CN104390631A - Coding and decoding method based on free-form surface visual identification points - Google Patents
Coding and decoding method based on free-form surface visual identification points Download PDFInfo
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- CN104390631A CN104390631A CN201410085599.3A CN201410085599A CN104390631A CN 104390631 A CN104390631 A CN 104390631A CN 201410085599 A CN201410085599 A CN 201410085599A CN 104390631 A CN104390631 A CN 104390631A
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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
Abstract
A coding and decoding method based on free-form surface visual identification points is characterized by comprising the following main steps: Step 1, identification point preparation and coding; Step 2, identification verification preparation; Step 3, acquiring of identification point shooting effect pictures; Step 4, determination of identification points' initial value; and Step 5, verification of identification effect and decoding. The invention has beneficial effects as follows: 1, coding and decoding of identification points on a free-form surface can be achieved; and 2, it can be verified that free-form surface deformation degree between each two identification points is from minus 35 degrees to 35 degrees.
Description
Technical field
Based on coding, the decoding of free form surface visual cues point, and the visual verification field of free form surface identification point.
Background technology
Camera identification point is to make camera when the seizure to object, definitely differentiate content, strengthen one of effective solution of identification, especially in about machine vision commercial Application, vital effect is had to precision etc. parameter request, but under the effect of identification point and application scenario are confined to the planar condition of laboratory environment substantially, it is below the description of traditional identification method, with fan-shaped identification point for row: traditional fan-shaped identification point is mainly by being divided into some fan-shaped home blocks circular indicia point, the required position demarcated is determined by the center of circle of the circle at identification point center, by determining the sequence number of identification point around to the angular relationship of fan-shaped barycenter and central circle, as circular indicia point etc. is divided into eight fan-shaped home blocks, judge the mutual relationship between the first home block and the 4th home block, the position of that barycenter just judges between two home blocks by camera, angular relationship between the home block be connected carries out location determination, the scaling method of this class is simple, convenient, relatively practical, but be only confined to the mark be in same level, its reason is: likely occur that two the standard logo blocks connected together are when shooting angle deviation is larger, design sketch and the home block of standard of shooting are disproportionate, in the design sketch of the shooting after deformation, the size of home block is likely less than the size of standard logo block, so once not in same level, after the scalloping distortion of camera shooting identification point, larger change can be there is in the displaying ratio of each home block, and plane camera judges that the relation between home block connected between two home blocks is obtained by the angular relationship calculated between home block, because the size of beautiful piece after distortion there occurs change, thus be easy to the decoding error causing identification point.
The object of the invention is to produce a kind of coding method based on free form surface visual cues point and coding/decoding method, require the method not only can be good at solving above-mentioned in the problem mentioned, also should possess following technical characteristic: 1. can complete the location position on free form surface between identification point, deformation of free angle 2. between two between identification point between-35 ° ~ 35 °, all can effectively distinguish, 3. can identify that the centroid position not between same linking block judges.
Summary of the invention
In order to realize the technical barrier of above-mentioned proposition, the present invention adopts a kind of coding method based on free form surface visual cues point and coding/decoding method, and it is characterized in that, key step is as follows:
The first step: identification point prepares and coding
Second step: identity verification prepares
3rd step: obtain identification point shooting effect figure
4th step: the initial value determining identification point
5th step: checking marking effect and decoding
In the described first step, identification point is by unified toroidal white reflector material, circle is first-class is all coated with black blocked area, the identification point described in the present invention is mainly and is divided into eight pieces, wherein four pieces, white reflector material region, black occlusion area four pieces, wherein black occlusion area is isolation arrangement.Coding is that the value of home block is set as numerical value 15.
Wherein the independent identification block angle of standard logo point is 22.5 degree.
In described second step, the step that identity verification prepares is as follows: first two cameras are separately fixed at the vertical direction based on the arc shaped arrangement module of surface level and horizontal 45° angle position; Be fixed on by identification point on the free form surface of arc shaped arrangement module, wherein the peak value of the curved surface of arc shaped arrangement module and the angle between valley and surface level are no more than 35 ° again; Wherein arc shaped arrangement module is non-reflective material.
In described 3rd step, obtain identification point shooting effect figure refer to choose in the image of numerous identification point recognition effect comparatively significantly plane shooting effect figure and camera angle shooting effect figure and due to Wave crest and wave trough between the inconsistent shooting effect figure of the depth of field that obtains of the differential seat angle that formed, as the base image of checking.
In described 4th step, determine that the initial value of identification point the black occlusion area of the identification point described in the first step will be set as numerical value 0, if the numerical value after identification is between (0.99 ~ 1.01), directly ignore; White reflector material region is set as 1, if the numerical value after identification is between (-0.01 ~ 0.01), direct then regard as 1, off-limits value is then ignored automatically.
