CN105043250B - A kind of double-visual angle data alignment method based on 1 common indicium points - Google Patents
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Abstract
The invention discloses a kind of double-visual angle data alignment method based on 1 common indicium points, its step includes：Mark dot center position and normal information under adjacent view are rebuild, common indicium dot center position and normal information based on reconstruction calculate the rotation translation relation of adjacent view.Relative to traditional data alignment method for relying only on mark point center, the method of the invention can make full use of the information that mark point is provided, it need to only see that 2 common indicium points can realize reliable alignment of data in adjacent view, reduce the covering for needing the mark point quantity and mark point that are pasted onto body surface to object being measured.Easy to implement, reliable results of the invention, can be applicable to all fields for using mark point secondary alignment different visual angles measurement data.
Description
Technical field
The present invention relates to a kind of double-visual angle data alignment method based on 1 common indicium points, belong to image procossing
With vision measurement field.
Background technology
Vision measurement is a kind of utilization camera collection object being measured surface image and therefrom recovers its three-dimensional profile
Technology.Line-structured light is measured and area-structure light measurement is conventional two kinds of implementations in many vision measuring methods.No matter adopt
Which kind of vision measuring method is used, in order to obtain complete body surface data, it is necessary in multiple positions with multiple angles to object
Measure.This is accomplished by the measurement data of different coordinates under multiple angles being fused under a unified coordinate system, with
Correct due to the data dislocation that measurement apparatus position moving belt comes.
At present, the algorithm of measurement data can substantially be divided into the method based on motion, be based under alignment different visual angles
ICP method and the class of method three based on mark point：
Measurement apparatus by being fixed on specific motion and then being compiled by motion is read by first kind method
The numerical value of code device obtains the transformation relation of coordinate system between visual angle, and measurement apparatus is arranged on sixdegree-of-freedom simulation by such as woods Na et al.
On；Measurement apparatus is combined by Wu Yu et al. with rotation platform to be measured.The defect of alignment of data is carried out in this way
It is that the working range of measurement apparatus is limited by motion stroke, and easily forms measurement dead angle.
Equations of The Second Kind method using in two perspective datas apart from closest approach as match point, and calculate according to this one rotation translation
Relation.It is made iteratively above-mentioned steps, you can to draw final double-visual angle transformation relation.But this method is only applicable to face knot
Structure photo measure mode, and two perspective data initial positional relationships are required, if data dislocation is serious, it is likely that obtain not
To correct alignment result.
3rd class method is by object being measured surface mount mark point, and using marking the topological relation of dot center to search
Common indicium point (typically using four for computational stability) in the visual angle of rope two realizes alignment of data.Due to mark dot center tool
There is very high positioning precision, therefore, the data fusion precision based on this method is very high.Simultaneously as the beam without motion
Tie up, can infinitely be spliced in theory.But, mark point covers object parts surface, therefore, the data for the part that is blocked
It can only repair and obtain by the later stage, have impact on the integrality and accuracy of data acquisition.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of double vision angular data based on 1 common indicium points
Mark point quantity has been reduced to two by alignment schemes, the present invention, reduces the quantity in object exterior pasting mark point, and then
The body surface area that labeled point is blocked is reduced, the integrality of data is improved.
The present invention uses following technical scheme to solve above-mentioned technical problem：
The present invention provides a kind of double-visual angle data alignment method based on 1 common indicium points, and double-visual angle is at least
Two common indicium points, the method includes the steps of：
Step 1, circular markers are pasted on object being measured, left and right mesh camera shoots object being measured, obtained respectively
Left and right mesh image；
Step 2, mark point edge imaging position is extracted in the left and right mesh image obtained from step 1, ellipse plan is utilized
Hop algorithm obtains left and right target note dot center image space；
Step 3, the left and right target obtained in step 2 is remembered that dot center's image space carries out Stereo matching, and according to matching
As a result, matching of the mark point edge imaging position in the mesh image of left and right is completed；
Step 4, the three-dimensional coordinate of mark point center and peripheral position is rebuild using binocular trigonometry；
Step 5, the three-dimensional coordinate fit Plane of obtained mark point center and peripheral position is rebuild using step 4, is obtained
The normal information of part plan where mark point；
Step 6, under another visual angle, object being measured, 2~step of repeat step are shot respectively using left and right mesh camera
5, obtain the three-dimensional coordinate and its normal information of place part plan of the mark dot center under the visual angle；
Step 7, the common indicium point searched under two visual angles, utilizes the central three-dimensional coordinate of the common indicium point searched
And its normal information of place part plan, coordinate system rotation translation relation between two visual angles is calculated, so as to complete double-visual angle number
According to alignment.
