CN104183010A - Multi-view three-dimensional online reconstruction method - Google Patents
Multi-view three-dimensional online reconstruction method Download PDFInfo
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Abstract
The invention provides a multi-view three-dimensional online reconstruction method. The method includes the following steps: internal parameters of a camera are calibrated and laser plane equation parameters are calibrated under a camera coordinate system and an average operating speed of a conveyor belt which conveys an object is obtained through measurement; when the object which reaches the conveyor belt moves continuously, laser ray radiates different positions of the object and three-dimensional data is obtained when the laser ray radiates a specific position of the object according to the laser plane equation parameters and the cameral internal parameters; and according to the average operating speed, complete three-dimensional data of the surfaces of the object is obtained. Compared with the prior art, the multi-view three-dimensional online reconstruction method is capable of reconstructing complete three-dimensional data of surfaces (except the lower surface) of an object on a production line in a multi-view real-time manner and providing complete three-dimensional data information to online detection.
Description
Technical field
The present invention relates to technical field of computer vision, relate in particular to a kind of online method of rebuilding of multi-view angle three-dimensional.
Background technology
Three-dimensional reconstruction (3D Reconstruction) is that three-dimensional body is set up to the mathematical model that is applicable to computer representation and processing, being the basis of it being processed, operated and analyzes its character under computer environment, is also the gordian technique of setting up the virtual reality of expressing objective world in computing machine.
In computer vision, three-dimensional reconstruction refers to according to the process of the image reconstruction three-dimensional information of single-view or many views.Due to the INFORMATION OF INCOMPLETE of single video, therefore three-dimensional reconstruction need to utilize experimental knowledge, and the three-dimensional reconstruction of many views (similar people's binocular location) is relatively easy, its method is first video camera to be demarcated, calculate the relation of image coordinate system and the world coordinate system of video camera, then utilize the information in multiple two-dimensional images to reconstruct three-dimensional information.
Chinese patent CN101832764A discloses a kind of three-dimensional laser scanning on-line detection profiler, comprise housing, in described housing, be provided with image acquisition subsystem, image acquisition subsystem is used for laser projection to testee, after collected by camera, image is sent to the sub-disposal system of image by Ethernet, the image that the sub-disposal system of image sends over image acquisition subsystem, carry out pre-service through image processing algorithm, outstanding striation central feature, obtain the two-dimensional of testee, the testee displacement scale providing in conjunction with external control subsystem, thereby determine the three-D profile size of testee, image acquisition subsystem, image processing subsystem and control subsystem are all connected with electric power system jointly.
In the above-mentioned technical scheme providing, the three-dimensional data of object is that the ohject displacement size being provided in conjunction with external control subsystem by two-dimensional obtains, and need to know in advance that testee model and external control subsystem provide displacement scale.
Chinese patent CN201828247U discloses a kind of laser finished parts three-dimensional appearance on-line measuring device again, it is characterized in that it comprises hardware components and software section, and hardware components mainly comprises upper and lower two flat boards, between two plates, connects by supporting studs; Center between two plates is provided with a structured light transmitter, and two ends are symmetrically installed with industrial camera; 150～the 250mm of being separated by between the baseline of two industrial cameras, and put by 0～45 degree, industrial lens is installed on industrial camera, industrial lens is 300～400mm to the operating distance between processing work; The output signal interface of two industrial cameras is connected to PC by USB line respectively; The afterbody of described structured light transmitter is provided with small fan; On upper or lower flat board, be designed with the threaded hole for being connected with robot; Described software section mainly comprises 3 D scanning system and two modules of three-dimensional model reconfiguration system of integrating.
In the above-mentioned technical scheme providing, system comprises two industrial cameras and a structured light transmitter composition.When use, need to use two cameras, secondly adopt structured light reconstruction speed slower, be not suitable for commercial production streamline and use, again, if want to reconstruct the complete information of object upper surface, need to coordinate robot arm to use.
Summary of the invention
The present invention is directed to Shortcomings part in prior art, provide a kind of multi-view angle three-dimensional online method of rebuilding, the method can realize the real-time complete three-dimensional data that reconstructs body surface in production line (except lower surface) of various visual angles, is the online complete three-dimensional data information that provides that detects.
To achieve these goals, the technology that the present invention adopts is a kind of online method of rebuilding of multi-view angle three-dimensional, comprises the steps:
Step 1, demarcates top camera inner parameter, calibrates the laser plane equation parameter under top camera coordinate system, and measures the average running speed that obtains transmission object travelling belt;
Step 2, in the time that the object as on travelling belt constantly moves, laser rays is irradiated to the diverse location on object, the three-dimensional data when obtaining laser rays and be radiated at a certain position of object according to laser plane equation parameter and camera inner parameter; Obtain the complete three-dimensional data of this body surface according to average running speed.
In a preferred embodiment provided by the invention, wherein method also comprises the steps:
Step 3, is world coordinate system with top camera place coordinate, goes out the spatial relation of left and right sides camera and top camera by binocular calibration technique computes;
Step 4, according to the spatial relation between camera under multiple different angles, the three-dimensional data that different angles are got is spliced under the same coordinate system, thereby obtains the complete three-dimensional information of body surface.
