CN103149556B - 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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- CN103149556B CN103149556B CN201310033891.6A CN201310033891A CN103149556B CN 103149556 B CN103149556 B CN 103149556B CN 201310033891 A CN201310033891 A CN 201310033891A CN 103149556 B CN103149556 B CN 103149556B
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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 temperature control that is applied to the thermal imaging system-3D laser radar in unique point calibration algorithm and demarcate target.
Background technology
It is the basis that builds Spatial Coupling sensory perceptual system under low illumination 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 adopts is unanimous on the whole with the calibration algorithm of " visible light camera-laser radar " system, mainly can be divided into three kinds: demarcation, the demarcation based on outline line feature and the demarcation based on unique point based on plane characteristic.Chinese scholars has obtained a lot of achievements at the design aspect of above-mentioned three kinds of algorithms at present.
Structurized owing to lacking in physical environment, to have accurate dimension feature object, it is difficult utilizing Characteristics of Natural Environment to demarcate.Therefore most calibration algorithms all need special demarcation target to coordinate.At present, the comparative maturity of demarcation target of " visible light camera-laser radar " system, for example, use the gridiron pattern that the normal vector feature of face is demarcated to demarcate face target, use the hollow out gridiron pattern that Corner Feature is demarcated to demarcate target etc.
" thermal imaging system-3D laser radar " system is very different for the requirement of demarcating target from traditional " visible light camera-laser radar " system.Because visible light camera mainly receives visible ray, therefore under can be optionally, all can demarcate; And thermal imaging system mainly receives infrared light, insensitive to visible ray, therefore the conventional demarcation target of not launching infrared light is not suitable for the demarcation of " thermal imaging system-laser radar " system.
The known demarcation target for " thermal imaging system-laser radar " system mainly contains following a few class at present:
(1) use easy reflection and the easy material that absorbs infrared light to be combined in the plane gridiron pattern formation and demarcate 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, is mainly applicable to the calibration algorithm based on 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, be therefore not suitable for outdoor demarcation operation.
(2) demarcation target uses the form of planar infrared heat source+porose shutter, and this kind demarcated target and be applicable to the calibration algorithm based on face feature.Its shortcoming is: suppressed the hand-held scaling board forming by several laminates, 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 after the plank of a hollow out, to put the infrared emitter of a planar or point-like, is mainly applicable to the calibration algorithm based on a feature.Its shortcoming is: due to and ultrared transmission direction problem different from the distance of thermal source, caused the brightness difference in space, each building, 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.Calibration algorithm based on unique point uses the collection of 3D laser radar to demarcate the depth characteristic point on target more, uses thermal imaging system collection to demarcate the Infrared Image Features point of the same position on target simultaneously, uses afterwards the calibration algorithm based on unique point to demarcate.Hence one can see that, when the calibration algorithm of employing based on unique point calculates, requires to demarcate target one group of unique point simultaneously with depth characteristic and Infrared Image Features can be provided.
Summary of the invention
In view of this, the invention provides a kind of temperature control that is applied to the thermal imaging system-3D laser radar in unique point calibration algorithm 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 thermal imaging system image high, be applicable 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: the framed structure that described net with heating function framework is hollow, and described net with heating function is that outside is surrounded by the grid that the line with heating function of temperature-resistant insulation layer forms in the coiling of the hollow part of net with heating function framework; Two terminals of net with heating function are all connected with temperature controller.Temperature sensor be fixed on net with heating function and with line with heating function close contact, the signal output part of temperature sensor is connected with the temperature controller being fixed on base; Two side frames of heating framework are connected with two side frames of bracing frame by 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 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 Infrared Image Features angle point for thermal imaging system.After in the grid that described black laser catch compartment of terrain is embedded in to net with heating function, right-angled intersection place of net with heating function grid provides depth characteristic angle point for 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 with the side frame of bracing frame by pitching rotating shaft respectively, and 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 regulate horizontal rotating shaft flexible come the height of adjusting support frame; 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, by temperature sensor and temperature controller control net with heating function temperature, thereby control imaging definition and the brightness of thermal imaging system, can effectively get rid of the impact of infrared clutter in environment, be applicable to the more serious environment of infrared interference ratio.
