CN103900536A - Camera three-point repositioning method orienting to submicron change detection of cultural relics - Google Patents
Camera three-point repositioning method orienting to submicron change detection of cultural relics Download PDFInfo
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- CN103900536A CN103900536A CN201410085396.4A CN201410085396A CN103900536A CN 103900536 A CN103900536 A CN 103900536A CN 201410085396 A CN201410085396 A CN 201410085396A CN 103900536 A CN103900536 A CN 103900536A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
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Abstract
The invention discloses a camera three-point repositioning method orienting to detection on submicron change of cultural relics, which can be used for effectively repositioning a shooting camera in the detection process of the small change of the cultural relics and restores the position and the posture of the camera in the former shooting. The camera three-point repositioning method comprises two parts, wherein the first part is combination and improvement on equipment, and the related main equipment comprises a laser distance-measuring instrument, a laser line-marking instrument and the camera. The second part is a method for finishing repositioning of the camera for the equipment. The method comprises the following steps: eliminating two of six freedom degrees of the posture of the camera by horizontal adjustment and determining and carrying out posture restoration on the camera by utilizing the laser distance-measuring instrument, the laser line-marking instrument and reference points on a wall and adopting a mode of recording three types of reference points for the other four freedom degrees so as to finish the repositioning work of the camera. The camera four-point repositioning method has the advantages of high repositioning accuracy, high speed, little point-selecting constraint, wide adaptability and strong stability and the like.
Description
Technical field
The present invention relates to historical relic's protection field; be particularly related to a kind of new technique of 3 reorientations of camera of historical relic subtle change detection; be used in historical relic subtle change testing process and carry out effective reorientation to taking camera, position and the attitude of camera while recovering last shooting.
Background technology
At present, directly to recover the position of camera and attitude as the camera reorientation research of target few, Shotton J etc.
[1]the paper studies of delivering in 2013 utilize depth camera (RGB-D camera) to realize the method for camera reorientation, but the method need to be passed through the known scene environment of Algorithm for Training, then the image with depth information of taking by depth camera could be realized the estimation of ad-hoc location camera attitude, thereby completes camera reorientation work.Meanwhile, reorientation work is also SLAM(location and map structuring in time always) the middle content of studying
[2] [3] [4], but in this aspect research, reorientation is only as pilot process, and its target is in order to build map and to realize navigation, and its method also often builds scene by the various information of continuous acquisition in the continuous motion process of robot, and then realizes robot location's location.Therefore, these methods are difficult to be applied in for a certain ad-hoc location and realize camera reorientation and without building the situation of whole scene information around, the camera method for relocating that the present invention proposes can effectively be realized camera reorientation work under ad-hoc location, thereby the variation that can occur content of shooting is monitored.
Summary of the invention
The invention provides a kind of 3 method for relocating of camera that change detection towards historical relic sub-micron (being 0.1mm) level, this method is by function combination and the operation scheme design of distinct device, thereby realize position to camera and the recovery of attitude, described below:
Change 3 method for relocating of camera that detect towards historical relic submicron order, described method comprises location and reorientation step first;
(1) on horizontal laser light line, choose C class reference point, on two vertical laser rays, choose category-A reference point and category-B reference point;
(2) record the first laser range finder and the second laser range finder are respectively the first distance and second distance to the range reading of wall, have located first;
(3) make horizontal laser light line cross C class reference point by adjustment; The first vertical laser rays, the second vertical laser rays are crossed respectively category-A and category-B reference point;
(4) open the first laser range finder, rotary carrier platform, drops on the first vertical laser rays the laser spots of the first laser range finder projection, and traversing carriage position makes the first laser range finder range finding reading approach the first distance;
(5) open the second laser range finder, rotation the second laser range finder, drops on the second vertical laser rays the laser spots of the second laser range finder projection, regulates backing positions, makes the second laser range finder reading approach second distance;
(6) repeating step (4) and (5), make the first laser range finder reading and the second laser range finder reading approach the first distance and second distance, and then confirm to regulate support height, make the horizontal laser light line of the first Laser Line Marker cross C class reference point, reorientation completes;
(7) together with the first location of camera being arrived with reorientation Image Mosaics by merging algorithm for images.
The described C class reference point of choosing on horizontal laser light line, the operation of choosing category-A reference point and category-B reference point on two vertical laser rays is specially:
Obtain horizontal laser light line by the first Laser Line Marker, on horizontal laser light line, choose one or more monumented points as C class reference point;
The first laser range finder projects first laser spots on wall, rotate the second laser range finder and project the second laser spots, open ground the second Laser Line Marker and the 3rd Laser Line Marker, make projection the first vertical laser rays and the second vertical laser rays respectively through the first laser spots and the second laser spots, on the first vertical laser rays, choose one or more unique points as category-A reference point, on the second vertical laser rays, choose one or more unique points as category-B reference point.