As the further prioritization scheme of the present invention, the circular markers in step 1 are coding or non-coding mark point.
As the further prioritization scheme of the present invention, pasted in step 1 at position relatively flat on object being measured
Mark point.
As the further prioritization scheme of the present invention, the intrinsic parameter and left and right mesh camera coordinates of left and right mesh camera in step 1
The rigid body transformation relation of system is demarcated in advance.
As the further prioritization scheme of the present invention, by the left and right target note dot center imaging obtained in step 2 in step 3
Position carries out Stereo matching, comprises the following steps that：
If 5.1 using circle codification mark point, the encoded radio according to mark point complete left and right target remember dot center into
Image position Stereo matching；
If 5.2 using non-coding mark point, following two according to being divided into：
If 1) carry out single-view DATA REASONING using area-structure light principle, the phase of mark dot center image space is relied on
Place value completes Stereo matching, is specially：
1. for any mark dot center image space in left mesh, it is calculated on the right side according to the fundamental matrix of left mesh camera
Polar curve equation in mesh image；
2. search in right mesh image and be located at the mark dot center image space of 1. middle polar curve both sides, find wherein with left target
Remember dot center image space phase it is immediate that as matched pixel point, complete left and right target note dot center image space
Matching；
If 2) carry out single-view DATA REASONING using line-structured light principle, it is specially：
1. for any mark dot center image space in left mesh, it is calculated on the right side according to the fundamental matrix of left mesh camera
Polar curve equation in mesh image；
2. search in right mesh image be located at polar curve both sides mark dot center image space, as left target remember dot center into
The potential match point of image position；
3. gradient of disparity constraint construction Matching support function is utilized；
4. by relaxation method Optimized Matching function for support, the matching of left and right target note dot center image space is completed.
As the further prioritization scheme of the present invention, point edge image space is marked in step 3 in the mesh image of left and right
Matching, is comprised the following steps that：
6.1 arbitrarily choose the point p in left target note point edge image spacel, according to the fundamental matrix meter of left mesh camera
Calculate its polar curve equation L in right mesh imagel；
The ellipse obtained by the fitting of all mark point edge imaging positions in the 6.2 right mesh images of note is er, find polar curve LlWith
Oval erTwo intersection point pr1And pr2；
6.3 assume that left and right mesh matched indicia dot center image space is clAnd cr, then it is former according to Stereo matching Ordinal Consistency
Then, chooseWithIn with vectorThe small person of angle completes p as match pointlThe edge imaging position at place is in left and right
Matching in mesh image.
As the further prioritization scheme of the present invention, the common indicium point in step 7 under two visual angles of search relies on mark
Topological relation between point is completed.
The present invention uses above technical scheme compared with prior art, with following technique effect：
1. the method alignd relative to tradition based on mark point, the method for the invention will align minimum mark point used by
4 are reduced to 2, which reduce the quantity in object exterior pasting mark point, and then reduce the object that labeled point is blocked
Surface area, improves the integrality of data；
2. due to only needing that two common indicium points are seen in adjacent view, therefore, line number is entered using the inventive method
There can be more flexible measurement posture according to the measurement apparatus of alignment, greatly facilitate measurement operation, reduce measurement dead angle
In the presence of；
3. the result of calculation of the present invention, can provide good iterative initial value for the alignment schemes based on ICP；
4. it is all present invention can apply to the occasion that all need to carry out two visual angle measured data registrations by circular markers
Line-structured light measurement, white light measurement and TOF camera measurement such as based on laser.
Brief description of the drawings
Fig. 1 is that the present invention implements many laser line scanning schematic devices used.
