CN105004274B - A kind of face of cylinder radius measurement method based on 3D vision - Google Patents
A kind of face of cylinder radius measurement method based on 3D vision Download PDFInfo
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Abstract
The invention discloses a kind of face of cylinder radius measurement method based on 3D vision, including：The three dimensional point cloud on the face of cylinder is obtained by dimensional visual measurement system, the dimensional visual measurement system is made up of projecting apparatus and video camera；The three dimensional point cloud on the face of cylinder is divided into by two dimensional surface data using parallel plane；Two dimensional surface data are expanded into by one-dimensional point sequence using the sort algorithm based on angle；Transfinite medium filtering and secondary filtering are carried out to one-dimensional point sequence, so as to obtain removing the one-dimensional point sequence after noise；One-dimensional point sequence according to obtaining carries out ellipse fitting and circle is fitted, so as to obtain the radius size in face of cylinder diverse location section.The present invention can calculate the radius size in cylindrical component diverse location section, and the measurement and analysis of site error can be directly carried out according to the radius size in the diverse location section for calculating, have the advantages that accurate, comprehensive, noise resisting ability is strong and certainty of measurement is high, can be widely applied to Computer Vision Detection field.
Description
Technical field
The present invention relates to Computer Vision Detection field, especially a kind of face of cylinder radius measurement side based on 3D vision
Method.
Background technology
In industrial detection, the advantages of Computer Vision Detection Technique is with its noncontact, high accuracy and high efficiency, in machinery zero
Increasingly it is taken seriously in the detection of part.Cylindrical component is relatively conventional part in machine components, such as bearing, rotor
The middle magnetic tile for using and cylindrical magnetic stirring bar etc..According to statistics in traditional machine components, constituted as machine components
In a kind of basic configuration, the frequency of occurrences on the face of cylinder reached 73.5%.It is round to carry out detection to the radius on these faces of cylinder
An important component in cylindricality machinery part quality detection, is currently based on the cylindrical machine components half of computer vision
Footpath detection method detects its radius often through an outer face on the measurement face of cylinder, and cannot detect the section of other positions
Radius.Do so there are problems that following two：One is that can be only done shape measure and its error analysis, and is to be only limitted to outer end
The SHAPE DETECTION in face, it is impossible to complete the SHAPE DETECTION in other positions section, it is not accurate enough；Two is the survey that cannot realize site error
Amount and analysis, it is not comprehensive enough.And Form and position error is to operating accuracy, bonding strength, sealing, the stable movement of various machine components
Property, wearability and life-span, noise etc. all have a very big impact.Therefore, needing one kind badly in the industry can be different to cylindrical component
The radius of sectional position is detected (to provide more accurately shape), and can carry out site error using the data of multiple positions
Measurement and analysis method.
The content of the invention
In order to solve the above-mentioned technical problem, the purpose of the present invention is：One kind is provided accurately completely, based on 3D vision
Face of cylinder radius measurement method.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of face of cylinder radius measurement method based on 3D vision, including：
S1, the three dimensional point cloud that the face of cylinder is obtained by dimensional visual measurement system, the dimensional visual measurement system
It is made up of projecting apparatus and video camera；
S2, the three dimensional point cloud on the face of cylinder is divided into by two dimensional surface data using parallel plane；
S3, two dimensional surface data are expanded into by one-dimensional point sequence using the sort algorithm based on angle；
S4, transfinite medium filtering and secondary filtering are carried out to one-dimensional point sequence, so as to obtain removing the one-dimensional point after noise
Sequence；
One-dimensional point sequence after the removal noise that S5, basis are obtained carries out ellipse fitting and circle fitting, so as to obtain cylinder
The radius size in face diverse location section.
Further, the step S1, it is specially：
The dimensional visual measurement based on fringe structure light and active stereo vision technique is built using video camera and projecting apparatus
System, is then carried out system calibrating, fringe projection and collection, absolute phase and obtained and right successively by dimensional visual measurement system
Point matching is answered, the final three dimensional point cloud for obtaining the face of cylinder.
