CN103743393B - A kind of pose measuring method of cylindric target - Google Patents
A kind of pose measuring method of cylindric target Download PDFInfo
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- CN103743393B CN103743393B CN201310717933.8A CN201310717933A CN103743393B CN 103743393 B CN103743393 B CN 103743393B CN 201310717933 A CN201310717933 A CN 201310717933A CN 103743393 B CN103743393 B CN 103743393B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
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Abstract
The present invention proposes the pose measuring method of a kind of cylindric target, this invention it is important that determine the layout type of labelling point, make labelling point be prone to detection, identify, and the labelling point in object coordinates system can be enable corresponding well with the labelling point detected in image coordinate system.Surface is lacked to the cylindric target of textural characteristics, it needs to be determined that it is when the anglec of rotation of axis, being designed to of its labelling point layout type adapts to this requirement, namely it is required for a corresponding different labelling dot pattern for cylindrical each anglec of rotation, and each labelling dot pattern does not repeat.After completing the design of a kind of simply and effectively labelling point layout type, just can utilize this labelling dot pattern, carry out image detection, to realize the accurate measurement to object pose, thus completing the pose measurement to cylindric target.
Description
Technical field
The invention belongs to computer vision measurement technical field, relate to a kind of method utilizing labelling point that target location, attitude are measured.
Background technology
At present, object space is widely used to the fields such as Aero-Space, mobile apparatus people, industrial detection with the measurement of attitude.When carrying out the detection of target location, attitude, many employing angle points of target itself, Texture eigenvalue measurement, or in the method that target surface manually adds labelling point.Adopt the angle point of target object own, the method for textural characteristics needs, through complicated image processing process, to calculate process complicated, poor real.The artificial method applicability adding labelling point is relatively wide, the method it is important that determine the layout type of labelling point so that labelling point is prone to detection, identifies, so that the labelling point in object coordinates system can be corresponding well with the labelling point in image coordinate system.
But surface is lacked to the cylindric target of textural characteristics, when it needs to be determined that it is when the anglec of rotation of axis, the design of its labelling point layout type is a stubborn problem, because cylindrical each anglec of rotation is required for a corresponding different labelling dot pattern, each labelling dot pattern can not repeat.
Thus, for lacking the cylindric target of textural characteristics, when needing the three-dimensional pose of detection object, it is necessary to design one simply and effectively labelling point layout type and object pose measuring method, to realize the accurate measurement to object pose.
Summary of the invention
The technical problem to be solved is to provide the pose measuring method of a kind of cylindric target, and the cylindric target for lacking textural characteristics carries out labelling point layout and object pose is measured.
For solving above technical problem, the present invention by the following technical solutions:
A kind of pose measuring method of cylindric target, comprise the following steps: the layout of (1) target label point: each column labelling point is a group, adjacent 4 groups is a signature point bunch, wherein, in every bunch, showing three labelling points, all the other respectively show two labelling points, choosing the place comprising three labelling points and be classified as sign position, all the other store point for information；(2) foundation of labelling point coordinates system: set up the reference frame of labelling point with the center of circle, cylinder bottom surface for zero, wherein, cylindrical axial line is as Z axis, place, cylinder bottom surface plane direction, orthogonal two ray places respectively X-axis and Y-axis；(3) installation targets labelling point: the labelling point line of every string be arranged in parallel with cylinder axial line；(4) computer vision algorithms make is utilized to solve three-dimensional pose and the anglec of rotation of target object.
Described labelling point is made up of solid black circle and annulus, represents different code elements respectively, and filled circles represents 0, and annulus represents 1.
Distance between each group echo point is equal.
The method of discrimination that is upright and that stand upside down of target object is: set spacing respectively S1 and the S2 between the adjacent marker point indicating position column, wherein, S1 ≠ S2, it is intended that: S1 > S2 is just, S2 > S1 is for falling.
Most ratio of greater inequality between described S1 and S2 is 5:3.
