CN103322980A - Fruit attitude detection method based on stereoscopic vision - Google Patents
Fruit attitude detection method based on stereoscopic vision Download PDFInfo
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Abstract
The invention provides a fruit attitude detection method based on stereoscopic vision. The method comprises the following steps: building a binocular stereoscopic vision acquisition system; calibrating the vision system; simultaneously acquiring an image of a tested object through a binocular camera; preprocessing the acquired image, performing feature extraction to obtain image coordinates of the feature points of the tested object; extracting image plane axes of left and right images according to the characteristics of the tested object, and solving planes formed by the image plane axes and the respective photographing photocenter; converting the two solved planes into the same coordinate system, and solving the attitude information of the tested object according to the theory that the planes formed by projection of a space line on the two planes and the respective photographing photocenter inevitably intersect on the line. The system is simple in structure and low in equipment cost and has high measurement speed.
Description
Technical field
The present invention relates to the technical fields such as computer vision, image processing and photo-geometry, particularly, the present invention relates to a kind of fruit attitude detecting method based on stereoscopic vision.
Background technology
Attitude is to judge that an object is in important several parameters of which kind of state in the space, and the attitude information of measuring fruit has certain technological guidance to the process automation that realizes fruit.
Vision detection technology is an emerging measuring technique that develops over nearly more than 20 years, remain at present the popular domain that scholars study, it has noncontact, fast, the flexible advantage of speed, the demand that can well adapt to modern manufacturing industry, be a kind of advanced person's detection means, detect, pack the fields such as detection, printing checking, commercial measurement at equipment manufacturing, industrial part at present and all have a wide range of applications.
The classification of vision measurement technical method has multiple, and employed sensor device number can be divided into during by measurement: monocular vision measuring method, binocular vision measuring method and three orders (many orders) vision measuring method.What use was more at present is front two kinds of vision measuring methods, and the application of trinocular vision measuring method is less.Monocular vision is measured with binocular vision and is measured the function that measurement characteristic body posture is all arranged, and measures purpose but monocular vision need to reach gestures of object by the replacing camera lens, and operation is trouble.
Summary of the invention
The problem that the present invention is directed to above-mentioned prior art existence makes improvements, the invention provides a kind of fruit attitude detecting method based on stereoscopic vision, adopt the binocular vision measuring method, binocular stereo vision is a kind of important form of machine vision, generally obtained simultaneously two width of cloth images of testee from different angles by twin camera, by two width of cloth images that obtain are carried out drawing useful information after the analyzing and processing, thereby carry out finding the solution of destination data, measure efficient very high, and hardware configuration is simple, continuous decline along with high-tech development and computer prices, equipment cost is also more and more lower, so the binocular vision measuring method has a wide range of applications in machine vision applications.
In order to solve the problems of the technologies described above, the invention provides following technical scheme:
Fruit attitude detecting method based on stereoscopic vision may further comprise the steps:
S1 builds the binocular stereo vision acquisition system: two cameras, fluorescent light, lighting box, computing machine, background about described binocular stereo vision acquisition system comprises;
S2, vision system is demarcated: put up and build after the binocular stereo vision acquisition system, described binocular stereo vision acquisition system is demarcated so that the work of finding the solution afterwards will calibrate left and right sides camera parameter and systematic parameter;
S3 gathers the testee image: carry out attitude when finding the solution gathering the testee image, obtain simultaneously a width of cloth testee image, the same attitude of guarantee testee is found the solution correctly like this;
S4, the image that gathers is carried out carrying out feature extraction after the pre-service, obtain the image coordinate of testee unique point: at first to about two width of cloth images carry out simple pre-service, and then carry out feature extraction, extract the image coordinate of centroid point and the base of fruit point of testee;
S5, according to the testee own characteristic, extract the image planes axis of left and right sides image, find the solution the plane that image planes axis and the photocentre of photographing separately form: obtain object image planes axis by centroid point and the base of fruit point that is connected testee, under camera coordinate system separately, find the solution image planes axis and the plane that the photocentre of photographing separately forms, be referred to as the plane that crosses;
S6, guarantee that above-mentioned two planes of finding the solution are positioned under the same coordinate system, the plane that forms according to the projection of space line on two planes and the photocentre of photographing separately must be intersected in the theory of this straight line, find the solution the attitude information of testee: at first two planes that cross of trying to achieve among the S5 will be transformed under the same coordinate system, and then find the solution attitude information.
