CN104089579A - Camera calibration target of automobile visual inspection system based on spherical coordinates - Google Patents
Camera calibration target of automobile visual inspection system based on spherical coordinates Download PDFInfo
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- CN104089579A CN104089579A CN201410381656.2A CN201410381656A CN104089579A CN 104089579 A CN104089579 A CN 104089579A CN 201410381656 A CN201410381656 A CN 201410381656A CN 104089579 A CN104089579 A CN 104089579A
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Abstract
The invention discloses a camera calibration target of an automobile visual inspection system based on spherical coordinates, aiming at solving the problem that an existing three-dimensional calibration object is only capable of directly acquiring three-dimensional data points under a Cartesian three-dimensional rectangular coordinate system, but is not capable of acquiring data points determined by spherical radius and angle under a spherical coordinate system. The camera calibration target of the automobile visual inspection system based on the spherical coordinates mainly comprises a spherical seat (1) and a light emitting diode (LED) (2). The camera calibration target of the automobile visual inspection system based on the spherical coordinates is simple in structure, high in detection accuracy, small in accumulated error, complete in functions, simple and convenient to operate, easy to install, high in universality, low in cost and reliable in performance, and can meet the requirement of the automobile testing industry on the visual inspection of an automobile body.
Description
Technical field
The present invention relates to a kind of inspection machine of auto industry field, in particular, it relates to a kind of camera calibration target of the automobile vision detection system based on spherical co-ordinate.
Background technology
For guaranteeing the safety traffic of automobile, the overload that rationally detects fast automobile is transfinited and size repacking, and the vision measurement that carries out every geometric angle of automobile is one of main test item of automobile detection field.At present, the measurement of automobile dimension and angle is mainly rested on to manual meter ruler and measure, efficiency is low, low precision, and intensity of workers is large.Adopt machine vision metrology technology to automobile geometric parameter carry out non-contact detecting owing to having fast, accurately and the feature such as high reliability be expected to solve above technical bottleneck.Because three-dimensional scaling thing can be determined the transition matrix of video camera phase areal coordinate and three dimensional space coordinate by a photos, therefore can realize Fast Calibration; The stated accuracy of three-dimensional scaling thing will be demarcated thing higher than two dimension simultaneously.But existing three-dimensional scaling object is long-pending larger, and processed complex, is difficult to realize the on-site proving that practicality is had relatively high expectations; Simultaneously existing three plane formulas are demarcated target can only directly obtain the three-dimensional data points under Descartes's three-dimensional cartesian coordinate system, cannot obtain under spheric coordinate system, by spherical radius and angle, determined data point, and for the vision measurement of geometric angle, without conversion, calculate the angle information of directly demarcating under spheric coordinate system significant for the isoparametric measuring accuracy of raising bus location angle.What the present invention adopted spheric seating and light emitting diode combined can decomposition texture, realized the demarcation of detection system video camera under spheric coordinate system, system architecture is simple, be convenient to processing and transportation, can directly obtain the spherical co-ordinate of the data point of Spatial General 6 R position under spheric coordinate system, improved the accuracy of measurement of angle result, significant to the technical progress of auto industry detection field.
Summary of the invention
The present invention is directed to current existing three-dimensional scaling thing and can only directly obtain the three-dimensional data points under Descartes's three-dimensional cartesian coordinate system, cannot obtain under spheric coordinate system, by spherical radius and angle, determined the problem of data point, a kind of spherical co-ordinate that can directly obtain the data point of Spatial General 6 R position under spheric coordinate system is provided, simple in structure, accuracy of detection is high, cumulative errors is little, telotism, easy and simple to handle, be easy to install, highly versatile, cost is lower, the met automobile of dependable performance detects industry and automobile angle parameter is carried out to the camera calibration target of the automobile vision detection system based on spherical co-ordinate of vision-based detection requirement.
Consult Fig. 1 to Fig. 4, for solving the problems of the technologies described above, the present invention adopts following technical scheme to be achieved.The camera calibration target of the automobile vision detection system based on spherical co-ordinate provided by the present invention includes spheric seating and light emitting diode.
Light emitting diode and the tapped through hole screw thread of spheric seating are fixedly connected with and pass from inside to outside the outside surface of spheric seating, and the thicker one end of light emitting diode diameter contacts with spheric seating inside surface wringing fit near the end face of a thinner side.
Spheric seating described in technical scheme is spherical shell shape steel thin-wall part modifier treatment, and the warp distributing at spheric seating surface uniform and the intersection location of parallel are along centre of sphere direction machining screw through hole.
The shell of the light emitting diode described in technical scheme is that ladder is cylindrical, and the thinner one end of diameter is transmitting terminal and is processed with screw thread.
The invention has the beneficial effects as follows:
(1) the present invention is directed to current existing three-dimensional scaling thing and can only directly obtain the three-dimensional data points under Descartes's three-dimensional cartesian coordinate system, cannot obtain under spheric coordinate system, by spherical radius and angle, determined the problem of data point, a kind of calibration system that can directly obtain the spherical co-ordinate of the data point of Spatial General 6 R position under spheric coordinate system is provided, for take measured automobiles angle parameter as detecting the situation of target, due to without carrying out the conversion of Descartes's three-dimensional rectangular coordinate to angle, can obtain higher measuring accuracy.
(2) the present invention is directed to the on-site proving of automobile vision detection system to the requirement such as calibration system is lightweight, easy to carry, the mode that adopts light emitting diode and spheric seating to combine completes the assembling of calibration system, therefore make calibration system meet portable undersized requirement, reduce the difficulty that the transportation of three-dimensional scaling system is used.