Described step (3) is installed by the following method: the installation of (3.1) first row labelling point: appoint in cylinder upper edge and take a bit, utilizes plumb line L and tape measuring to obtain with top edge distance 1 O being h, and some O is the center of circle of 1；Plumb line c1 and c2, the linearly c1 that are r with its distance is found respectively, some a that to utilize tape measuring to obtain be r with top edge distance and some c in the both sides of plumb line L；Same method can obtain 2 b and d on straight line c2；Junction point a and some b obtains straight line r1, junction point c and some d obtains straight line r2, straight line c1, c2, r1, r2 and determines the boundary rectangle of a little 1, thus completing the installation of labelling point 1；The center of circle of the center of circle of labelling point 2 and labelling point 1 is same on the linel, and two labelling point center of circle distances are h2, and the installation method of point 2 is identical with point 1；(3.2) installation of adjacent with first row secondary series labelling point: the height coordinate of labelling point 3 is 1 identical with point, and be d in the geodesic curve distance of periphery with point 1g=0.5236R, R are bottom cylindrical face radius, then according to determine that the method for labelling point 1 determines the center of labelling point 3, installation method isolabeling point 1 is identical；(3.3) installation method of all the other labelling points is with reference to step (3.1) and step (3.2).
Described step (3) also includes accurate measurement, specific as follows: (3.4) are with 3 theodolites, it is ensured that the measurement of every theodolite ranges for 4 row labelling points；(3.5) coordinate in 3 theodolite visual fields of the labelling o'clock in target is measured respectively；(3.6) mobile three theodolites respectively, repeat the above steps (3.4) and (3.5)；(3.7) computer vision algorithms make is utilized to solve three-dimensional pose and the anglec of rotation of target object.
Concretely comprising the following steps of step (3.7): try to achieve the coordinate in target object coordinate system of the labelling point in each bunch, then, utilizing camera acquisition target object image, each image comprises cluster labelling point, draws the labelling point bunch coordinate in image coordinate system；The method of last Land use models coupling finds the labelling point bunch that target object coordinate system is corresponding with image coordinate system, tries to achieve the relation between target object coordinate system and camera coordinates system, thus drawing the three-dimensional pose of target object.
The pose measuring method of cylindric target provided by the present invention at least has the advantage that (1) labelling point is prone to detection, identifies；(2) labelling point is capable of corresponding well with image testing result；(3) pattern that each labelling point bunch is constituted is enriched and does not repeat；(4) object pose measuring method is quickly accurate.
Accompanying drawing explanation
Fig. 1 is the labelling point layout of the present invention；
Fig. 2 is the layout of identification point in the every cluster labelling point of the present invention；
Fig. 3 is the labelling point coordinates system of the present invention；
Fig. 4 is the installation diagram of labelling of the present invention point 1；
Fig. 5 is the installation diagram of labelling of the present invention point 2；
Fig. 6 is the installation diagram of labelling of the present invention point 3；
Fig. 7 is the present invention theodolite accurate measurement figure to labelling point；
Fig. 8 is the schematic diagram of camera acquisition labelling point.
Detailed description of the invention
The technical solution used in the present invention and step are as follows:
(1) layout of design object labelling point
The position of target label point is the input quantity that visual system calculates object pose, its layout situation be directly connected to after measurement to target range and the anglec of rotation.In order to effectively measure the anglec of rotation of cylindric target, it is necessary to make the point of the labelling in target surface all directions have different patterns, the anglec of rotation that namely different labelling point bunch patterns is corresponding different.
Labelling point layout follows following principle:
1. labelling point is made up of solid black circle and annulus, represents different code elements respectively, and filled circles represents 0, and annulus represents 1, and both easily identify in image detects, it is easy to the coupling of image characteristic point and target label point.
2. each column labelling point is one group, and every group echo point is positioned on the straight line parallel with cylinder object bus, and adjacent 4 groups is a signature point bunch, and the distance between each group echo point is equal.
3. each bunch comprises 9 points, wherein, one group is had to be made up of three labelling points, remaining three groups respectively two labelling points are constituted, 3 points are as flag, all the other 6 points store a little as information, and identification point and information storage point do not have specific tandem, so can recycle mark site and form a discernible characteristic point bunch.
4. in each bunch, filled circles is different with the arrangement of annulus, each bunch of corresponding specific pattern of difference, i.e. specific 0,1 sequence thus can determine the anglec of rotation of target object by the labelling dot pattern that adjacent two width images are corresponding.
