CN103438798A - Initiative binocular vision system overall calibration method - Google Patents
Initiative binocular vision system overall calibration method Download PDFInfo
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- CN103438798A CN103438798A CN2013103775604A CN201310377560A CN103438798A CN 103438798 A CN103438798 A CN 103438798A CN 2013103775604 A CN2013103775604 A CN 2013103775604A CN 201310377560 A CN201310377560 A CN 201310377560A CN 103438798 A CN103438798 A CN 103438798A
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Abstract
The invention discloses an initiative binocular vision system overall calibration method which includes the steps that firstly, an initiative binocular vision system is installed and parameters are adjusted, then, camera calibration and three-dimensional calibration are performed, and three-dimensional calibration of the system is achieved; secondly, a laser tracker is used for determining a world coordinate system, deriving relational expressions from a dynamic left camera coordinate system to the world coordinate system and confirming the calibration parameters; thirdly, the system is moved to a posture 1 and a posture 2 in sequence from an initial posture, and the geometrical relationship between the left camera coordinate system and the world coordinate system under each posture is calibrated; finally, a overall calibration constraint equation is set up so as to solve unknown parameters, and overall calibration is finished. The initiative binocular vision system overall calibration method improves the stability and the speed of overall calibration and obtains high overall calibration precision.
Description
Affiliated technical field
The present invention relates to a kind of overall calibration method of on-the-spot multisensor dimensional visual measurement system, particularly active binocular vision system overall calibration method.
Background technology
Along with the development of computer technology and the raising of computing power, computer vision has become one of research subject the most popular in engineering field and scientific domain.Initiatively binocular vision system is as an important branch of computer vision, is a kind ofly can carry out to the true three-dimension scene that dynamic 3 D is measured and the bionic system of reconstruct.This system mainly is comprised of two industrial cameras and a The Cloud Terrace that can carry out pitching, yawing rotation.Wherein the parallax range between video camera can be adjusted, and the kinematic parameter of system can be real-time obtains (yaw angle, luffing angle).With respect to passive binocular vision system, initiatively binocular vision system can change the parameter of visual angle and sensing system according to the demand of scene, obtains specific region, has the three-dimensional information of certain accuracy requirement, realizes initiatively stereoscopic vision task.Therefore, initiatively binocular vision has significant superiority aspect dirigibility.
Generally speaking, initiatively the three-dimensional measurement of binocular vision system is to be benchmark with left camera coordinates, and the three-dimensional coordinate of the spatial point of systematic survey is all unified under left camera coordinate system.Yet, due to the active binocular vision system, in the process of carrying out pitching or yawing rotation, cause the spatial relation between left camera coordinate system and world coordinate system constantly all can change.In order to make the three-dimensional data that initiatively binocular vision system is measured be unified under world coordinate system, must be demarcated whole system, determine the relative position relation change type of dynamic left camera coordinate system and world coordinate system, this work is called the initiatively global calibration of binocular vision system.
Initiatively the global calibration of binocular vision system belongs to multisensor dimensional visual measurement system global calibration problem.Traditional overall calibration method is to adopt standard component as calibration tool, and the formal data of measuring of calibrated system are all deviation datas of relative standard's part.This standard component very easily is damaged in the process of moving, and causes stated accuracy to reduce.And this scaling method does not make system become an independently spatial coordinate measuring system.What application was more at present is " electronic theodolite is to method ".The method utilizes two or more transits to form spatial coordinate measuring system, and high-precision calibration point is provided.Yet, the more complicated of building a station of electronic theodolite, the speed of measurement is slow, can only carry out static measurement.In addition, the measuring accuracy of electronic theodolite method depends on the technical merit of survey crew, and this has increased the difficulty of global calibration undoubtedly.
Summary of the invention
Technology of the present invention is dealt with problems: the shortcomings such as existing scaling method medium velocity is slow in order to solve, poor stability, the invention provides a kind of active binocular vision system overall calibration method, adopt when higher for, global calibration speed narrow and small in the measure field working range and accuracy requirement.Not only speed is fast for the method, precision is higher, and can obtain stability preferably, can further improve the initiatively measuring accuracy of binocular vision system.