Describedly make horizontal laser light line cross C class reference point by adjustment; The operation that the first vertical laser rays, the second vertical laser rays are crossed respectively category-A and category-B reference point is specially:
Open the first Laser Line Marker, regulate support according to C class reference point, make horizontal laser light line cross C class reference point;
Category-A, the category-B reference point picture taken in second camera are found out category-A, category-B reference point, open the second Laser Line Marker and the 3rd Laser Line Marker, make the first vertical laser rays, the second vertical laser rays cross respectively category-A and category-B reference point.
The beneficial effect of technical scheme provided by the invention is: the present invention is on the basis of existing equipment, choosing suitable equipment combines, autonomous Design a set of 3 method for relocating of camera that reasonably detect towards historical relic subtle change, efficiently solve the problem of camera reorientation, position fixing process is fast, flexible operation, specifically, has the following advantages:
A. reorientation precision is high: the present invention has adopted laser range finder and Laser Line Marker to assist reorientation, common hand-held laser rangefinder range error is often 2 millimeters (list of references [6]), and the error of Laser Line Marker and the laser linewidth of its projection are relevant with eye recognition base point accuracy, often, also in millimeter rank, when actual reorientation operation, being reflected in can be accurately in millimeter rank in physical error in pictures taken.
B. reorientation speed is fast.When taking rational regulation strategy can make laser range finder reading converge to rapidly first apart from d1 and second distance d2 in operation, recover rapidly camera heights by Laser Line Marker simultaneously, guarantee operating efficiency.
C. reference point selection is comparatively flexible, comprises free point.On reference point is selected, can make in theory the rotatable arbitrarily angled category-B reference point of determining of the second laser range finder LDM2, category-B reference point is free point, thereby has guaranteed the flexibility ratio that category-B reference point is selected.
D. the optional majority of similar reference point is individual, has guaranteed the stability of reorientation.On reference point is selected, no matter be category-A, category-B or C class reference point, can select the multiple points on the corresponding level of institute or vertical laser rays, thereby eliminate preferably the instability error of single reference point, strengthen the stability of reorientation.
E. environmental baseline constraint is few, wide accommodation.The present invention, in the conditional request of environment, only need to (take front) and exist a sidewalls or shelter can guarantee reorientation in shooting area direction.
Accompanying drawing explanation
Fig. 1: method for relocating scene and reference point schematic diagram;
Fig. 2: first positioning action process flow diagram;
Fig. 3: reorientation operating process;
Fig. 4: reorientation error distribution histogram;
Fig. 5: just locate shooting results figure for first group;
Fig. 6: first group of reorientation shooting results figure;
Fig. 7: first group changes the result figure detecting;
Fig. 8: just locate shooting results figure for second group;
Fig. 9: second group of reorientation shooting results figure;
Figure 10: second group changes the result figure detecting;
Figure 11: just locate shooting results figure for the 3rd group;
Figure 12: the 3rd group of reorientation shooting results figure;
Figure 13: the 3rd group changes the result figure detecting.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below embodiment of the present invention is described further in detail.
Stadimeter, as a kind of survey instrument of precision, has been applied to every field widely.Stadimeter can be divided into ultrasonic range finder, infrared ambulator and laser range finder (referring to document [5] and [6]).First two stadimeter is no longer produced due to precision with apart from being restricted.Laser range finder is to utilize laser the distance of target to be carried out to the instrument of Accurate Determining.Laser range finder penetrates a branch of very thin laser to target in the time of work, the laser beam being reflected by photovalve receiving target, and timer is measured laser beam from being transmitted into the time of reception, calculates the range-to-go from observer.
Laser Line Marker (referring to document [7]) is to form the sector of a high brightness with laser, when laser projection forms the equipment of the laser rays of a high brightness to time on object, be everlasting building field and decoration field for levelling, find accurately and line etc.Existing Laser Line Marker exportable two laser cross spider at 90 degrees to each other, what have can also export many markings: as 1 horizontal line, 4 perpendicular line, or the situation of 4 horizontal lines, 4 perpendicular line.By means of Laser Line Marker, can determine surface level, or determine two mutually perpendicular vertical planes, utilize these good character, can effectively assist reorientation work.