In described 5th step, checking marking effect is that the base image obtained in second step is carried out computational analysis, first, extract the center circle of the identification point in shooting effect figure and camera angle shooting effect figure, and obtain the coordinate figure of corresponding central point, secondly extract the barycenter of home block in shooting effect figure and camera angle shooting effect figure; Decode finally by the center of circle of identification point and the angle of home block barycenter line, decode procedure is: in conjunction with the graphical analysis of the 3rd step and the 4th step, can obtain initial code value is binary numeral (1,1,1,1), convert thereof into minimum decimal number and just can verify that whether encoded radio is consistent with decode value, the metric account form of its Binary Conversion is as follows:
1111＝[(1*2°)+(1*2
1)+(1*2
2)+(1*2
3)]
＝1+2+4+8
＝15
A kind of coding method based on free form surface visual cues point and its encoded radio of coding/decoding method and decode value are numerical value 15, so successfully decoded.
Preferably, the home block account form that described a kind of coding method based on free form surface visual cues point and coding/decoding method adopt adopts angular measure, and compare tradition use and reduce the mode error rate of home block areal calculation, area of detection and angle increase.
Beneficial effect of the present invention:
1, add the free form surface detection mode that non-contact vision detects, non-contact vision is detected better Detection results;
2, with the fixed point detection angles of camera to visual cues point reach ± 35 °.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and implementation column, the present invention is further described.
Fig. 1 is overall schematic of the present invention;
Fig. 2 is standard logo of the present invention some schematic diagram;
Fig. 3 is multi-angled shooting effect schematic diagram of the present invention;
Fig. 4 is encoding efficiency schematic diagram of the present invention;
Fig. 5 is decoding effect schematic diagram of the present invention;
Wherein: shooting effect 8 in camera 1, camera 2, surface level 3, arc shaped arrangement block 4, identification point 5, white reflector material 7, black occlusion area 6, plane, with camera angle shooting effect 9, the inconsistent shooting effect 10 of the depth of field.
embodiment
In order to make technical matters solved by the invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
If Fig. 1 is overall schematic of the present invention,
If Fig. 2 is standard logo of the present invention some schematic diagram;
If Fig. 3 is multi-angled shooting effect schematic diagram of the present invention;
If Fig. 4 is encoding efficiency schematic diagram of the present invention;
If Fig. 5 is decoding effect schematic diagram of the present invention;
In the described first step, identification point is by unified toroidal white reflector material 7, circle is first-class is all coated with black blocked area 6, the identification point 5 described in the present invention is mainly and is divided into eight pieces, wherein four pieces, white reflector material 7 region, black occlusion area 6 four pieces, wherein black occlusion area 6 is isolation arrangement.Coding is that the value of home block is set as numerical value: 15.
Wherein standard logo: the independent identification block angle of 5 is 22.5 degree.
In described second step, the step that identity verification prepares is as follows: the vertical direction first camera a1 being fixed on the arc shaped arrangement module 4 based on surface level 3, by the horizontal 45° angle position of camera b2 based on the arc shaped arrangement module 4 of surface level 3; Be fixed on by identification point 5 on the free form surface of arc shaped arrangement module 4, wherein the peak value of the curved surface of arc shaped arrangement module 4 and the angle between valley and surface level are no more than 35 ° again; Wherein arc shaped arrangement module 4 is non-reflective material.
In described 3rd step, obtain identification point 5 shooting effect figure refer to choose in the image of numerous identification point 5 recognition effect comparatively significantly plane shooting effect Fig. 8 and camera angle shooting effect Fig. 9 and due to Wave crest and wave trough between inconsistent shooting effect Figure 10 of the depth of field of obtaining of the differential seat angle that formed, as the base image of checking.
In described 4th step, determine that the initial value of identification point 5 the black occlusion area 6 of the identification point 5 described in the first step will be set as numerical value 0, if the numerical value after identification is between (0.99 ~ 1.01), directly ignore; White reflector material 7 region is set as 1, if the numerical value after identification is between (-0.01 ~ 0.01), direct then regard as 1, off-limits value is then ignored automatically.
In described 5th step, checking marking effect is that the base image obtained in second step is carried out computational analysis, first, shooting effect 8 in plane, center circle with the identification point 5 in camera angle shooting effect 9 and the inconsistent shooting effect 10 of the depth of field, and obtain the coordinate figure of corresponding central point, secondly shooting effect 8 in plane, barycenter with home block in camera angle shooting effect 9 and the inconsistent shooting effect 10 of the depth of field is extracted; Decode finally by the center of circle of identification point and the angle of home block barycenter line, decode procedure is: in conjunction with the graphical analysis of the 3rd step and the 4th step, can obtain initial code value is binary numeral (1,1,1,1), convert thereof into minimum decimal number and just can verify that whether encoded radio is consistent with decode value, the metric account form of its Binary Conversion is as follows:
1111＝[(1*2°)+(1*2
1)+(1*2
2)+(1*2
3)]
＝1+2+4+6
＝15
A kind of coding method based on free form surface visual cues point and its encoded radio of coding/decoding method and decode value are numerical value: 15, so successfully decoded.
Embodiment: described in accompanying drawing illustrates as mentioned above, collect in the free form surface of ± 35 ° shooting effect 8 in plane, with camera angle shooting effect 9 and the inconsistent shooting effect 10 of the depth of field after, being appointed by the error of calculation rate calculating the differential seat angle between home block so remains in 0.01, does not affect demarcation effect.