Further, in S1, the vision collecting system of building, two cameras all are positioned at the top of lighting box, and camera photocentre line is parallel with the lighting box horizontal sides, and the angled placement of camera optical axis is arranged in the public view field of two cameras for guaranteeing testee; Fluorescent light is installed respectively at four jiaos at lighting box top, and testee is placed on the lighting box bottom take black as background;
Further, in S4, the unique point that will extract when carrying out feature extraction has centroid point and base of fruit point, and for the extraction of centroid point, directly the outline according to testee extracts; For the extraction of base of fruit point, if photograph the base of fruit point, then directly extract the base of fruit point, if do not photograph the base of fruit point, then extract approximate base of fruit point according to the symmetry of shaddock self;
Further, in S6, after being transformed into the plane under the left and right sides camera coordinates system under the same coordinate system by the system calibrating result, obtain testee spatial axis place straight line by these two plane equations of simultaneous, at first find the solution the direction number at this straight line place according to space geometry knowledge, and then find the solution the attitude parameter of testee.
The invention has the advantages that: find the solution by image acquisition, image pre-service, feature extraction and the plane that crosses, utilize the system calibrating result to transform to carry out the fruit attitude parameter behind the plane that crosses and find the solution; The present invention is simple in structure, and equipment cost is lower, and has faster measuring speed.
Description of drawings
Accompanying drawing is used to provide a further understanding of the present invention, and consists of the part of instructions, is used for together with embodiments of the present invention explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the method flow diagram of a preferred embodiment of the present invention;
Fig. 2 is the employed system of the method for Fig. 1 embodiment pie graph;
Fig. 3 is the process flow diagram that carries out system calibrating when implementing the method for Fig. 1 embodiment;
Fig. 4 is shaddock image planes axis schematic diagram in the method for Fig. 1 embodiment;
Fig. 5 is the space measured based on binocular stereo vision in the method for Fig. 1 embodiment schematic diagram that crosses;
Fig. 6 is final carriage parameter schematic diagram in the method for Fig. 1 embodiment.
Embodiment
Shown in Fig. 1-6, the present invention discloses a kind of fruit attitude detecting method based on stereoscopic vision, may further comprise the steps:
S1 builds the binocular stereo vision acquisition system: two cameras, fluorescent light, lighting box, computing machine, background about described binocular stereo vision acquisition system comprises;
S2, vision system is demarcated: put up and build after the binocular stereo vision acquisition system, described binocular stereo vision acquisition system is demarcated so that the work of finding the solution afterwards will calibrate left and right sides camera parameter and systematic parameter;
S3 gathers the testee image: carry out attitude when finding the solution gathering the testee image, obtain simultaneously a width of cloth testee image, the same attitude of guarantee testee is found the solution correctly like this;
S4, the image that gathers is carried out carrying out feature extraction after the pre-service, obtain the image coordinate of testee unique point: at first to about two width of cloth images carry out simple pre-service, and then carry out feature extraction, extract the image coordinate of centroid point and the base of fruit point of testee;
S5, according to the testee own characteristic, extract the image planes axis of left and right sides image, find the solution the plane that image planes axis and the photocentre of photographing separately form: obtain object image planes axis by centroid point and the base of fruit point that is connected testee, under camera coordinate system separately, find the solution image planes axis and the plane that the photocentre of photographing separately forms, be referred to as the plane that crosses;
S6, guarantee that above-mentioned two planes of finding the solution are positioned under the same coordinate system, the plane that forms according to the projection of space line on two planes and the photocentre of photographing separately must be intersected in the theory of this straight line, find the solution the attitude information of testee: at first two planes that cross of trying to achieve in the step 5 will be transformed under the same coordinate system, and then find the solution attitude information.