Further, the step S2, it is specially：
Three dimensional point cloud is divided into by multigroup two dimensional surface data using one group of parallel plane, the parallel plane is vertical
In X-axis, wherein, X-axis is the central shaft on the face of cylinder.
Further, the step S3, it includes：
S31, the data obtained according to step S2 carry out justifying fitting, obtain justifying central point, and the circle central point is defined
It is basic point o, then construction one crosses basic point o and direction is along the positive base vector of X-axisAnd will be extracted from two dimensional surface data
The number of edges strong point m for going outnMarginal vectors are constituted one by one with basic point oWherein, n=1,2,3 ...；
S32, calculating marginal vectorsWith base vectorAngle thetan,
S33, according to marginal vectorsWith base vectorAngle thetanSize to the side that is extracted from two dimensional surface data
Edge data point mnSequence is re-started, the point sequence M after being resequencedi, wherein, i=1,2,3 ..., n；
Point sequence M after S34, calculating rearrangementiTo basic point apart from di, and with the distance for calculating constituted expansion after
One-dimensional point sequence di。
Further, the step S4, it includes：
S41, using the median filter that transfinites to expansion after one-dimensional point sequence diOnce filtered, once filtered
Sequence of points afterwards, the once filtered sequence of points di' expression formula be：
Wherein, template is the template size of median filter of transfiniting, and median is to ask intermediate value, x0It is the distance of setting
Threshold value；
S42, according to once filtered sequence of points di' to basic point apart from size and sequence of points di' both sides consecutive points arrive
Basic point apart from size, to once filtered sequence of points di' secondary filtering is carried out, obtain removing the one-dimensional point sequence after noise
Row.
Further, the step S5, it is specially：
S51, to removal noise after one-dimensional point sequence carry out ellipse fitting, elliptical center point is obtained, then in ellipse
Heart point carries out space line fitting, obtains first central shaft on the face of cylinder；
S52, the three dimensional point cloud of first central shaft on the face of cylinder and the face of cylinder is rotated to parallel with X-axis；
S53, the three dimensional point cloud to the face of cylinder after rotation re-execute step S2~S4, obtain removal noise after with X
The parallel one-dimensional point sequence of axle；
S54, the one-dimensional point sequence parallel with X-axis after removal noise is carried out justifying fitting, obtain justifying central point, then to circle
Central point carries out space line fitting, obtains second central shaft and corresponding radius of circle on the face of cylinder；
The angle of S55, the second central shaft for judging the face of cylinder and X-axis whether less than setting judgment threshold, if so, then with
The radius of circle obtained as face of cylinder diverse location radius size, conversely, then by second central shaft and circle on the face of cylinder
The three dimensional point cloud of cylinder is rotated to afterwards return to step S53 parallel with X-axis.
The beneficial effects of the invention are as follows：First pass through the cloud data that dimensional visual measurement system obtains the face of cylinder；Then make
Three dimensional point cloud is divided into multigroup two dimensional surface data with parallel plane, and to the 2-D data of each position, using base
After the sort algorithm and the median filter that transfinites of angle are filtered denoising, it is fitted in conjunction with ellipse fitting and circle, final meter
The radius size in cylindrical component diverse location section is calculated, the SHAPE DETECTION of outer face is no longer limited to, and can be according to meter
The radius size in the diverse location section for calculating directly carries out the measurement and analysis of site error, with accurate, comprehensive, antinoise
Ability is strong and certainty of measurement advantage high.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of overall flow figure of the face of cylinder radius measurement method based on 3D vision of the present invention；
Fig. 2 is the flow chart of step S3 of the present invention；
Fig. 3 is the flow chart of step S4 of the present invention；
Fig. 4 is the flow chart of step S5 of the present invention；
Fig. 5-1 is the structural representation of dimensional visual measurement system of the present invention；
Fig. 5-2 is the flow chart that dimensional visual measurement system of the present invention obtains three dimensional point cloud；
Fig. 6 is with one group of two dimensional surface data after the segmentation of noise jamming semi-cylindrical；
The one-dimensional sequence point that Fig. 7 is obtained after being resequenced for Fig. 6；
Fig. 8 is that Fig. 7 carries out the result figure after denoising using the median filter that transfinites；
Fig. 9 is the partial enlarged drawing of Fig. 8 ellipses part；
Figure 10 is that the result figure after secondary filtering is carried out using the distance with intercardinal；
Figure 11 is the final filter result figure of the present invention；
Figure 12 is the flow chart of radius measurement algorithm in the face of cylinder of the present invention；
Figure 13 is the radius measurement schematic diagram of neodymium iron boron outer tile surfaces diverse location.
