CN103557796B - 3 D positioning system and localization method based on laser ranging and computer vision - Google Patents
3 D positioning system and localization method based on laser ranging and computer vision Download PDFInfo
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- CN103557796B CN103557796B CN201310585303.XA CN201310585303A CN103557796B CN 103557796 B CN103557796 B CN 103557796B CN 201310585303 A CN201310585303 A CN 201310585303A CN 103557796 B CN103557796 B CN 103557796B
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Abstract
The present invention provides a kind of 3 D positioning system based on laser ranging and computer vision, including: laser range finder, for measuring the distance being positioned object; Positioner, is connected with laser range finder, is used for driving this laser range finder to move in polar coordinate system; Video camera, for visual field of being beated in by the luminous point being positioned object and laser range finder sends; Computer, for processing the data obtained from laser range finder and video camera. The present invention can go out the measured target locus coordinate relative to tester by automatic regulating system Precision measurement, and then derives actual precision three-dimensional coordinate, has a wide range of applications in industries such as industry, traffic.
Description
Technical field
The present invention relates to image procossing and automatic field, especially a kind of 3 D positioning system based on laser ranging and computer vision and localization method.
Background technology
At present, using binocular stereo vision is the Main Means obtaining target three dimensional local information. Conventional method is by two photographic head synchronization gain stereo pairs, further according to the principle of stereoscopic vision, calculate the depth information of every bit in the public visual field of image, generate depth map, extract the depth information that target is corresponding, determine the three dimensional local information of target. But these equipment all there is problems in that
1. distance precision is low: the binocular of in the past research and multi-view stereo vision when measuring close-in target (within 5m) have the precision (more than 1mm) that comparison is high, and (beyond 5m) precision is very poor even cannot measure relatively remote.
2. initiative is poor: when space three-dimensional scene is projected as two dimensional image at video camera, same scenery image under difference has a great difference, and the factors in scene, such as illumination condition, scene geometry and physical characteristic etc., be all integrated in single image intensity value. Obviously, be difficult to try to achieve high accuracy depth information accurately from the image containing so many unfavorable factors. And in the application, also each point need not be sought depth information in most cases. Therefore, many computers it is not necessary that, also lack the ability of target of actively selecting.
3. operand is big, poor real: stereoscopic vision requires to solve each corresponding point in a pair stereo-picture, the abundant information that image comprises so that the speed of pointwise Corresponding matching is very slow, and is easily generated " morbid state " computational problem. Although for solving this problem, adding certain constraint under regularization framework, making problem be converted into the optimal solution seeking many condition function, but considerably increase difficulty in computation and amount of calculation, make visual processes speed be difficult to improve, it is impossible to requirement of real time, limit application.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of 3 D positioning system based on laser ranging and computer vision and localization method, by laser ranging, computer vision technique, two dimension elaborate servo drive diastimeter to be got up by the software and hardware linkage of computer system, automatically adjust, be automatically positioned, form accurate self feed back system.
For solving above-mentioned technical problem, the technical solution used in the present invention is: based on the 3 D positioning system of laser ranging and computer vision, including: laser range finder, for measuring the distance being positioned object; Positioner, is connected with laser range finder, is used for driving this laser range finder to move in polar coordinate system; Video camera, for visual field of being beated in by the luminous point being positioned object and laser range finder sends; Computer, for processing the data obtained from laser range finder and video camera.
Further, described positioner is two dimension elaborate servo positioner. This two dimension elaborate servo positioner is servomotor.
Further, described computer includes image capture interface and D/A card.
Further, the laser rays that laser range finder sends is visible ray or infrared ray; In video camera front end, light filter is set. In order to resist external interference, the laser rays that laser range finder sends can polarized light-emitting, the polaroid above placed with video camera is corresponding.
Based on the method that the 3 D positioning system of laser ranging and computer vision positions, comprise the steps:
1. video camera will be positioned object and beat in visual field;
2. sending this image information being positioned object to computer, this is positioned object to utilize computer mark;
3. computer adjusts two dimension elaborate servo positioner according to the image information of the label received and drives the labeled object of laser range finder sensing; Label be step 2. in be positioned object;
4. the luminous point that laser range finder is sent by video camera is beated in visual field;
5. utilizing imaging system display labelling point and laser spots, the vision processing system of computer compares the deviation of two points;
6. whether judge mark point and laser spots overlap; If it is, calculate the two dimension angular that two dimension elaborate servo positioner rotates, and the distance value of laser range finder output, obtain being positioned the three-dimensional coordinate of thing; 3. continue executing with if it does not, return step.