In step 1, the vision collecting system of building, two cameras all are positioned at the top of lighting box, and camera photocentre line is parallel with the lighting box horizontal sides, and the angled placement of camera optical axis is arranged in the public view field of two cameras for guaranteeing testee; Fluorescent light is installed respectively at four jiaos at lighting box top, and testee is placed on the lighting box bottom take black as background;
In step 4, the unique point that will extract when carrying out feature extraction has centroid point and base of fruit point, and for the extraction of centroid point, directly the outline according to testee extracts; For the extraction of base of fruit point, if photograph the base of fruit point, then directly extract the base of fruit point, if do not photograph the base of fruit point, then extract approximate base of fruit point according to the symmetry of shaddock self;
In step 6, after being transformed into the plane under the left and right sides camera coordinates system under the same coordinate system by the system calibrating result, obtain testee spatial axis place straight line by these two plane equations of simultaneous, at first find the solution the direction number at this straight line place according to space geometry knowledge, and then find the solution the attitude parameter of testee.
The embodiment of the invention describes as an example of this fruit of shaddock example.The method flow diagram of the embodiment of the invention as shown in Figure 1.Such as Fig. 2, Binocular Stereo Vision System that method utilization of the present invention is built is realized: this acquisition system by about two cameras, fluorescent light, lighting box, computing machine and backgrounds etc. form, two cameras all are positioned at the top of lighting box, camera photocentre line is parallel with the lighting box horizontal sides, the angled placement of camera optical axis is arranged in the public view field of two cameras for guaranteeing testee; Fluorescent light is installed respectively at four jiaos at lighting box top, and testee is placed on the lighting box bottom take black as background.
Before carrying out image acquisition, need acquisition system is demarcated, the system calibrating process flow diagram as shown in Figure 3, about two cameras gather simultaneously same width of cloth uncalibrated image, then calibrate at first respectively left and right sides camera parameter, carry out again the vision system parameter calibration, finally provide the projection matrix M of left and right sides camera in world coordinate system
1With M
2
Left and right sides camera gathers the image of testee simultaneously, the schematic diagram of testee image planes axis as shown in Figure 4, A selects and is shaddock base of fruit point among the figure, B selects and is the shaddock centroid point, connects this dotted line of 2 and is the image planes axis.Plane by image planes axis and the photocentre of photographing separately has two, be referred to as the plane that crosses, suppose that a certain image planes axial equation is ax+by+c=0, corresponding photography photocentre and its distance as the plane is f with it, then have under this camera coordinates system, the plane equation that crosses that the photography photocentre that testee image planes axis is corresponding with it forms is
The plane that consists of according to the projection of space bar straight line on two planes and the photocentre of photographing separately again must be intersected in the theory of this straight line, makes the space and crosses figure as shown in Figure 5.O among the figure
1, O
2Be respectively the optical centre of left and right cameras, as the picture plane corresponding be respectively left and right sides camera as plane 2, plane 1, the plane that the plane 1,2 that crosses is respectively the image planes axis of shaddock spatial axis on the left and right cameras plane and the photocentre of photographing separately consists of, O
1, O
2Be respectively f with the distance as the plane separately
1, f
2Coordinate system O
1-X
C1Y
C1Z
C1Be the camera coordinates system of left video camera, coordinate system O
2-X
C2Y
C2Z
C2Be the camera coordinates system of right video camera, coordinate system O
w-X
wY
wZ
wBe world coordinate system.