Reference：1st, video camera；2nd, projecting apparatus.
Specific embodiment
Reference picture 1, a kind of face of cylinder radius measurement method based on 3D vision, including：
S1, the three dimensional point cloud that the face of cylinder is obtained by dimensional visual measurement system, the dimensional visual measurement system
It is made up of projecting apparatus and video camera；
S2, the three dimensional point cloud on the face of cylinder is divided into by two dimensional surface data using parallel plane；
S3, two dimensional surface data are expanded into by one-dimensional point sequence using the sort algorithm based on angle；
S4, transfinite medium filtering and secondary filtering are carried out to one-dimensional point sequence, so as to obtain removing the one-dimensional point after noise
Sequence；
One-dimensional point sequence after the removal noise that S5, basis are obtained carries out ellipse fitting and circle fitting, so as to obtain cylinder
The radius size in face diverse location section.
It is further used as preferred embodiment, the step S1, it is specially：
The dimensional visual measurement based on fringe structure light and active stereo vision technique is built using video camera and projecting apparatus
System, is then carried out system calibrating, fringe projection and collection, absolute phase and obtained and right successively by dimensional visual measurement system
Point matching is answered, the final three dimensional point cloud for obtaining the face of cylinder.
It is further used as preferred embodiment, the step S2, it is specially：
Three dimensional point cloud is divided into by multigroup two dimensional surface data using one group of parallel plane, the parallel plane is vertical
In X-axis, wherein, X-axis is the central shaft on the face of cylinder.
Reference picture 2, is further used as preferred embodiment, the step S3, and it includes：
S31, the data obtained according to step S2 carry out justifying fitting, obtain justifying central point, and the circle central point is defined
It is basic point o, then construction one crosses basic point o and direction is along the positive base vector of X-axisAnd will be extracted from two dimensional surface data
The number of edges strong point m for going outnMarginal vectors are constituted one by one with basic point oWherein, n=1,2,3 ...；
S32, calculating marginal vectorsWith base vectorAngle thetan,
S33, according to marginal vectorsWith base vectorAngle thetanSize to the side that is extracted from two dimensional surface data
Edge data point mnSequence is re-started, the point sequence M after being resequencedi, wherein, i=1,2,3 ..., n；
Point sequence M after S34, calculating rearrangementiTo basic point apart from di, and with the distance for calculating constituted expansion after
One-dimensional point sequence di。
Wherein, it is base that basic point is typically chosen the barycenter of two dimensional surface data (the round central point for being obtained after circle fitting)
Point.With basic point as end points, x-axis positive direction for direction ray be base vector, and by number of edges strong point with basic point composition edge to
Amount, marginal vectors direction is along basic point points toward edge data point.From the number of edges strong point m that two dimensional surface data are extractednBe positioned at
Some data point on the upper surface of the face of cylinder.
Counterclockwise, calculating number of edges strong point constitutes with basic point marginal vectors and the angle of base vector, Ran Hougen
According to the size of angle, you can two-dimemsional number strong point is expanded into one-dimensional point sequence.