Wherein, 1- or so mesh camera；2- a wordline laser transmitters；3- skeletons.
Fig. 2 is the flow chart that double-visual angle measured data registration is carried out using this method.
Fig. 3 is mark point edge matching schematic diagram.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
Fig. 1 is the line-structured light measurement apparatus used in the present embodiment, and it is sent out by left and right mesh camera and an a wordline laser
Emitter is constituted.Left and right mesh camera uses the DMK23U445 industrial cameras of The Imaging Source companies, and its sensor is
1/3 " CCD, the way of output is USB3.0, and camera lens selects Computar M0814-MP2 Megapixel prime lens；Two cameras lead to
Cross skeleton to be rigidly connected, angle is about 40 ° between the mesh camera optical axis of left and right, and parallax range is about 25cm.A wordline laser device is located at
Two camera centre positions.Before specific steps are implemented, demarcation has been carried out in measurement apparatus parameter, and the parameter includes：Left and right
Rigid body translation parameter and optic plane equationses between mesh camera intrinsic parameter, left and right mesh camera coordinates system.
As shown in Fig. 2 carrying out comprising the following steps that for double-visual angle alignment of data using this method：
Step 1：In object being measured surface mount non-coding circular markers.
Step 2：Camera driver is called, object being measured image is shot using left and right mesh camera, note is gathered respectively
Left and right mesh image be IlAnd Ir.Assuming that left mesh image IlOn have m1Individual mark point, right mesh image IrOn have n1Individual mark point.
Step 3：The image space of the non-coding circular markers in left and right mesh image is extracted, its key step is as follows：
1) Canny edge extractings are carried out to image；
2) each edge line at Canny edges is verified, and filters out edge length or edge minimum encirclement square
Shape major and minor axis ratio exceeds the edge line of zone of reasonableness；
3) edge line after filtering is fitted using Equation of ellipse, and further filters out the side that error of fitting exceeds tolerance limit ε
Edge, marked circle center image space is obtained eventually through Equation of ellipse.
Step 4：Left and right target note dot center image space is matched, key step is as follows：
1) for any marked circle center image space in left mesh, it is calculated in right mesh image according to camera fundamental matrix
In polar curve equation.
2) search for the mark dot center image space for being located at polar curve both sides in right mesh image, as left target remember dot center into
The potential match point of image position.
3) Matching support function is constructed using gradient of disparity constraint.
4) complete to mark the matching of dot center by relaxation method Optimized Matching function for support.
Step 5：Left and right target note point edge image space is matched, as shown in figure 3, for having matched center image space
Left mesh ellipse elWith right mesh ellipse er, using following steps 1) and to step 3) complete edge imaging location matches：
1) the point p in left target note round edge edge imaging is arbitrarily chosenl, it is calculated in right mesh figure according to camera fundamental matrix
Polar curve equation L as inl。
2) remember that oval obtained by all image spaces fitting of the mark point edge in right mesh image is er, and find described
Polar curve LlWith oval erTwo intersection point pr1And pr2。
3) it is c to assume left and right mesh matched indicia dot center image spacelAnd cr, according to Stereo matching Ordinal Consistency principle,
ChooseWithIn with vectorThe small person of angle is used as the match point (p in such as Fig. 3r1Point).
Step 6：The three-dimensional coordinate of mark point center and peripheral position is rebuild using binocular trigonometry, is specially：
According to matching relationship and measurement apparatus parameter, each matched indicia dot center and marginal point are calculated in left mesh camera
Three-dimensional coordinate under coordinate system.Assuming that any one matched indicia point image space in left and right mesh image be respectively pl(ul,
vl) and pr(ur,vr), and there is rigid body transformation relation R, T between two camera coordinates systems.Remember the point under left and right mesh camera coordinates system
Coordinate is respectively (xl,yl,zl)、(xr,yr,zr), according to national forest park in Xiaokeng
Also, according to left and right mesh camera position transformation relation
Simultaneous above three expression formula, can obtain coordinate of this under left camera coordinates system is：
Wherein, A=(ur-crx)/frx, B=(vr-cry)/fry, C=(ul-clx)/flx, D=(vl-cly)/fly, flx,fly,
frx,fryThe respectively focal length of left and right mesh camera, (clx,cly),(crx,cry) it is respectively left and right mesh camera image center.