2, the present invention, by laser catch for laser radar provides degree of depth Corner Feature, can be good at the staking-out work between 3D laser radar and thermal imaging system.
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 are all adjustable, and simple and compact for structure, easy to use, are easy to dismounting and transport.
Brief description of the 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 unique point calibration algorithm that the present embodiment provides, for realizing the demarcation to " 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, by temperature sensor and temperature controller control net with heating function temperature, make net with heating function sharpness in thermal imaging system image high, can adapt to the environment that infrared interference ratio is more serious.
The concrete structure of this demarcation target as shown in Figure 1, 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.
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, for net with heating function 4 provides high-intensity structure, ensures 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 in the time 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 are all connected with the temperature controller 7 being fixed on base 6, and described temperature controller 7 is 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 line with heating function close contact.The signal output part of temperature sensor is connected with temperature controller 7.The framed structure that support frame as described above 2 is upper end open, the middle part of 1 two side frames of net with heating function framework is connected with the movable upper end of two side frames of bracing frame 2 by pitching rotating shaft 5 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, by regulating the extension elongation of horizontal rotating shaft 8 to carry out the height of adjusting support frame 2, realizes the adjusting to demarcating target height.Heat insulation handle 3 is arranged on the top frame of heating framework 1, is not burned for the protection of 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 laser catch is installed does not affect the demarcation of thermal imaging system) for thermal imaging system.After in the grid that black laser catch 10 compartment of terrains is embedded in to net with heating function 4, as shown in Figure 2, by the embedded laser catch reflection laser of heating grid, for 3D laser radar provides accurate depth characteristic angle point, also can carry out timing signal at visible light camera provides feature angle point for visible light camera.
The principle of work of this device is:
Use before this demarcation target, after first black laser catch 10 compartment of terrains being embedded in the grid of net with heating function 4.Then by horizontal rotating shaft 8 and pitching rotating shaft 5 adjust demarcate the attitude of targets and towards, regulate the extension elongation of horizontal rotating shaft 8 by height adjuster 9, thereby adjust the height of demarcating target.When demarcation target is adjusted to after correct position, switch on power by power lead, and the target temperature of design temperature controller 7.Temperature controller 7 receives the Current Temperatures of the net with heating function 4 that temperature sensor returns, 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 object of regulation heating net 4 temperature, make the temperature stabilization of net with heating function 4 near the target temperature of setting.After temperature adjustment completes, just the Infrared Image Features point that can demarcate on target by thermal imaging system collection is realized self-calibration, 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 the calibration algorithm based on unique point to demarcate mutually, thereby realize the demarcation to 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, is also 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, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment 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 a temperature control that is applied to the thermal imaging system-3D laser radar in 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: the framed structure that described net with heating function framework (1) is 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) are all connected with temperature controller (7); Temperature sensor be fixed on net with heating function (4) upper and with line with heating function close contact, the signal output part of temperature sensor is connected with the temperature controller (7) being fixed on base (6); Two side frames of heating framework (1) are connected with two side frames of bracing frame (2) by 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 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 to net with heating function (4), right-angled intersection place of net with heating function (4) grid provides depth characteristic angle point for 3D laser radar.
2. target is demarcated in the temperature control that is applied to the thermal imaging system-3D laser radar in unique point calibration algorithm as claimed in claim 1, it is characterized in that, further comprise 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 with the side frame of bracing frame (2) by pitching rotating shaft (5) 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); The column construction that described height adjuster (9) is hollow, height adjuster (9) coordinates with horizontal rotating shaft (8), by regulate horizontal rotating shaft (8) flexible come the height of adjusting support frame (2); The axis of described pitching rotating shaft (5) is mutually vertical with the axis of horizontal rotating shaft (8).
3. target is demarcated in the temperature control that is applied to the thermal imaging system-3D laser radar in 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 the temperature control that is applied to the thermal imaging system-3D laser radar in 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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