Reference picture 3, is further used as preferred embodiment, the step S4, and it includes：
S41, using the median filter that transfinites to expansion after one-dimensional point sequence diOnce filtered, once filtered
Sequence of points afterwards, the once filtered sequence of points di' expression formula be：
Wherein, template is the template size of median filter of transfiniting, and median is to ask intermediate value, x0It is the distance of setting
Threshold value；
S42, according to once filtered sequence of points di' to basic point apart from size and sequence of points di' both sides consecutive points arrive
Basic point apart from size, to once filtered sequence of points di' secondary filtering is carried out, obtain removing the one-dimensional point sequence after noise
Row.
Reference picture 4, is further used as preferred embodiment, the step S5, and it is specially：
S51, to removal noise after one-dimensional point sequence carry out ellipse fitting, elliptical center point is obtained, then in ellipse
Heart point carries out space line fitting, obtains first central shaft on the face of cylinder；
S52, the three dimensional point cloud of first central shaft on the face of cylinder and the face of cylinder is rotated to parallel with X-axis；
S53, the three dimensional point cloud to the face of cylinder after rotation re-execute step S2~S4, obtain removal noise after with X
The parallel one-dimensional point sequence of axle；
S54, the one-dimensional point sequence parallel with X-axis after removal noise is carried out justifying fitting, obtain justifying central point, then to circle
Central point carries out space line fitting, obtains second central shaft and corresponding radius of circle on the face of cylinder；
The angle of S55, the second central shaft for judging the face of cylinder and X-axis whether less than setting judgment threshold, if so, then with
The radius of circle obtained as face of cylinder diverse location radius size, conversely, then by second central shaft and circle on the face of cylinder
The three dimensional point cloud of cylinder is rotated to afterwards return to step S53 parallel with X-axis.
The present invention is described in further detail with reference to Figure of description and specific embodiment.
Embodiment one
The main implementation process that the present embodiment is based on involved by the face of cylinder radius measurement method of 3D vision includes following
Several aspects：
(1) obtains three dimensional point cloud.
The present embodiment has built based on fringe structure light and active stereo vision technique three using video camera and projecting apparatus
The flow of dimension vision measurement system, the system schematic put up and acquisition three dimensional point cloud is as shown in Fig. 5-1 and Fig. 5-2.
After the completion of system calibrating, computer controls video camera is first gathered and decodes deforming stripe figure, then according to decoded modified strip
Line figure can obtain the absolute phase values at every bit, finally carry out corresponding point matching as feature using absolute phase values, you can obtain
Take the three dimensional point cloud of testee.
(2) data segmentation.
To reduce computation complexity, after obtaining three dimensional point cloud, the present embodiment need to be split to three-dimensional data.And be
To improve certainty of measurement, the present embodiment is employed is split the more data points of acquisition with certain thickness cube,
As long as will be approximately in same parallel plane for it to calculate by the point in this cube, the present embodiment.The present embodiment
Three dimensional point cloud can be just divided into by one group of group two by one group of parallel plane being so made up of setting thickness cube
Dimensional plane data, so as to reduce the complexity of calculating.
(3) noise filterings
Because the three dimensional point cloud of actual measurement is inevitably present noise, therefore the meeting around two dimensional surface data
There are numerous isolated points, therefore pre-filtering treatment must be first carried out before oval and circle fitting is carried out.Fig. 6 be one simulation receive
To the sectional drawing of the semi-cylindrical on some position of noise jamming, the sectional drawing characterizes half of each position on the face of cylinder
Footpath size, but it is one group of sequence of one-dimensional radius size, directly can not be filtered using two dimensional filter.So
Before filtering, the present embodiment devises a kind of sort algorithm based on angle, and two dimensional surface data first are changed into one-dimensional point sequence, then
Treatment is filtered, so the noise in data can effectively be filtered, it is ensured that the precision of face of cylinder radius measurement.