In world coordinate system, the straight line that A, B select the place is the spatial axis of shaddock, supposes that A selects the base of fruit point into shaddock, and B selects the centroid point into shaddock.The subpoint of base of fruit point A on two camera planes is respectively A
1, A
2, establish them and be respectively (x as the coordinate on the plane separately
G1, y
G1), (x
G2, y
G2); The subpoint of centroid point B on two camera planes is respectively B
1, B
2, establish them and be respectively (x as the coordinate on the plane separately
C1, y
C1), (x
C2, y
C2).Base of fruit select and centroid point is determined shaddock image planes axis by connecting, and makes that left image planes axial equation is a
lX+b
lY+c
l=0, a wherein
l=y
G1-y
C1, b
l=x
C1-x
G1, c
l=x
G1y
C1-x
C1y
G1Right image planes axial equation is a
rX+b
rY+c
r=0, a wherein
r=y
G2-y
C2, b
r=x
C2-x
G2, c
r=x
G2y
C2-x
C2y
G2Then have at left and right sides camera separately under the coordinate system, the equation on cross plane 1 and the plane 2 that crosses is respectively
Formula (1) and formula (2) be the plane equation under different coordinates, it all will be transformed in the world coordinate system before the space crosses carrying out, and order conversion equation afterwards is
A
lx+B
ly+C
lz+D
l＝0 （3）
A
rx+B
ry+C
rz+D
r＝0 （4）
The result that supposing the system is demarcated is:
The projection matrix of left camera in world coordinate system is
The projection matrix of right camera in world coordinate system is
Then have
Formula (3) is the result of formula (1) conversion, and formula (4) is the result of formula (2) conversion.According to space geometry knowledge as can be known, formula (3) and formula (4) simultaneous are the equation of spatial axis, and three direction numbers can trying to achieve spatial axis place straight line are respectively
Can solve as shown in Figure 6 attitude angle [alpha] and β according to formula (5) again, solution formula as the formula (6):
In the formula (6), α is fruit axis and it is at X
wO
wY
wAngle between the projection on the face, β are that the fruit axis is at X
wO
wY
wProjection on the face and X
wAngle between the axle.
The such scheme that the present invention proposes is found the solution by image acquisition, image pre-service, feature extraction and the plane that crosses, and utilizes the system calibrating result to transform to carry out the fruit attitude parameter behind the plane that crosses to find the solution.The such scheme that the present invention proposes, simple in structure, equipment cost is lower, and has faster measuring speed.
Method of the present invention not only can be used for the shaddock attitude detection also can carry out attitude detection to the object with axis of rotation, just owing to will realize the process automation operation of peeling and corning of fruits, needs to pay attention to robotization, therefore relatively is fit to use visible sensation method.
The above only is the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment the present invention is had been described in detail, for a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. fruit attitude detecting method based on stereoscopic vision is characterized in that: may further comprise the steps:
S1 builds the binocular stereo vision acquisition system: two cameras, fluorescent light, lighting box, computing machine, background about described binocular stereo vision acquisition system comprises;
S2, vision system is demarcated: put up and build after the binocular stereo vision acquisition system, described binocular stereo vision acquisition system is demarcated, calibrate left and right sides camera parameter and systematic parameter;
S3 gathers the testee image: carry out attitude when finding the solution gathering the testee image, obtain simultaneously a width of cloth testee image;
S4, the image that gathers is carried out carrying out feature extraction after the pre-service, obtain the image coordinate of testee unique point: at first to about two width of cloth images carry out pre-service, and then carry out feature extraction, extract the image coordinate of centroid point and the base of fruit point of testee;
S5, according to the testee own characteristic, extract the image planes axis of left and right sides image, find the solution the plane that image planes axis and the photocentre of photographing separately form: obtain object image planes axis by centroid point and the base of fruit point that is connected testee, under camera coordinate system separately, find the solution image planes axis and the plane that the photocentre of photographing separately forms, be referred to as the plane that crosses;
S6, guarantee that above-mentioned two planes of finding the solution are positioned under the same coordinate system, the plane that forms according to the projection of space line on two planes and the photocentre of photographing separately must be intersected in the theory of this straight line, find the solution the attitude information of testee: at first two planes that cross of trying to achieve among the S5 will be transformed under the same coordinate system, and then find the solution attitude information.