In order to realize position to camera and the recovery of attitude, the embodiment of the present invention provides a kind of and has changed towards historical relic sub-micron (being 0.1mm) level 3 method for relocating of camera that detect, the method comprises: the one, and the improvement of equipment and assembled scheme, the 2nd, the reorientation method of operating based on the said equipment scheme, described below:
101: device combination scheme: enumerated the major equipment of wanting required for the present invention and the improvement to equipment and device combination mode.
A) 3 of Laser Line Markers: the first Laser Line Marker LMI1, the second Laser Line Marker LMI2 and the 3rd Laser Line Marker LMI3, can in the horizontal direction with two the orthogonal vertical direction of the Laser Line Marker of use produces the laser rays of 3 intersections.
B) 2 of laser range finders: the first laser range finder LDM1 and the second laser range finder LDM2.
C) first camera C1(is used for taking historical relic region of variation picture), second camera C2(is used for recording reference point), the relevant capture apparatus such as light source, support.
D) improvement of equipment and combination: improved the first Laser Line Marker LMI1, first camera C1, the first laser range finder LDM1 and the second laser range finder LDM2, three kinds of equipment is placed side by side to be gone up and keeps level to fix in article carrying platform (article carrying platform is positioned on tripod), after fixing, relative position and the sense of rotation of the first Laser Line Marker LMI1, first camera C1, the first laser range finder LDM1 do not change, the second laser range finder LDM2 is positioned at the first laser range finder LDM1 top (or below), can horizontal direction pivot.
Wherein, after the first Laser Line Marker LMI1 improves, inner plummet is vertical with loading plane, the horizontal laser light line of its projection is with vertically laser rays is parallel with surface level or vertical no longer respectively, but changes with the variation of loading plane, guarantees all the time respectively and loading plane parallel or vertical.
102: camera reorientation method of operating: camera reorientation is position and the attitude that the relevant information of record is recovered camera again when locating first, and its complete procedure has comprised location and two parts of repositioning process first, and Fig. 1 is shown in by its schematic diagram.A ' in figure, B ' and P ' are respectively A, B, P is at level ground vertical projection point.
A. location first: tripod is placed in to camera site, uses first camera C1 to take first, and needed locating information while recording first camera C1 reorientation, process flow diagram is as Fig. 2, and its operation steps is as follows:
Step S1: join dependency equipment, according to the position of target shooting area, tripod is placed in to suitable camera site, historical relic front and height, first camera C1 is equated substantially with target area height, first camera C1 photographic images magnitude range is corresponding to target area, then regulate camera pivot angle to make first camera C1 just to target shooting area, and regulate loading planar horizontal.
Step S2: open the first Laser Line Marker LMI1 on article carrying platform, it projects horizontal laser light line on wall forwardly chooses one or more monumented points with obvious characteristic as C class reference point on this horizontal laser light line.Wherein, the selection of reference point should guarantee easy identification, for example: the joint of right-angled intersection point, line in cultural relic images, independently stain, the summit of objects in images or word, cusp, on image, camber line and laser rays points of tangency etc., be defined as reference point by the point of above-mentioned easy identification.
Step S3: open the first laser range finder LDM1 and the second laser range finder LDM2, the first laser range finder LDM1 projects first laser spots 1 on wall, rotate the second laser range finder LDM2 and project to correct position (guarantee to have on the second laser spots 2 place vertical lines of the second laser range finder LDM2 projection many as far as possible and significantly unique point), project the second laser spots 2, and open ground the second Laser Line Marker LMI2 and the 3rd Laser Line Marker LMI3, make the first vertical laser rays L1 of projecting on its front vertical direction and the second vertical laser rays L2 respectively through the first laser spots 1 and the second laser spots 2, on the first vertical laser rays L1, choose one or more unique points as category-A reference point, on the second vertical laser rays L2, choose one or more unique points as category-B.Wherein, the choice criteria of category-A reference point, category-B reference point is consistent with C class reference point, and therefore not to repeat here for this method.
Step S4: use second camera C2 take and record A, B, C tri-class reference points, take a pictures for recording the Position Approximate of tripod simultaneously; Meanwhile, record the first laser range finder LDM1 and the second laser range finder LDM2 are respectively first apart from d1 and second distance d2 to the range reading of wall.
B. camera reorientation: position and attitude information when carrying out recovering first camera C1 when secondary is taken and taking last time, process flow diagram is as Fig. 3.Its operation steps is as follows:
Step T1: connect above device power supply (DPS) and first camera C1 and computer wiring, according to the Position Approximate picture of second camera C2 record, tripod is tentatively placed into correct position, regulate support level.