The present embodiment be based on the sort algorithm of angle to implement process as follows：One is selected first on two dimensional surface
Basic point o；Then construction one crosses basic point o and direction is along the positive base vector of X-axisAnd will be extracted from two dimensional surface data
Number of edges strong point mnMarginal vectors are constituted one by one with basic point oFollowed by solving marginal vectorsWith base vector
Angle thetanIf, number of edges strong point mnOrdinate of the ordinate less than central point, then θnValue be
Conversely, θnValue beWherein,Followed by according to marginal vectorsWith base vectorAngle thetanSize to the number of edges strong point m that is extracted from two dimensional surface datanRe-start sequence,
Point sequence M after being resequencedi；Finally solve MiTo basic point apart from di, and a new point is constituted with this distance value
Sequence di, as shown in Figure 7.
As can be seen from Figures 6 and 7, much isolated spot noises are occurred in that around data, so being fitted calculating
First these isolated points must be filtered before.The present embodiment employs the medium filtering that transfinites according to the characteristics of one-dimensional data noise
Device is filtered, and the building method of the median filter that transfinites is as follows：A template size of the median filter that transfinites first is selected, so
After make mdi=median (di,…,di+template), being typically chosen at 5 points and obtain adjacent 5 points of intermediate value, i.e. template takes 5, this
When the median filter that transfinites may be designed as following form：
If sequence of points diRear sequence of points is filtered with this wave filter be changed into di', then di' expression formula be：
di'=di*h(i) (2)
By after formula (1) and (2) treatment, most isolated point has been removed, as shown in Figure 8.But can from Fig. 8
Go out, now or in the presence of some noise spots, such as point of elliptic region.Can be with from the partial enlarged drawing of Fig. 9 this Fig. 8 elliptic region
It is apparent to find out that going back Fig. 8 has a small number of isolated points.In order to noise spot is removed completely, now also need to carry out secondary filtering treatment.
From fig. 9, it can be seen that remaining noise spot be both greater than to the distance of basic point (or both less than) its both sides consecutive points to basic point away from
From.Accordingly, can impose a condition, as sequence of points di' certain point to be both greater than (or be both less than) its both sides to the distance of basic point adjacent
Point to basic point apart from when, just this point is rejected, conversely, then retain the point, so that the secondary filtering that can be obtained as shown in Figure 10 is imitated
Fruit is schemed.The final filter result shown in Figure 11 can finally be obtained.As can be seen that now isolated spot noise is complete from Figure 10 and Figure 11
It is filtered out, it is ensured that follow-up oval and circle fitting precision.
Embodiment two
The central axis direction of the face of cylinder cloud data obtained by dimensional visual measurement system is random, the present embodiment
Assuming that the idiographic flow of face of cylinder radius measurement algorithm is as shown in figure 12：First, cylinder is obtained using dimensional visual measurement system
The cloud data in face；Then, cloud data is divided into multigroup two dimensional surface data with one group of parallel plane, and using based on angle
The sort algorithm of degree and the median filter that transfinites carry out noise filtering, followed by carrying out ellipse fitting.But due in the face of cylinder
Heart axle still has certain angle with X-axis, so the precision of the panel data for obtaining is not high.In order to obtain the two dimension of higher precision
Panel data, central point of the present embodiment by ellipse fitting out carries out space line fitting, then by this fitting a straight line and three
Dimension cloud data is rotated to the position parallel with X-axis.Additionally, parallel with X-axis as far as possible to ensure central shaft, the present embodiment is also
A judgment threshold is set, makes the angle of central shaft and X-axis by after continuous rotation process, less than the judgment threshold, this
When be believed that central shaft is parallel with X.Finally, then carry out justifying fit operation, the measurement result precision for so obtaining is higher.