After the present invention has the advantage that and has the benefit effect that the present invention selectes, by computer vision technique, the target needing to be positioned, initially select, the laser range finder that data processing and control system fading margin servo positioning system drives, rotate in the two-dimensional direction to selected target, range finding luminous point moves closer to target, data processing and control system detects laser spots and the selected target deviation in imaging system that diastimeter sends, in further adjustment, until overlapping. Computer Data processing controls system synthesis processes angle a and the b of two dimension elaborate servo positioner rotation and the distance value of diastimeter return, and then obtains the space coordinates being positioned a little according to space polar coordinate relation.
The present invention can go out the measured target locus coordinate relative to tester by automatic regulating system Precision measurement, and then derives actual precision three-dimensional coordinate, has a wide range of applications in industry, traffic and a lot of industry.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the 3 D positioning system of laser ranging of the present invention and computer vision;
Fig. 2 is the method flow diagram utilizing the 3 D positioning system of laser ranging of the present invention and computer vision to position.
Detailed description of the invention
The work process of the 3 D positioning system of laser ranging of the present invention and computer vision is described in conjunction with Fig. 1 and 2.
Based on the 3 D positioning system of laser ranging and computer vision, including: laser range finder, for measuring the distance being positioned object; Positioner, is connected with laser range finder, is used for driving this laser range finder to move in polar coordinate system; Video camera, for visual field of being beated in by the luminous point being positioned object and laser range finder sends; Computer, for processing the data obtained from laser range finder and video camera. Described positioner is two dimension elaborate servo positioner. This two dimension elaborate servo positioner is servomotor. Described computer includes image capture interface and D/A card. The laser rays that laser range finder sends is visible ray or infrared ray; In video camera front end, light filter is set. In order to resist external interference, the laser rays that laser range finder sends can polarized light-emitting, the polaroid above placed with video camera is corresponding.
The enforcement step of the present invention is as follows:
1. video camera will be positioned object and beat in visual field;
2. sending this image information being positioned object to computer, this is positioned object to utilize computer mark;
3. computer adjusts two dimension elaborate servo positioner according to the image information of the label received and drives the labeled object of laser range finder sensing; Label be step 2. in be positioned object;
4. the luminous point that laser range finder is sent by video camera is beated in visual field;
5. utilizing imaging system display labelling point and laser spots, the vision processing system of computer compares the deviation of two points;
6. whether judge mark point and laser spots overlap; If it is, calculate the two dimension angular that two dimension elaborate servo positioner rotates, and the distance value of laser range finder output, obtain being positioned the three-dimensional coordinate of thing; 3. continue executing with if it does not, return step. The data acquisition interface of computer receives the distance value of laser range finder output, Computer Data processing controls system synthesis processes angle a and the b that two dimension elaborate servo positioner rotates, and then obtains the space coordinates being positioned a little according to space polar coordinate relation.
Above embodiments of the invention are described in detail, but described content has been only presently preferred embodiments of the present invention, it is impossible to be considered the practical range for limiting the present invention. All equalizations made according to the scope of the invention change and improvement etc., all should still belong within this patent covering scope.
Claims (4)
1. based on the localization method of laser ranging and the 3 D positioning system of computer vision, it is characterised in that: the localization method of described 3 D positioning system, comprise the steps:
1. video camera will be positioned object and beat in visual field;
2. sending this image information being positioned object to computer, this is positioned object to utilize computer mark;
3. computer adjusts positioner drive laser range finder sensing according to the image information being positioned object received and is positioned object;
4. the luminous point that laser range finder is sent by video camera is beated in visual field;
5. utilizing imaging system display labelling point and laser spots, the vision processing system of computer compares the deviation of two points;
6. whether judge mark point and laser spots overlap; If it is, calculate the two dimension angular that positioner rotates, and the distance value of laser range finder output, obtain being positioned the three-dimensional coordinate of object; 3. continue executing with if it does not, return step;
The described 3 D positioning system based on laser ranging and computer vision includes: laser range finder, for measuring the distance being positioned object; Positioner, is connected with laser range finder, is used for driving this laser range finder to move in polar coordinate system;
Video camera, for visual field of being beated in by the luminous point being positioned object and laser range finder sends;
Computer, for processing the data obtained from laser range finder and video camera.
2. the localization method based on laser ranging and the 3 D positioning system of computer vision according to claim 1, it is characterised in that: described positioner is two dimension elaborate servo positioner.
3. the localization method based on laser ranging and the 3 D positioning system of computer vision according to claim 2, it is characterised in that: described computer includes image capture interface and D/A card.
4. the localization method based on laser ranging and the 3 D positioning system of computer vision according to any one of claim 1 to 3, it is characterised in that: the laser rays that laser range finder sends is visible ray or infrared ray; In video camera front end, light filter is set.
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| CN201310585303.XA CN103557796B (en) | 2013-11-19 | 2013-11-19 | 3 D positioning system and localization method based on laser ranging and computer vision |
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| CN103557796B true CN103557796B (en) | 2016-06-08 |
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