In a preferred embodiment provided by the invention, in wherein said step 4, also use plural side camera, angle at 45 ° between described side camera and side laser instrument.
In a preferred embodiment provided by the invention, the method that wherein said average movement velocity adopts knotmeter or computer vision to demarcate is measured.
In a preferred embodiment provided by the invention, wherein said camera is selected CCD camera or CMOS camera.
In a preferred embodiment provided by the invention, in wherein said method, also use LED light-supplementing system stable to ensure the light in reconstruction regions.
Compared with prior art, the multi-view angle three-dimensional provided by the invention complete three-dimensional data that reconstructs body surface in production line (except lower surface) that the method for reconstruction can be real-time from various visual angles is online the online complete three-dimensional data information that provides that detects.
Brief description of the drawings
Fig. 1 is the online off-line calibration of rebuilding of multi-view angle three-dimensional-online flow process frame diagram of rebuilding.
Fig. 2 is the online schematic flow sheet of rebuilding of multi-view angle three-dimensional.
Fig. 3 is Three-dimension Reconstruction Model figure.
Fig. 4 is the online schematic diagram of rebuilding of multi-view angle three-dimensional.
Embodiment
By the following examples the online method of rebuilding of multi-view angle three-dimensional provided by the invention is described in further detail, to better understand the protection domain of the invention, but the content of embodiment does not limit the protection domain of the invention.
Method provided by the invention is compared with two dimensional image equipment, can get three-dimensional information by laser instrument, camera apparatus, quantity of information is larger, and can not only describe on object length and width between each point, apart from describing out height distance, has increased detectable dimension simultaneously.Can be real-time by equipment carry out three-dimensional reconstruction from multiple angles, can not only obtain the upper surface three-dimensional data of object, can obtain the three-dimensional data of side simultaneously, improved detectable scope.Each visual angle adopts a laser instrument to add the structure of a camera, makes the cost of system lower, and structure is simpler, convenient installation.The shortcoming of selecting laser can overcome white light can not to rebuild black object, has increased the kind that can detect object.
Embodiment 1
As shown in Figure 4, three-dimensional reconstruction structure is by an industrial camera and a laser constitution.
Battle array and translation matrix, calibrate the average running speed v of the band of transmission.
Top lasers device is perpendicular to movement direction of object, angle at 45 ° between camera and laser instrument, and the distance between camera and laser instrument is 40cm.Angle in 90 ° between two sides laser instrument and top lasers device, three laser plane keeping parallelisms, camera and side laser instrument angle at 45 °.
Object is placed on travelling belt, and in the time that travelling belt moves, the Ear Mucosa Treated by He Ne Laser Irradiation that laser instrument sends is on the surface of object.
As shown in Figure 3, rotation matrix is R=[r
1, r
2, r
3], translation matrix is t., calibrate the space plane parameter of each group laser plane under corresponding camera coordinates is, count respectively (a1, b1, c1, d1), (a2, b2, c2, d2), (a3, b3, c3, d3).
Laser plane equation parameter under camera coordinates system is demarcated:
L
1, l
2respectively the intersecting straight lines of laser plane and scaling board, but after camera calibration of camera completes, l
1, l
2on the coordinate of point under camera coordinates system can go out with following Formula Solution:
where?Q＝[r
1?r
2?t]k＝[0，0，1]
Wherein M
cl
1, l
2on the coordinate of point under camera coordinates system, x
w, y
wl
1, l
2on the coordinate of sub-pix central point under the world coordinate system of scaling board place, known quantity.
Calibrate the coordinate transformation relation M1 between two sides camera and top camera, M2, wherein coordinate transformation relation comprises rotation matrix and translation matrix.Calculate the three dimensional space coordinate of each laser rays position.
The three-dimensional point coordinate that side equipment is obtained is multiplied by respectively corresponding coordinate conversion matrix M1 or M2, changes (being the world coordinate system at top camera place) under same world coordinate system
Work as l
1, l
2on the coordinate of point under camera coordinates system obtain after, can go out by least square fitting the equation of laser plane:
a
ix
c+b
iy
c+c
iz
c+d
i＝0
When online reconstruction, the irradiation that laser instrument is launched is on object, industrial camera captures the laser rays on object, first graphics processing unit extracts the sub-pix center of laser rays, then solves in laser rays the three-dimensional coordinate of all points in the heart according to the inner parameter of camera and laser plane Solving Equations.Three-dimensional coordinate acquiring method is as follows:
Wherein, the subpixel coordinates that u, v are laser rays.
Wherein, equation right-hand member is the known quantity calibrating.
The method of demarcating by knotmeter or computer vision can get the average running speed of travelling belt.
Knotmeter is fairly simple method, does not need to repeat; Computer vision scaling method is more loaded down with trivial details, has not just provided here.