Step 7：The normal vector of part plan where being fitted mark point, be specially：Respectively to each mark obtained by step 6
The center and peripheral three-dimensional coordinate of note point carries out plane fitting, obtains the normal information of its place part plan of mark point, and
Ensure that the z-axis component of gained normal vector is more than 0, to eliminate the ambiguity of normal vector sensing.
Step 8：Traverse measuring device shoots left and right mesh image to next visual angle, and two visual angles are should ensure that extremely when mobile
There are two common indicium points less.
Step 9：Image under second visual angle is handled according to step 3~step 7, the mark point under the visual angle is obtained
The three-dimensional coordinate at center and its normal information of place part plan.
Step 10：Search for the first visual angle and the common indicium point in the second visual angle.Assuming that reconstructed in first and second visual angle
Mark point quantity is respectively m and n, then, for any mark point in the first visual angleBy topological relation at the second visual angle
The middle scheme for searching for its correspondence markings point is as follows：
1) calculateThe distance of other mark dot center, obtains distance vector under to the first visual angle ForDistance alpha=1,2 of other the α mark dot center under to the first visual angle ..., m-1；
2) for each mark point in the second visual angle, it is calculated to the distance of other mark dot center under the visual angle, is obtained
To following Distance matrix D2：
Wherein, For any mark point in the second visual angleTo under the visual angle
The distance vector of other mark dot center,ForThe distance of other the β mark dot center under to the visual angle, j=1,
2,…,n；
3) willSuccessively withCompare, and find the number for wherein including identical element.Decision elementWith
Identical criterion isWherein δ is characterized tolerance.WillWithThe number of middle identical element is sequentially
It is filled into vectorial N, N=[n1 n2 … nn]。
4) the sequence number k, k=1,2 ... of greatest member in vectorial N, n are found, if the element value is more than 3, is judged
Set up with k-th of reference points matching relation in the second visual angle.
Step 11：Using the common indicium point searched, coordinate system rotates between calculating two visual angles by biquaternion method
Rigid transformation relation R and T between translation relation, i.e. two visual angles, so as to complete double-visual angle alignment of data.
Assuming that searching g (g >=2) common indicium points, its three-dimensional coordinate and its place under the first angular view coordinate system altogether
The normal information of part plan is expressed asIt is expressed as under the second angular view coordinate systemSpecifically ask
Solve step as follows：
1) calculating matrix C1、C2
Wherein,γ=[γx,γy,
γz] it is Arbitrary 3 D vector；
2) 4 × 4 symmetrical matrix A are calculated,
3) it is λ to calculate that maximum in A eigen vector, note characteristic value1, its corresponding characteristic vector is
γ；
4) R, T so, are calculated as follows：
T=-WT(γ)·C2·γ
A kind of double-visual angle data alignment method based on 1 common indicium points of the present invention, it is proposed that one kind is based on mark
Remember the data alignment method of dot center and normal information, alignment minimum mark point used is reduced to 2 by 4, this reduction
In the quantity of object exterior pasting mark point, and then the body surface area that labeled point is blocked is reduced, improve data
Integrality；Simultaneously as only needing to see two common indicium points in adjacent view, therefore, carried out using the inventive method
The measurement apparatus of alignment of data can have more flexible measurement posture, greatly facilitate measurement operation, reduce measurement dead angle
Presence.
It is described above, it is only the embodiment in the present invention, but protection scope of the present invention is not limited thereto, and appoints
What be familiar with the people of the technology disclosed herein technical scope in, it will be appreciated that the conversion or replacement expected, should all cover
Within the scope of the present invention, therefore, protection scope of the present invention should be defined by the protection domain of claims.