5. in order to distinguish, target object is upright, handstand two states, it is intended that the dot spacing ratio optimum indicating site column is 5:3, as in figure 2 it is shown, thus can determine which kind of state object is in by calculating the space ratio between mark site.Specifically, indicate spacing respectively S1 and the S2 between the adjacent marker point of position column, wherein, S1 ≠ S2, it is intended that: S1 > S2 is just, S2 > S1 is for falling.
(2) determination of the foundation of labelling point coordinates system and coordinate
Set up reference frame with the center of circle, target circle cylinder bottom surface for zero, then the layout requirements according to labelling point, determine the coordinate of each labelling point respectively.
(3) installation targets labelling point
Owing to target label point fabrication error is relatively big, therefore the present invention adopts the order accurately measured after first installing roughly to complete the installation of labelling point.
In rough installation process, first point 1 and point 2 are installed, then respectively putting 1, put circular arc distance on 2 same level lines the local installation point 3 being 0.5326r (r is bottom cylindrical face radius), point 4, so go on, until the installation completing all impact points.
In accurate measurement process, dispose 3 theodolites at target pillar, enable half circumference of the measurement scope coverage goal of 3 theodolites, and every theodolite can measure 4 row impact points, then distinguish the measurement markers o'clock coordinate on 3 theodolites.After completing one-shot measurement, gradually mobile 3 theodolites, until completing the accurate measurement of all labellings point.
(4) camera acquisition image, utilizes computer vision algorithms make to solve three-dimensional pose and the anglec of rotation of target object
Each labelling point coordinate under target-based coordinate system is tried to achieve by step (2), then the image of camera acquisition target object is utilized, obtain corresponding labelling point coordinate under camera coordinates system, the relation between two groups of points that recycles obtains the relation between target object coordinate system and camera coordinates system, the i.e. three-dimensional pose result of target object, thus obtaining spin matrix R and translation vector T.
Utilize said method, try to achieve respectively target object before rotation with rotate after spin matrix R1, R2, then pass through the difference asking R1, R2, draw the target object anglec of rotation around own axes.
Understanding the present invention in order to clearer, below with high h=1.5m, the cylinder of basal diameter d=2.5m is example, and the invention will be further described and explanation.
The first step, design object labelling point layout
So that the corresponding specific pattern of each anglec of rotation of cylinder (0,1 sequence of filled circles, annulus composition), it is necessary to design a kind of without the labelling dot pattern sequence repeated.The mode sequences of present invention design is as it is shown in figure 1, periphery has 12 row labelling points, and the distance between adjacent 2 row labelling points is equal.Every cluster comprises adjacent 4 row labelling points, wherein one shows 3 labelling points, and all the other respectively show 2 labellings, chooses that row point comprising 3 labelling points as flag, and all the other 6 labelling points store a little as information.In FIG, filled circles represents 0, and annulus represents 1, and through checking, in this figure, each bunch comprises 0,1 different sequences, namely different labelling dot pattern sequences respectively.
Second step, the foundation of labelling point coordinates system and the determination of coordinate
The reference frame of labelling point is set up with the center of circle, cylinder bottom surface for zero.First on cylinder base circumference, arbitrarily select an auxiliary magnet P, choose the directions of rays from initial point through P as Y-axis, then select the direction of vertical Y axle on bottom cylindrical face as X-axis, finally to select the axial line of cylinder as Z axis.The coordinate system set up is as shown in Figure 3.
Labelling point layout according to first step design, it is determined that the coordinate of each labelling point is as shown in the table:
Table 1 labelling point coordinates
3rd step, installation targets labelling point
(1) the rough mount scheme of labelling point is as follows.
1. first to 1,2 two install.Specifically as shown in Figure 4, appointing in cylinder upper edge and take a bit, utilize plumb line L and tape measuring to obtain with top edge distance 1 O being h1, some O is the center of circle of 1.Plumb line c1 and c2 being r with its distance is found respectively in the both sides of plumb line L.Linearly c1, some a that to utilize tape measuring to obtain be r with top edge distance and some c；Same method can obtain 2 b and d on straight line c2.Junction point a and some b obtains straight line r1, junction point c and some d obtains straight line r2, and these two straight lines use adhesive tape to represent.So straight line c1, c2, r1, r2 may determine that the boundary rectangle of a little 1, thus completing the installation of labelling point 1.