Along with the movement of travelling belt, laser rays can be irradiated to the diverse location on object, meanwhile, in the time that laser rays is radiated at a certain position of object, according to the equation providing, calculates respectively the three-dimensional data of this position of object above.The average running speed of the travelling belt that the method for demarcating by three-dimensional coordinate with by knotmeter or computer vision is obtained, calculates surperficial complete three-dimensional data of object.
First the position of laser rays is fixed, with object at t
0(initial time) and t
1two moment are given l mutually with object respectively
0, l
1article two, straight line, if the x direction of camera coordinates is identical with the direction of motion of travelling belt, l on object
1with respect to l
0(t has in the x-direction moved
1-t
0)
*the distance of v, the movement velocity that wherein v is travelling belt.L
1the coordinate (x, y, z) of upper point need to be modified to (x-(t
1-t
0)
*v, y, z).
By the upper surface at object and left and right side, above-mentioned three-dimensional reconstruction equipment is installed, can be real-time reconstruct each surperficial three-dimensional data.
If top camera is No. 1 camera, left camera is No. 2 cameras, and right camera is No. 3 cameras, is world coordinate system with No. 1 camera place coordinate, by binocular calibration technology, can calculate 2, No. 3 cameras and be respectively M with respect to the spatial alternation relation of No. 1 camera
21, M
31,, for 2 volume coordinates that reconstruct [x, y, z], can pass through M
21-[x, y, z, 1] obtains the coordinate of changing the time under camera 1 coordinate system; In like manner can obtain the coordinate of 3 points that reconstruct under camera 1 coordinate system.Thereby obtain the complete three-dimensional information of body surface.
The three-dimensional online process of reconstruction at whole visual angle, adopts LED light-supplementing system, stable to guarantee the light in reconstruction regions.
Embodiment 2
On the basis of embodiment 1, be example but this patent can be generalized to multiple reconstruction units by three reconstruction units.
Above specific embodiments of the invention be have been described in detail, but it is as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that this practicality is carried out and alternative also all among category of the present invention.Therefore, equalization conversion and the amendment done without departing from the spirit and scope of the invention, all should contain within the scope of the invention.
Claims (6)
1. the online method of rebuilding of multi-view angle three-dimensional, is characterized in that, comprises the steps:
Step 1, demarcates top camera inner parameter, calibrates the laser plane equation parameter under top camera coordinate system, and measures the average running speed that obtains transmission object travelling belt;
Step 2, in the time that the object as on travelling belt constantly moves, laser rays is irradiated to the diverse location on object, the three-dimensional data when obtaining laser rays and be radiated at a certain position of object according to laser plane equation parameter and camera inner parameter; Obtain the complete three-dimensional data of this body surface according to average running speed.
2. method according to claim 1, is characterized in that, described method also comprises the steps:
Step 3, is world coordinate system with top camera place coordinate, goes out the spatial relation of left and right sides camera and top camera by binocular calibration technique computes;
Step 4, according to the spatial relation between camera under multiple different angles, the three-dimensional data that different angles are got is spliced under the same coordinate system, thereby obtains the complete three-dimensional information of body surface.
3. according to the method for claim 2, it is characterized in that, in described step 4, also use plural side camera, angle at 45 ° between described side camera and side laser instrument.
4. method according to claim 1, is characterized in that, the method that described average movement velocity adopts knotmeter or computer vision to demarcate is measured.
5. method according to claim 1, is characterized in that, described camera is selected CCD camera or CMOS camera.
6. method according to claim 1 and 2, is characterized in that, also uses LED light-supplementing system stable to ensure the light in reconstruction regions in described method.
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| CN106017327A (en) * | 2016-08-16 | 2016-10-12 | 河南埃尔森智能科技有限公司 | Structural light measurement sensor calibration method |
| CN106056587A (en) * | 2016-05-24 | 2016-10-26 | 杭州电子科技大学 | Full-view linear laser scanning 3D imaging calibration device and full-view linear laser scanning 3D imaging calibration method |
| CN106225676A (en) * | 2016-09-05 | 2016-12-14 | 凌云光技术集团有限责任公司 | Method for three-dimensional measurement, Apparatus and system |
| CN107167094A (en) * | 2017-06-19 | 2017-09-15 | 合肥欣畅源光电科技有限公司 | Separator material three-dimensional dimension Fast measurement system and method based on one camera |
| CN107621226A (en) * | 2017-07-18 | 2018-01-23 | 深圳大学 | The 3-D scanning method and system of multi-view stereo vision |
| CN108195314A (en) * | 2018-01-17 | 2018-06-22 | 杨佳苗 | Reflective striped three dimension profile measurement method based on more field stitchings |
| CN108507465A (en) * | 2018-03-13 | 2018-09-07 | 益德电子科技（杭州）有限公司 | Multifunctional data acquiring analysis method based on laser and camera |
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| CN113953813A (en) * | 2021-10-15 | 2022-01-21 | 珠海格力智能装备有限公司 | Adaptor dismounting device |
| CN114322837A (en) * | 2021-11-30 | 2022-04-12 | 国珑智能科技(威海)有限公司 | Device and method for measuring shape of cross section of object on line by double-splayed three-dimensional vision |
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Application publication date: 20141203 |