The present invention is described in detail in preferred embodiment above by concrete; but those skilled in the art should be understood that; the present invention is not limited to the above embodiment; within the spirit and principles in the present invention all; any amendment of doing, equivalent replacement etc., all should be included within protection scope of the present invention.
Claims (6)
1., based on coding method and the coding/decoding method of free form surface visual cues point, it is characterized in that, key step is as follows:
The first step: identification point (5) prepares and coding
Second step: identity verification prepares
3rd step: obtain identification point (5) shooting effect figure
4th step: the initial value determining identification point (5)
5th step: checking marking effect and decoding
2. a kind of coding method based on free form surface visual cues point according to claim 1 and coding/decoding method, it is characterized in that: in the described first step, identification point (5) is by unified toroidal white reflector material (7), circle is first-class is all coated with black blocked area (6), the identification point (5) described in the present invention is mainly and is divided into eight pieces, wherein four pieces, white reflector material (7) region, black occlusion area (6) four pieces, wherein black occlusion area (6) is isolation arrangement.Coding is that the value of home block is set as numerical value: 15; Wherein the independent identification block angle of standard logo point (5) is 22.5 degree.
3. a kind of coding method based on free form surface visual cues point according to claim 1 and coding/decoding method, it is characterized in that: in described second step, the step that identity verification prepares is as follows: the vertical direction first camera (1) being fixed on the arc shaped arrangement module (4) based on surface level (3), by the horizontal 45° angle position of camera (2) based on the arc shaped arrangement module (4) of surface level (3); Be fixed on the free form surface of arc shaped arrangement module (4) by identification point (5) again, wherein the peak value of curved surface of arc shaped arrangement module (4) and the angle between valley and surface level are no more than 35 °; Wherein arc shaped arrangement module (4) is non-reflective material.
4. a kind of coding method based on free form surface visual cues point according to claim 1 and coding/decoding method, it is characterized in that: in described 3rd step, obtain identification point (5) shooting effect figure refer to choose in the image of numerous identification point (5) recognition effect comparatively significantly plane shooting effect figure (8), with camera angle shooting effect figure (9) and due to Wave crest and wave trough between the inconsistent shooting effect figure (10) of the depth of field that obtains of the differential seat angle that formed, as the base image verified.
5. a kind of coding method based on free form surface visual cues point according to claim 1 and coding/decoding method, it is characterized in that: in described 4th step, determine that the initial value of identification point (5) the black occlusion area (6) of the identification point (5) described in the first step will be set as numerical value 0, if the numerical value after identification is between (0.99 ~ 1.01), directly ignore; White reflector material (7) region is set as 1, if the numerical value after identification is between (-0.01 ~ 0.01), direct then regard as 1, off-limits value is then ignored automatically.
6. a kind of coding method based on free form surface visual cues point according to claim 1 and coding/decoding method, it is characterized in that: in described 5th step, checking marking effect is that the base image obtained in second step is carried out computational analysis, first, shooting effect (8) in plane, with the center circle of the identification point (5) in camera angle shooting effect (9) and the inconsistent shooting effect of the depth of field (10), and obtain the coordinate figure of corresponding central point, secondly shooting effect (8) in plane is extracted, with the barycenter of camera angle shooting effect (9) and the inconsistent shooting effect of the depth of field (10) interior home block, decode finally by the center of circle of identification point (5) and the angle of home block barycenter line, decode procedure is: in conjunction with the graphical analysis of the 3rd step and the 4th step, can obtain initial code value is binary numeral (1,1,1,1), converts thereof into minimum decimal number and just can verify that whether encoded radio is consistent with decode value,
The metric account form of its Binary Conversion is as follows:
1111＝[(1*2°)+(1*2
1)+(1*2
2)+(1*2
3)]
＝1+2+4+8
＝15
A kind of coding method based on free form surface visual cues point and its encoded radio of coding/decoding method and decode value are numerical value: 15, so successfully decoded.
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| CN201410085599.3A CN104390631A (en) | 2014-03-11 | 2014-03-11 | Coding and decoding method based on free-form surface visual identification points |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108120397A (en) * | 2017-12-27 | 2018-06-05 | 中国科学院长春光学精密机械与物理研究所 | For the quick fixed three-dimensional scanning measurement auxiliary device of index point |
| CN108716891A (en) * | 2018-04-28 | 2018-10-30 | 河南理工大学 | A kind of underworkings surrouding rock deformation quickly accurately monitors system and its monitoring method |
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| US5835622A (en) * | 1994-05-02 | 1998-11-10 | Cognex Corporation | Method and apparatus to locate and measure capillary indentation marks on wire bonded leads |
| CN101566461A (en) * | 2009-05-18 | 2009-10-28 | 西安交通大学 | Method for quickly measuring blade of large-sized water turbine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108120397A (en) * | 2017-12-27 | 2018-06-05 | 中国科学院长春光学精密机械与物理研究所 | For the quick fixed three-dimensional scanning measurement auxiliary device of index point |
| CN108716891A (en) * | 2018-04-28 | 2018-10-30 | 河南理工大学 | A kind of underworkings surrouding rock deformation quickly accurately monitors system and its monitoring method |
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