(3) the present invention is directed to the on-site proving of automobile vision detection system to the requirement such as calibration system is lightweight, easy to carry, light emitting diode adopts the threaded housing of stepped appearance, easy to connect and can locate by ladder with spheric seating, realize Fast Installation and guaranteed that the light spot position of light emitting diode is consistent to centre of sphere distance, improved stated accuracy.
(4) critical part of the present invention adopts etalon steel to process, and first, standard steel section output is large, and machining operation is few, makes simply, and production cost is lower; Secondly, as the important accessory of surveying instrument, adopt standard steel section to there is certain intensity, can be indeformable in long-term use, the precision that assurance is measured, can meet the requirement of national standard to measuring accuracy.
Accompanying drawing explanation
Fig. 1 is the forward direction axonometric drawing of the camera calibration target of the automobile vision detection system based on spherical co-ordinate;
Fig. 2 is the backward axonometric drawing of the camera calibration target of the automobile vision detection system based on spherical co-ordinate;
Fig. 3 is the axonometric drawing of spheric seating 1 of the camera calibration target of the automobile vision detection system based on spherical co-ordinate;
Fig. 4 is the axonometric drawing of light emitting diode 2 of the camera calibration target of the automobile vision detection system based on spherical co-ordinate;
In figure: 1. spheric seating, 2. light emitting diode.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail:
Consult Fig. 1 to Fig. 4, the camera calibration target of the automobile vision detection system based on spherical co-ordinate includes spheric seating 1 and light emitting diode 2.
Spheric seating 1 is spherical shell shape steel thin-wall part modifier treatment, the warp distributing at spheric seating 1 surface uniform and the intersection location of parallel are along centre of sphere direction machining screw through hole, the shell of light emitting diode 2 is that ladder is cylindrical, the thinner one end of diameter is transmitting terminal and is processed with screw thread, light emitting diode 2 and the tapped through hole screw thread of spheric seating 1 are fixedly connected with and pass from inside to outside the outside surface of spheric seating 1, and light emitting diode 2 thicker one end of diameter contact with spheric seating 1 inside surface wringing fit near the end face of a thinner side.
The using method of the camera calibration target of the automobile vision detection system based on spherical co-ordinate: the camera calibration target of the automobile vision detection system based on spherical co-ordinate is placed on to a fixed position within the scope of the camera field of view of automobile vision detection system, the centre of sphere with treat measuring angle center superposition, by camera acquisition one width target image, image is carried out to filtering, gray scale strengthens, image is cut apart, the steps such as diode centre coordinate extraction obtain diode picture centre coordinate, position coordinates and image two dimension centre coordinate according to diode at spherical space coordinate system, adopt least square method, particle swarm optimization algorithm or genetic algorithm, can obtain the transition matrix of two-dimensional coordinate of the image characteristic point of spherical space coordinate system coordinate and camera acquisition, complete the demarcation of the video camera under the spherical space coordinate system of automobile vision detection system.
Claims (3)
1. a camera calibration target for the automobile vision detection system based on spherical co-ordinate, is characterized in that, the camera calibration target of the described automobile vision detection system based on spherical co-ordinate is comprised of spheric seating (1) and light emitting diode (2);
Light emitting diode (2) and the tapped through hole screw thread of spheric seating (1) are fixedly connected with and pass from inside to outside the outside surface of spheric seating (1), and the thicker one end of light emitting diode (2) diameter contacts with spheric seating (1) inside surface wringing fit near the end face of a thinner side.
2. according to the camera calibration target of the automobile vision detection system based on spherical co-ordinate claimed in claim 1, it is characterized in that described spheric seating (1) is for spherical shell shape steel thin-wall part modifier treatment, the warp distributing at spheric seating (1) surface uniform and the intersection location of parallel are along centre of sphere direction machining screw through hole.
3. according to the camera calibration target of the automobile vision detection system based on spherical co-ordinate claimed in claim 1, it is characterized in that the shell of described light emitting diode (2) is that ladder is cylindrical, the thinner one end of diameter is transmitting terminal and is processed with screw thread.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410381656.2A CN104089579A (en) | 2014-08-05 | 2014-08-05 | Camera calibration target of automobile visual inspection system based on spherical coordinates |
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| CN201410381656.2A CN104089579A (en) | 2014-08-05 | 2014-08-05 | Camera calibration target of automobile visual inspection system based on spherical coordinates |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613948A (en) * | 2015-02-03 | 2015-05-13 | 北京航空航天大学 | Multi-angle tunable laser dotting device |
| CN106127100A (en) * | 2016-01-08 | 2016-11-16 | 宁夏巨能机器人系统有限公司 | A kind of robot vision identification system and image processing method thereof |
| CN106197282A (en) * | 2016-09-07 | 2016-12-07 | 吉林大学 | Automobile pattern based on spherical coordinate is without kinematic constraint detector |
| CN106289102A (en) * | 2016-09-07 | 2017-01-04 | 吉林大学 | Automobile pattern based on cylindrical coordinates is without kinematic constraint detector |
| CN106644393B (en) * | 2016-11-17 | 2018-12-18 | 清华大学 | The scaling method of remote burnt structured light measurement system based on plane mirror and scaling board |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106644393B (en) * | 2016-11-17 | 2018-12-18 | 清华大学 | The scaling method of remote burnt structured light measurement system based on plane mirror and scaling board |
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