature controller (7) power supply by power lead; Described temperature controller (7) can be controlled the electric current that flows through net with heating function (4); Right-angled intersection place of described net with heating function (4) grid provides the Infrared Image Features angle point for thermal imaging system; After in the grid that described black laser catch (10) compartment of terrain is embedded in net with heating function (4), right-angled intersection place of net with heating function (4) grid provides the depth characteristic angle point for the 3D laser radar.
2. target is demarcated in thermal imaging system and the temperature control of 3D laser radar for the unique point calibration algorithm as claimed in claim 1, it is characterized in that, further comprises pitching rotating shaft (5), horizontal rotating shaft (8) and height adjuster (9); The centre position of (1) two side frame of described net with heating function framework is flexibly connected by the side frame of pitching rotating shaft (5) with bracing frame (2) respectively, and net with heating function framework (1) can rotate around the axis of pitching rotating shaft (5); The bottom frame of support frame as described above (2) is connected with height adjuster (9) by the horizontal rotating shaft (8) of vertically placing, and height adjuster (9) is fixed on base (6); Support frame as described above (2) can rotate around the axis of horizontal rotating shaft (8); Described height adjuster (9) is the column construction of hollow, and height adjuster (9) coordinates with horizontal rotating shaft (8), by regulating the height that stretches adjusting support frame (2) of horizontal rotating shaft (8); The axis of described pitching rotating shaft (5) is mutually vertical with the axis of horizontal rotating shaft (8).
3. target is demarcated in thermal imaging system and the temperature control of 3D laser radar for the unique point calibration algorithm as claimed in claim 1, it is characterized in that, also comprise heat insulation handle (3), described heat insulation handle (3) is fixed on the top frame of heating framework (1).
4. target is demarcated in thermal imaging system and the temperature control of 3D laser radar for the unique point calibration algorithm as claimed in claim 1, it is characterized in that, described net with heating function framework (1) is made for heat-resisting stiff materials.
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