Technical solution of the present invention is: active binocular vision overall calibration method is characterized in that being demarcated according to following steps:
(1) measure field initiatively binocular vision system be fixed on working position, determine the parallax range between the left and right cameras of system, adjust aperture and the focal length of each video camera simultaneously and fixed;
(2) open the initiatively power supply of binocular vision system, executive system resets and makes it in initial attitude, then by the binocular camera of system gather simultaneously different attitudes the two dimensional surface target image several, and store in computing machine;
(3) adopt the relevant scaling method based on the two dimensional surface target, the active binocular vision system is carried out to camera calibration and stereo calibration, according to calibration result, the active binocular vision system is carried out to three-dimensional correction;
(4), in measure field, laser tracker is placed in place, and used laser tracker to determine world coordinate system;
(5) the target ball of laser tracker is fixed on to the surface of rectangle scaling board, then scaling board is placed on to the appropriate location in the field range of binocular vision system initiatively, guarantees each video camera of system and the minute surface center that laser tracker can both " be seen " the target ball;
(6) the laser tracker record is when the three-dimensional coordinate of minute surface central point under world coordinate system of front target ball, while is the camera acquisition target ball image of binocular vision system initiatively, and calculate the three-dimensional coordinate of minute surface central point under left camera coordinate system, store in computing machine;
(7) repeat the work of (5), (6), until obtain the minute surface central point at three groups or three groups above diverse location places;
(8) utilize the minute surface central point obtained to be demarcated current attitude bottom left camera coordinate system and world coordinate system, and calibration result is stored in computing machine;
(9) control initiatively binocular vision system and move to certain attitude from initial state, record current kinematic parameter, then repeat the work of (5), (6), (7), (8), obtain second group of calibration result, and be stored to computing machine;
(10) control initiatively binocular vision system again and move to another attitude, record current kinematic parameter, the work of rear repetition (5), (6), (7), (8), obtain the 3rd group of calibration result, and be stored to computing machine;
(11) three groups of calibration results that utilize to obtain are set up two groups of global calibration constraint equations, by solving equation of constraint, determine that dynamic left camera coordinate system, to the unknown parameter in the function expression of world coordinate system, completes global calibration;
(12) by the global calibration result store to computing machine, in order to follow-up active binocular vision system, use.
The present invention's advantage compared with prior art is: the present invention has well overcome and has caused this problem of global calibration result difference because of survey crew technical merit difference, stability and the speed of global calibration have been improved, obtain higher global calibration precision, realized the unification at measure field camera calibration, stereo calibration and global calibration.
The accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention;
Fig. 2 is the active binocular vision system global calibration schematic diagram in the present invention;
Fig. 3 is the laser tracker target ball pictorial diagram in the present invention.The 1st, target ball, the 2nd, scaling board;
The pictorial diagram that Fig. 4 is the active binocular vision.
Embodiment
As shown in Figure 1, procedure of the present invention is, at first binocular vision system is installed initiatively and adjusted parameter, then carries out camera calibration and stereo calibration, realizes the three-dimensional correction of system.Then use laser tracker to determine world coordinate system, and derive the relational expression of dynamic left camera coordinate system to world coordinate system, clear and definite calibrating parameters.And then make system successively move to attitude 1 and attitude 2 from initial state, and the left camera coordinate system under each attitude and the geometric relationship between world coordinate system are demarcated.Finally set up global calibration constraint equation solution unknown parameter, complete global calibration.
The concrete steps that use the present invention carries out active binocular vision system global calibration are as follows:
(1) measure field initiatively binocular vision system be fixed on working position, determine the parallax range between the left and right cameras of system, adjust aperture and the focal length of each video camera simultaneously and fixed;
(2) open the initiatively power supply of binocular vision system, executive system resets and makes it in initial attitude, then by the binocular camera of system gather simultaneously different attitudes the two dimensional surface target image several, and store in computing machine;
(3) adopt the relevant scaling method based on the two dimensional surface target, the active binocular vision system is carried out to camera calibration and stereo calibration, according to calibration result, the active binocular vision system is carried out to three-dimensional correction; The concrete grammar that carries out camera calibration and stereo calibration based on the two dimensional surface target is known technology, can be referring to Zhang Guangjun work " vision measurement ", Science Press, 2008.
(4), in measure field, laser tracker is placed in place, and used laser tracker to determine world coordinate system;
(5) the target ball of laser tracker is fixed on to the surface of rectangle scaling board, then scaling board is placed on to the appropriate location in the field range of binocular vision system initiatively, guarantees each video camera of system and the minute surface center that laser tracker can both " be seen " the target ball;
(6) the laser tracker record is when the three-dimensional coordinate of minute surface central point under world coordinate system of front target ball, while is the camera acquisition target ball image of binocular vision system initiatively, and calculate the three-dimensional coordinate of minute surface central point under left camera coordinate system, store in computing machine; Concrete technical method can be referring to high grand work " computing machine binocular stereo vision ", Electronic Industry Press, 2012.