2. the center of circle of the center of circle of labelling point 2 and labelling point 1 is same on the linel, and two labelling point center of circle distances are h2, and the installation method of point 2 is identical with point 1, as shown in Figure 5.
3. as shown in Figure 6, the height coordinate of labelling point 3 is 1 identical with point, and is d in the geodesic curve distance of periphery with point 1g=0.5236R, R are bottom cylindrical face radius.Then according to determine that the method for labelling point 1 determines the center of labelling point, installation method isolabeling point 1 is identical.
4. the installation steps of all the other points can refer to step 1) and 2) circulation carry out.
(2) the accurate measuring process of labelling point is as follows.
1. arranging 3 theodolites, enable the measurement scope of 3 theodolites to cover half circumference of big target, namely every theodolite can measure 4 row impact points, as shown in Figure 7.
2. the coordinate in 3 theodolite visual fields of the labelling o'clock in target is measured respectively.
3. move theodolite c, repeat step 1～2.
4. move theodolite b, repeat step 1～2.
5. move theodolite a, repeat step 1～2.
6. move theodolite c, repeat step 1～2.
4th step, utilizes computer vision algorithms make to solve three-dimensional pose and the anglec of rotation of target object
In the process solving target object three-dimensional pose, first, utilizing labelling point that the coordinate system that second step is set up tries to achieve in each bunch coordinate in target object coordinate system, result is as shown in table 1.Then, utilizing camera acquisition target object image, as shown in Figure 8, each image comprises cluster labelling point, draws the labelling point bunch coordinate in image coordinate system.The method of last Land use models coupling finds the labelling point bunch that target object coordinate system is corresponding with image coordinate system, tries to achieve the relation between target object coordinate system and camera coordinates system, thus drawing the three-dimensional pose of target object, i.e. and spin matrix and translation vector.
Spin matrix after utilizing said method to try to achieve respectively before target object rotates and rotate, then passes through the difference asking for both, obtains the target object anglec of rotation around own axes.
The foregoing is only one embodiment of the present invention, it is not all of or unique embodiment, the conversion of any equivalence that technical solution of the present invention is taked by those of ordinary skill in the art by reading description of the present invention, the claim being the present invention is contained.
Claims (8)
1. the pose measuring method of a cylindric target, it is characterised in that: comprise the following steps:
(1) layout of target label point: each column labelling point is a group, adjacent 4 groups is a signature point bunch, wherein, in every bunch, showing three labelling points, all the other respectively show two labelling points, choosing the place comprising three labelling points and be classified as sign position, all the other store point for information；
(2) foundation of labelling point coordinates system: set up the reference frame of labelling point with the center of circle, cylinder bottom surface for zero, wherein, cylindrical axial line is as Z axis, place, cylinder bottom surface plane direction, orthogonal two ray places respectively X-axis and Y-axis；
(3) installation targets labelling point: the labelling point line of every string be arranged in parallel with cylinder axial line；
(4) computer vision algorithms make is utilized to solve three-dimensional pose and the anglec of rotation of target object.
2. the pose measuring method of a kind of cylindric target as claimed in claim 1, it is characterised in that: described labelling point is made up of solid black circle and annulus, represents different code elements respectively, and filled circles represents 0, and annulus represents 1.
3. the pose measuring method of a kind of cylindric target as claimed in claim 1, it is characterised in that: the distance between each group echo point is equal.
4. the pose measuring method of a kind of cylindric target as claimed in claim 1, it is characterized in that: the method for discrimination that is upright and that stand upside down of target object is: set spacing respectively S1 and the S2 between the adjacent marker point indicating position column, wherein, S1 ≠ S2, specifying: S1 > S2 is just, S2 > S1 is for falling.
5. the pose measuring method of a kind of cylindric target as claimed in claim 4, it is characterised in that: the most ratio of greater inequality between described S1 and S2 is 5:3.