2. the fruit attitude detecting method based on stereoscopic vision as claimed in claim 1, it is characterized in that: in S1, the vision collecting system of building, two cameras all are positioned at the top of described lighting box about described, two camera photocentre lines are parallel with described lighting box horizontal sides about described, fluorescent light is installed respectively in two angled placements of camera optical axis about described, four jiaos at described lighting box top, and testee is placed on the described lighting box bottom take black as background.
3. the fruit attitude detecting method based on stereoscopic vision as claimed in claim 1, it is characterized in that: in S4, the unique point that will extract when carrying out feature extraction has centroid point and base of fruit point, and for the extraction of centroid point, directly the outline according to testee extracts; For the extraction of base of fruit point, if photograph the base of fruit point, then directly extract the base of fruit point, if do not photograph the base of fruit point, then extract approximate base of fruit point according to the symmetry of shaddock self.
4. the fruit attitude detecting method based on stereoscopic vision as claimed in claim 1, it is characterized in that: in S6, after being transformed into the plane under two camera coordinates system about described under the same coordinate system by the system calibrating result, obtain testee spatial axis place straight line by these two plane equations of simultaneous, at first find the solution the direction number at this straight line place according to space geometry knowledge, and then find the solution the attitude parameter of testee.
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| CN105282501A (en) * | 2014-07-21 | 2016-01-27 | 罗伯特·博世有限公司 | Monitoring device comprising a reflecting device and corresponding module and method for setting up the monitoring device |
| CN107121125A (en) * | 2017-06-12 | 2017-09-01 | 哈尔滨工业大学 | A kind of communication base station antenna pose automatic detection device and method |
| CN107649406A (en) * | 2017-09-30 | 2018-02-02 | 南京航空航天大学 | A kind of efficient more material picking up system of binocular vision and method |
| CN108694713A (en) * | 2018-04-19 | 2018-10-23 | 北京控制工程研究所 | A kind of the ring segment identification of satellite-rocket docking ring part and measurement method based on stereoscopic vision |
| CN108917721A (en) * | 2018-04-19 | 2018-11-30 | 北京控制工程研究所 | A kind of unstability satellite satellite and the rocket butt joint ring binocular measurement method |
| CN110586491A (en) * | 2019-08-22 | 2019-12-20 | 广东省农业科学院农产品公共监测中心 | Method, device and storage medium for detecting posture and quality of pomelo |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105282501A (en) * | 2014-07-21 | 2016-01-27 | 罗伯特·博世有限公司 | Monitoring device comprising a reflecting device and corresponding module and method for setting up the monitoring device |
| CN107121125A (en) * | 2017-06-12 | 2017-09-01 | 哈尔滨工业大学 | A kind of communication base station antenna pose automatic detection device and method |
| CN107121125B (en) * | 2017-06-12 | 2019-05-14 | 哈尔滨工业大学 | A kind of communication base station antenna pose automatic detection device and method |
| CN107649406A (en) * | 2017-09-30 | 2018-02-02 | 南京航空航天大学 | A kind of efficient more material picking up system of binocular vision and method |
| CN108694713A (en) * | 2018-04-19 | 2018-10-23 | 北京控制工程研究所 | A kind of the ring segment identification of satellite-rocket docking ring part and measurement method based on stereoscopic vision |
| CN108917721A (en) * | 2018-04-19 | 2018-11-30 | 北京控制工程研究所 | A kind of unstability satellite satellite and the rocket butt joint ring binocular measurement method |
| CN108917721B (en) * | 2018-04-19 | 2021-06-11 | 北京控制工程研究所 | Unstable satellite and rocket docking ring binocular measurement method |
| CN110586491A (en) * | 2019-08-22 | 2019-12-20 | 广东省农业科学院农产品公共监测中心 | Method, device and storage medium for detecting posture and quality of pomelo |
| CN110586491B (en) * | 2019-08-22 | 2021-11-23 | 广东省农业科学院农产品公共监测中心 | Method, device and storage medium for detecting posture and quality of pomelo |
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Application publication date: 20130925 |