The stability and precision of method to illustrate the invention, the present embodiment is with reference to a neodymium iron boron tile for rotor
Magnet is illustrated.Motor application using Nd-Fe-B permanent magnet material is more and more extensive, and such as weaving motor special, aviation generates electricity
Machine, torque motor, automobile and motor automobile motor, permanent-magnetic outer rotor motor etc..The quality of rotor in these motors, directly
The quality of influence motor performance is connect, and radius size is an important detection parameter of rotor, with important practical valency
Value.
The present embodiment obtains the outer surface cloud data of neodymium iron boron tile first with dimensional visual measurement system, obtains altogether
Data point totally 2.31 ten thousand, the radius value in the equally spaced position of 20, the face of cylinder is then calculated using the method for the present invention, survey
Amount result is as shown in table 1, and the nominal radius value of the neodymium iron boron tile part is 13.76mm.
Radius measurement (the unit of the neodymium iron boron outer tile surfaces diverse location of table 1：mm)
| Sequence number | Measured value (mm) |
| 1 | 13.6612 |
| 2 | 13.6762 |
| 3 | 13.6689 |
| 4 | 13.6939 |
| 5 | 13.7089 |
| 6 | 13.7255 |
| 7 | 13.7007 |
| 8 | 13.7334 |
| 9 | 13.7281 |
| 10 | 13.7495 |
| 11 | 13.7737 |
| 12 | 13.7922 |
| 13 | 13.7903 |
| 14 | 13.8146 |
| 15 | 13.8007 |
| 16 | 13.8269 |
| 17 | 13.8243 |
| 18 | 13.8326 |
| 19 | 13.8183 |
| 20 | 13.8457 |
It is the display data variation of table 1 directly perceived, data in table 1 can be depicted as curve map, as shown in Figure 13.From the He of table 1
Accompanying drawing 13 understands that the radius value of neodymium iron boron tile rotor diverse location is different, totally from a lateral other side
The trend of increase is presented, two ends there are about the deviation of 0.18mm.If only detecting an end face to characterize the half of this face of cylinder of measurement
Footpath, is inaccurate certainly, can not carry out Form and position error analysis.
Further to verify the method for the present invention, the present embodiment acquires 8 groups of numbers altogether to the neodymium iron boron tile rotor
According to every group of data point is 2.3 ten thousand or so, then the radius measurement for calculating each group is as shown in table 2.
The neodymium iron boron outer tile surfaces radius measurement result of table 2
| Sequence number | Each group radius value (mm) | Measured deviation (mm) |
| 1 | 13.7604 | 0.0004 |
| 2 | 13.7561 | 0.0039 |
| 3 | 13.7673 | 0.0073 |
| 4 | 13.7546 | 0.0045 |
| 5 | 13.7614 | 0.0014 |
| 6 | 13.7615 | 0.0015 |
| 7 | 13.7581 | 0.0019 |
| 8 | 13.7601 | 0.0001 |
| std | 0.0039 | —— |
Be can be seen that from the data of table 2 when being taken multiple measurements to the same face of cylinder using the method for the present invention, each group
In measured deviation value it is maximum be no more than 0.008mm, the variance of each group measured value is 0.004mm.More than experiment it can be shown that
The method of the present invention has certainty of measurement high and noise resisting ability is strong, and the face of cylinder high accuracy radius measurement being suitable in industry will
The advantage asked.