Step T2: open the first Laser Line Marker LMI1, regulate support to proper height according to C class reference point, make the horizontal laser light line of the first Laser Line Marker LMI1 cross C class reference point.
Step T3: category-A, the category-B reference point picture taken according to second camera C2 are found out category-A, category-B reference point, open the second Laser Line Marker LMI2 and the 3rd Laser Line Marker LMI3, make the vertical laser rays L1 in its front first, the second vertical laser rays L2 cross respectively category-A and category-B reference point.
Step T4: open the first laser range finder LDM1, rotary carrier platform, makes the laser spots of the first laser range finder LDM1 projection drop on the first vertical laser rays L1 above, traversing carriage position makes the first laser range finder LDM1 range finding reading approach first apart from d1.
Step T5: open the second laser range finder LDM2, rotate the second laser range finder LDM2, the laser spots of the second laser range finder LDM2 projection is dropped on the second vertical laser rays L2, now need support-moving direction according to the magnitude relationship judgement of the reading of the second laser range finder LDM2 and second distance d2, regulate backing positions, make the second laser range finder LDM2 reading approach second distance d2.
Step T6: repeat step T4 and T5 several times, make the first laser range finder LDM1 reading and the second laser range finder LDM2 reading accurately approach first apart from d1 and second distance d2, and then confirmation regulates support height, make the horizontal laser light line of the first Laser Line Marker LMI1 cross C class reference point, reorientation completes.
103: together with the first location of camera being arrived with reorientation Image Mosaics by merging algorithm for images.
On the basis of reorientation, detect in order to realize the thin subtle change of historical relic 0.1mm level, realize the further accuracy registration of first photographic images and reorientation image, on above-mentioned working foundation, computer technology of the present invention is further revised camera attitude error, employing merging algorithm for images arrives the first location of camera with reorientation Image Mosaics together with, this algorithm is by extracting the unique point of two images, attitude corresponding while calculating two image takings changes, then the mode by affined transformation by two accurate matching of images on same yardstick and position, extract respectively the public domain of image after two conversion, and adopt on this basis suitable change detection techniques to change detection to image, change-detection images is shown in accompanying drawing, Fig. 4 is the reorientation error range distribution plan that the actual range difference between first camera C1 position obtains when adding up first camera C1 position after repeatedly reorientation and locating first, from distribution plan, can find out, reorientation in positional precision all in mm level, and mainly concentrate on 0～3mm scope, illustrate that this method has reached good reorientation precision.
Verify the feasibility of this method below with concrete test, described below:
Three groups of experiments are all at laboratory environment below, under bright and clear stable condition, the many places scene of copying mural painting take indoor large is as photographic subjects, utilize above equipment and method, be under 1～2 meter of condition at shooting distance, respectively first camera C1 is carried out after the shooting of first location, manual simulation manufactures slight change, the image that then reorientation obtains to first camera C1.The photographic images of first camera C1 when wherein Fig. 5, Fig. 8 and Figure 11 are respectively three first location of experiment, Fig. 6, Fig. 9 and Figure 12 are the photographic images that is respectively first camera C1 after reorientation, Fig. 7, Figure 10, Figure 13 is respectively the result of Image Change Detection.Fig. 5, Fig. 6, Fig. 7, changes testing result live width: 0.82mm, line length: 80.7mm; Fig. 8, Fig. 9, Figure 10, the narrow place of result of variations live width: 0.41mm; Figure 11, Figure 12, Figure 13, some maximum gauge: 3.2mm.These results show can go out in image detection by this method for relocating the variation of 0.1mm rank, have provided and have changed the precision detecting, and the precision also detecting by variation has reflected the good result of reorientation simultaneously.
List of references
[1]Shotton?J,Glocker?B,Zach?C,et?al.Scene?coordinate?regression?forests?for?camera?relocalization?in?RGB-D?images[C]//Computer?Vision?and?Pattern?Recognition(CVPR),2013IEEE?Conference?on.IEEE,2013:2930-2937.
[2]Williams?B,Klein?G,Reid?I.Automatic?relocalization?and?loop?closing?for?real-time?monocular?SLAM[J].Pattern?Analysis?and?Machine?Intelligence,IEEE?Transactions?on,2011,33(9):1699-1712.
[3]Davison?A?J,Reid?I?D,Molton?N?D,et?al.MonoSLAM:Real-time?single?camera?SLAM[J].Pattern?Analysis?and?Machine?Intelligence,IEEE?Transactions?on,2007,29(6):1052-1067.
[4]Durrant-Whyte?H,Bailey?T.Simultaneous?localization?and?mapping:part?I[J].Robotics&Automation?Magazine,IEEE,2006,13(2):99-110.