(7) repeat the work of (5), (6), until obtain the minute surface central point at three groups or three groups above diverse location places;
(8) utilize the minute surface central point obtained to be demarcated current attitude bottom left camera coordinate system and world coordinate system, and calibration result is stored in computing machine;
(9) control initiatively binocular vision system and move to certain attitude from initial state, record current kinematic parameter, then repeat the work of (5), (6), (7), (8), obtain second group of calibration result, and be stored to computing machine;
(10) control initiatively binocular vision system again and move to another attitude, record current kinematic parameter, the work of rear repetition (5), (6), (7), (8), obtain the 3rd group of calibration result, and be stored to computing machine;
(11) three groups of calibration results that utilize to obtain are set up two groups of global calibration constraint equations, by solving equation of constraint, determine that dynamic left camera coordinate system, to the unknown parameter in the function expression of world coordinate system, completes global calibration; The concrete grammar of the foundation of equation of constraint is known technology, can be referring to Zhang Guangjun work " vision measurement ", Science Press, 2008.
(12) by the global calibration result store to computing machine, in order to follow-up active binocular vision system, use.
Utilize method of the present invention, the active binocular vision system by is as shown in Figure 4 demarcated.Need the parameter of demarcating to comprise: the internal reference matrix A of left and right cameras, distortion parameter, the rotation matrix R between video camera and translation vector T.Calibration result is as follows:
(1) left video camera:
● lens focus: [4830.5188 4826.2973]
● principal point coordinate: [1062.2706 902.6297]
● radial distortion: [0.1207787 0.3029726]
● tangential distortion: [0.0033884 0.0031930]
(2) right video camera:
● lens focus: [4842.7360 4837.8532]
● principal point coordinate: [990.3333 861.3961]
● radial distortion: [0.1593310 1.0244905]
● tangential distortion: [0.0022909-0.0034948]
(3) position relationship between left and right cameras:
● rotation matrix:
● translation vector:
Utilize the books that above calibration result is 185.84mm to width to be measured, measurement result is 184.93mm, and measuring accuracy has reached 0.91mm.
Claims (1)
1. binocular vision system overall calibration method initiatively is characterized in that being demarcated according to following steps:
(1) measure field initiatively binocular vision system be fixed on working position, determine the parallax range between the left and right cameras of system, adjust aperture and the focal length of each video camera simultaneously and fixed;
(2) open the initiatively power supply of binocular vision system, executive system resets and makes it in initial attitude, then by the binocular camera of system gather simultaneously different attitudes the two dimensional surface target image several, and store in computing machine;
(3) adopt the relevant scaling method based on the two dimensional surface target, the active binocular vision system is carried out to camera calibration and stereo calibration, according to calibration result, the active binocular vision system is carried out to three-dimensional correction;
(4), in measure field, laser tracker is placed in place, and used laser tracker to determine world coordinate system;
(5) the target ball of laser tracker is fixed on to the surface of rectangle scaling board, then scaling board is placed on to the appropriate location in the field range of binocular vision system initiatively, guarantees each video camera of system and the minute surface center that laser tracker can both " be seen " the target ball;
(6) the laser tracker record is when the three-dimensional coordinate of minute surface center under world coordinate system of front target ball, while is the camera acquisition target ball image of binocular vision system initiatively, and calculate the three-dimensional coordinate of minute surface central point under left camera coordinate system, store in computing machine;
(7) repeat the work of (5), (6), until obtain the minute surface central point at three groups or three groups above diverse location places;
(8) utilize the minute surface central point obtained to be demarcated current attitude bottom left camera coordinate system and world coordinate system, and calibration result is stored in computing machine;
(9) control initiatively binocular vision system and move to certain attitude from initial state, record current kinematic parameter, then repeat the work of (5), (6), (7), (8), obtain second group of calibration result, and be stored to computing machine;
(10) control initiatively binocular vision system again and move to another attitude, record current kinematic parameter, the work of rear repetition (5), (6), (7), (8), obtain the 3rd group of calibration result, and be stored to computing machine;
(11) three groups of calibration results that utilize to obtain are set up two groups of global calibration constraint equations, by solving equation of constraint, determine that dynamic left camera coordinate system, to the unknown parameter in the function expression of world coordinate system, completes global calibration;
(12) by the global calibration result store to computing machine, in order to follow-up active binocular vision system, use.
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| CN105913439A (en) * | 2016-04-22 | 2016-08-31 | 清华大学 | Large-view-field camera calibration method based on laser tracker |
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| CN110514114A (en) * | 2019-07-30 | 2019-11-29 | 江苏海事职业技术学院 | A kind of small objects space position calibration method based on binocular vision |
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