Above is preferable implementation of the invention is illustrated, but the invention is not limited to the implementation
Example, those of ordinary skill in the art can also make a variety of equivalent variations or replace on the premise of without prejudice to spirit of the invention
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (3)
1. a kind of face of cylinder radius measurement method based on 3D vision, it is characterised in that：Including：
S1, the three dimensional point cloud that the face of cylinder is obtained by dimensional visual measurement system, the dimensional visual measurement system is by throwing
Shadow instrument and video camera are constituted；
S2, the three dimensional point cloud on the face of cylinder is divided into by two dimensional surface data using parallel plane；
S3, two dimensional surface data are expanded into by one-dimensional point sequence using the sort algorithm based on angle；
S4, transfinite medium filtering and secondary filtering are carried out to one-dimensional point sequence, so as to obtain removing the one-dimensional point sequence after noise；
One-dimensional point sequence after the removal noise that S5, basis are obtained carries out ellipse fitting and circle fitting, so as to obtain the face of cylinder not
With the radius size in position section；
The step S1, it is specially：
Dimensional visual measurement system based on fringe structure light and active stereo vision technique is built using video camera and projecting apparatus,
Then system calibrating, fringe projection and collection, absolute phase is carried out successively by dimensional visual measurement system to obtain and corresponding points
Matching, the final three dimensional point cloud for obtaining the face of cylinder；
The step S2, it is specially：
Three dimensional point cloud is divided into by multigroup two dimensional surface data using one group of parallel plane, the parallel plane is perpendicular to X
Axle, wherein, X-axis is the central shaft on the face of cylinder；
The step S5, it is specially：
S51, to removal noise after one-dimensional point sequence carry out ellipse fitting, elliptical center point is obtained, then to elliptical center point
Space line fitting is carried out, first central shaft on the face of cylinder is obtained；
S52, the three dimensional point cloud of first central shaft on the face of cylinder and the face of cylinder is rotated to parallel with X-axis；
S53, the three dimensional point cloud to the face of cylinder after rotation re-execute step S2~S4, are put down with X-axis after obtaining removal noise
Capable one-dimensional point sequence；
S54, the one-dimensional point sequence parallel with X-axis after removal noise is carried out justifying fitting, obtain justifying central point, then to justifying center
Point carries out space line fitting, obtains second central shaft and corresponding radius of circle on the face of cylinder；
The angle of S55, the second central shaft for judging the face of cylinder and X-axis whether less than setting judgment threshold, if so, then obtaining
Radius of circle as face of cylinder diverse location radius size, conversely, then by second central shaft on the face of cylinder and the face of cylinder
Three dimensional point cloud rotate to return to step S53 after parallel with X-axis.
2. a kind of face of cylinder radius measurement method based on 3D vision according to claim 1, it is characterised in that：It is described
Step S3, it includes：
S31, the data obtained according to step S2 carry out justifying fitting, obtain justifying central point, and the circle central point is defined as into base
Point o, then construction one crosses basic point o and direction is along the positive base vector of X-axisAnd will extract from two dimensional surface data
Number of edges strong point mnMarginal vectors are constituted one by one with basic point oWherein, n=1,2,3 ...；
S32, calculating marginal vectorsWith base vectorAngle thetan,
S33, according to marginal vectorsWith base vectorAngle thetanSize to the number of edges that is extracted from two dimensional surface data
Strong point mnSequence is re-started, the point sequence M after being resequencedi, wherein, i=1,2,3 ..., n；
Point sequence M after S34, calculating rearrangementiTo basic point apart from di, and with the distance for calculating constituted launch after one
Dimension point sequence di。
3. a kind of face of cylinder radius measurement method based on 3D vision according to claim 2, it is characterised in that：It is described
Step S4, it includes：
S41, using the median filter that transfinites to expansion after one-dimensional point sequence diOnce filtered, obtained once filtered
Sequence of points, the once filtered sequence of points di' expression formula be：
Wherein, template is the template size of median filter of transfiniting, and median is to ask intermediate value, x0It is the distance threshold of setting；
S42, according to once filtered sequence of points di' to basic point apart from size and sequence of points di' both sides consecutive points to basic point
Apart from size, to once filtered sequence of points di' secondary filtering is carried out, obtain removing the one-dimensional point sequence after noise.
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| CN112284696A (en) * | 2019-07-11 | 2021-01-29 | 中国科学院半导体研究所 | Gas cylinder volume detection method and system based on 3D vision technology |
| CN112508803B (en) * | 2020-11-03 | 2023-10-03 | 中山大学 | Denoising method and device for three-dimensional point cloud data and storage medium |
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