Claims (6)
1. a kind of double-visual angle data alignment method based on 1 common indicium points, it is characterised in that double-visual angle is at least
Two common indicium points, the method includes the steps of：
Step 1, circular markers are pasted on object being measured, left and right mesh camera shoots object being measured respectively, obtains left and right
Mesh image；
Step 2, mark point edge imaging position is extracted in the left and right mesh image obtained from step 1, is calculated using ellipse fitting
Method obtains left and right target note dot center image space；
Step 3, the left and right target obtained in step 2 is remembered that dot center's image space carries out Stereo matching, and according to matching result,
Complete matching of the mark point edge imaging position in the mesh image of left and right；
Wherein, matching of the mark point edge imaging position in the mesh image of left and right, is comprised the following steps that：
1) the point p in left target note point edge image space is arbitrarily chosenl, according to the fundamental matrix of left mesh camera calculate its
Polar curve equation L in right mesh imagel；
2) remember that the ellipse obtained by all mark point edge imaging positions fitting in right mesh image is er, find polar curve LlWith ellipse
erTwo intersection point pr1And pr2；
3) it is c to assume left and right mesh matched indicia dot center image spacelAnd cr, then according to Stereo matching Ordinal Consistency principle, choosing
TakeWithIn with vectorThe small person of angle completes p as match pointlThe edge imaging position at place is in left and right mesh figure
Matching as in；
Step 4, the three-dimensional coordinate of mark point center and peripheral position is rebuild using binocular trigonometry；
Step 5, the three-dimensional coordinate fit Plane of obtained mark point center and peripheral position is rebuild using step 4, is marked
The normal information of part plan where point；
Step 6, under another visual angle, object being measured is shot respectively using left and right mesh camera, and 2~step 5 of repeat step is obtained
The three-dimensional coordinate and its normal information of place part plan of mark dot center under to the visual angle；
Step 7, search for two visual angles under common indicium point, using the common indicium point searched central three-dimensional coordinate and its
The normal information of place part plan, calculates coordinate system rotation translation relation between two visual angles, so as to complete double vision angular data pair
Together.
2. a kind of double-visual angle data alignment method based on 1 common indicium points according to claim 1, it is special
Levy and be, the circular markers in step 1 are coding or non-coding mark point.
3. a kind of double-visual angle data alignment method based on 1 common indicium points according to claim 1, it is special
Levy and be, binding mark point at position relatively flat on object being measured in step 1.
4. a kind of double-visual angle data alignment method based on 1 common indicium points according to claim 1, it is special
Levy and be, the intrinsic parameter of left and right mesh camera and the rigid body transformation relation of left and right mesh camera coordinates system are carried out in advance in step 1
Demarcation.
5. a kind of double-visual angle data alignment method based on 1 common indicium points according to claim 2, it is special
Levy and be, the left and right target obtained in step 2 is remembered that dot center's image space carries out Stereo matching in step 3, specific steps are such as
Under：
If 5.1 using circle codification mark point, the encoded radio according to mark point completes left and right target and remembers dot center into image position
Put Stereo matching；
If 5.2 using non-coding mark point, following two according to being divided into：
If 1) carry out single-view DATA REASONING using area-structure light principle, the phase value of mark dot center image space is relied on
Stereo matching is completed, is specially：
1. for any mark dot center image space in left mesh, it is calculated in right mesh figure according to the fundamental matrix of left mesh camera
Polar curve equation as in；
2. search in right mesh image and be located at the mark dot center image space of 1. middle polar curve both sides, find wherein with left mesh mark point
Center image space phase it is immediate that be used as matched pixel point, complete of left and right target note dot center image space
Match somebody with somebody；
If 2) carry out single-view DATA REASONING using line-structured light principle, it is specially：
1. for any mark dot center image space in left mesh, it is calculated in right mesh figure according to the fundamental matrix of left mesh camera
Polar curve equation as in；
2. search in right mesh image and be located at the mark dot center image space of polar curve both sides, remember dot center into image position as left target
The potential match point put；
3. gradient of disparity constraint construction Matching support function is utilized；
4. by relaxation method Optimized Matching function for support, the matching of left and right target note dot center image space is completed.
6. a kind of double-visual angle data alignment method based on 1 common indicium points according to claim 1, it is special
Levy and be, the common indicium point under two visual angles is searched in step 7 and relies on the topological relation between mark point to complete.
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| CN113074661B (en) * | 2021-03-26 | 2022-02-18 | 华中科技大学 | Projector corresponding point high-precision matching method based on polar line sampling and application thereof |
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