[5] Wang Jianbo. laser range finder Principle and application [J]. coloured equipment, 2002 (6): 15-16.
[6] sample. principle and the classification thereof of laser infrared line stadimeter, http://www.cnhwx.com/news/show/669/, 2013-03-18.
[7] Yao Xingyu, Cao Xiaoyu. Laser Line Marker principle and detection method [J]. China's metering, 2012 (7): 106-107.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (3)
1. change towards historical relic submicron order 3 method for relocating of camera that detect, it is characterized in that, described method comprises location and reorientation step first;
(1) on horizontal laser light line, choose C class reference point, on two vertical laser rays, choose category-A reference point and category-B reference point;
(2) record the first laser range finder and the second laser range finder are respectively the first distance and second distance to the range reading of wall, have located first;
(3) make horizontal laser light line cross C class reference point by adjustment; The first vertical laser rays, the second vertical laser rays are crossed respectively category-A and category-B reference point;
(4) open the first laser range finder, rotary carrier platform, drops on the first vertical laser rays the laser spots of the first laser range finder projection, and traversing carriage position makes the first laser range finder range finding reading approach the first distance;
(5) open the second laser range finder, rotation the second laser range finder, drops on the second vertical laser rays the laser spots of the second laser range finder projection, regulates backing positions, makes the second laser range finder reading approach second distance;
(6) repeating step (4) and (5), make the first laser range finder reading and the second laser range finder reading approach the first distance and second distance, and then confirm to regulate support height, make the horizontal laser light line of the first Laser Line Marker cross C class reference point, reorientation completes;
(7) together with the first location of camera being arrived with reorientation Image Mosaics by merging algorithm for images.
2. a kind of 3 method for relocating of camera that detect that change towards historical relic submicron order according to claim 1, it is characterized in that, the described C class reference point of choosing on horizontal laser light line, the operation of choosing category-A reference point and category-B reference point on two vertical laser rays is specially:
Obtain horizontal laser light line by the first Laser Line Marker, on horizontal laser light line, choose one or more monumented points as C class reference point;
The first laser range finder projects first laser spots on wall, rotate the second laser range finder and project the second laser spots, open ground the second Laser Line Marker and the 3rd Laser Line Marker, make projection the first vertical laser rays and the second vertical laser rays respectively through the first laser spots and the second laser spots, on the first vertical laser rays, choose one or more unique points as category-A reference point, on the second vertical laser rays, choose one or more unique points as category-B reference point.
3. a kind of 3 method for relocating of camera that detect that change towards historical relic submicron order according to claim 1, is characterized in that, describedly make horizontal laser light line cross C class reference point by adjustment; The operation that the first vertical laser rays, the second vertical laser rays are crossed respectively category-A and category-B reference point is specially:
Open the first Laser Line Marker, regulate support according to C class reference point, make horizontal laser light line cross C class reference point;
Category-A, the category-B reference point picture taken in second camera are found out category-A, category-B reference point, open the second Laser Line Marker and the 3rd Laser Line Marker, make the first vertical laser rays, the second vertical laser rays cross respectively category-A and category-B reference point.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104062002A (en) * | 2014-07-04 | 2014-09-24 | 无锡吉兴汽车声学部件科技有限公司 | In-automobile microphone locating clamp for finished-automobile noise testing |
| CN106289181A (en) * | 2015-05-22 | 2017-01-04 | 北京雷动云合智能技术有限公司 | A kind of real-time SLAM method that view-based access control model is measured |
| CN106289181B (en) * | 2015-05-22 | 2018-12-18 | 北京雷动云合智能技术有限公司 | A kind of real-time SLAM method of view-based access control model measurement |
| CN106595601A (en) * | 2016-12-12 | 2017-04-26 | 天津大学 | Camera six-degree-of-freedom pose accurate repositioning method without hand eye calibration |
| CN106595601B (en) * | 2016-12-12 | 2020-01-07 | 天津大学 | Accurate repositioning method for camera pose with six degrees of freedom without hand-eye calibration |
| CN107067423A (en) * | 2016-12-16 | 2017-08-18 | 天津大学 | A kind of micro- method for becoming monitoring of the historical relic body for being applied to open environmental effect |
| CN108418916A (en) * | 2018-02-28 | 2018-08-17 | 努比亚技术有限公司 | Image capturing method, mobile terminal based on double-sided screen and readable storage medium storing program for executing |
| CN110455279A (en) * | 2019-08-28 | 2019-11-15 | 燕山大学 | A kind of indirect measuring instrument of six degree of freedom |
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