6. the pose measuring method of a kind of cylindric target as claimed in claim 1, it is characterised in that: described step (3) is installed by the following method:
(3.1) installation of first row labelling point: appoint in cylinder upper edge and take a bit, utilizes plumb line L and tape measuring to obtain with top edge distance 1 O being h1, and some O is the center of circle of 1；Plumb line c1 and c2, the linearly c1 that are r with its distance is found respectively, some a that to utilize tape measuring to obtain be r with top edge distance and some c in the both sides of plumb line L；Same method can obtain 2 b and d on straight line c2；Junction point a and some b obtains straight line r1, junction point c and some d obtains straight line r2, straight line c1, c2, r1, r2 and determines the boundary rectangle of a little 1, thus completing the installation of labelling point 1；The center of circle of the center of circle of labelling point 2 and labelling point 1 is same on the linel, and two labelling point center of circle distances are h2, and the installation method of point 2 is identical with point 1；
(3.2) installation of adjacent with first row secondary series labelling point: the height coordinate of labelling point 3 is 1 identical with point, and be d in the geodesic curve distance of periphery with point 1g=0.5236R, R are bottom cylindrical face radius, then according to determine that the method for labelling point 1 determines the center of labelling point 3, installation method isolabeling point 1 is identical；
(3.3) installation method of all the other labelling points is with reference to step (3.1) and step (3.2).
7. the pose measuring method of a kind of cylindric target as claimed in claim 6, it is characterised in that: described step (3) also includes accurate measurement, specific as follows:
(3.4) with 3 theodolites, it is ensured that the measurement of every theodolite ranges for 4 row labelling points；
(3.5) coordinate in 3 theodolite visual fields of the labelling o'clock in target is measured respectively；
(3.6) mobile three theodolites respectively, repeat the above steps (3.4) and (3.5)；
(3.7) computer vision algorithms make is utilized to solve three-dimensional pose and the anglec of rotation of target object.
8. the pose measuring method of a kind of cylindric target as claimed in claim 7, it is characterized in that: concretely comprising the following steps of step (3.7): the labelling point trying to achieve in each bunch coordinate in target object coordinate system, then, utilize camera acquisition target object image, each image comprises cluster labelling point, draws the labelling point bunch coordinate in image coordinate system；The method of last Land use models coupling finds the labelling point bunch that target object coordinate system is corresponding with image coordinate system, tries to achieve the relation between target object coordinate system and camera coordinates system, thus drawing the three-dimensional pose of target object.
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| US10330467B2 (en) * | 2016-06-01 | 2019-06-25 | Virtek Vision International Ulc | Precision locating rotary stage |
| CN106971406B (en) * | 2017-03-06 | 2019-10-29 | 广州视源电子科技股份有限公司 | The detection method and device of object pose |
| CN108458710B (en) * | 2018-04-27 | 2021-05-11 | 中国计量科学研究院 | Pose measuring method |
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| CN109781068B (en) * | 2018-12-11 | 2021-05-28 | 北京空间飞行器总体设计部 | Visual measurement system ground simulation evaluation system and method for space application |
| CN110763204B (en) * | 2019-06-25 | 2022-02-22 | 西安理工大学 | Planar coding target and pose measurement method thereof |
| CN110887470B (en) * | 2019-11-25 | 2023-06-09 | 天津大学 | Orientation pose measurement method based on microlens array two-dimensional optical coding identification |
| CN111267094A (en) * | 2019-12-31 | 2020-06-12 | 芜湖哈特机器人产业技术研究院有限公司 | Workpiece positioning and grabbing method based on binocular vision |
| CN112362032B (en) * | 2020-09-14 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Part axis extraction method based on photogrammetry technology |
| CN113688819B (en) * | 2021-08-23 | 2023-08-01 | 南通大学 | Target object expected point tracking and matching method based on marked points |
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Effective date of registration: 20210618 Address after: 2105, Haowei technology building, No.2, Keji South 8th Road, high tech community, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: SHENZHEN LIAORAN VISION TECHNOLOGY Co.,Ltd. Address before: 710049 No. 28 West Xianning Road, Shaanxi, Xi'an Patentee before: XI'AN JIAOTONG University |