CN105141839B - A kind of high-definition image acquisition methods based on aperture time control - Google Patents
A kind of high-definition image acquisition methods based on aperture time control Download PDFInfo
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Abstract
A kind of high-definition image acquisition methods based on aperture time control of the present invention belong to computer vision measurement technical field, are related to a kind of camera aperture method of real-time adjustment and the high definition characteristic image acquisition methods based on this.This method is directed to the emergency light reflex problem during the online laser scanning measurement of large-scale composite material component surface, establishes the optical strip image quality judging criterion for meeting striation information extraction requirement；Retain high quality optical strip image, aperture time control threshold value is determined by incandescent and very dark two limiting figure pictures, with reference to space geometry characteristic, determines aperture control criterion；Aperture size is adjusted by way of aperture controls in real time to low-quality image, control light-inletting quantity carries out IMAQ, it is basically identical that brightness is obtained in general image gatherer process, and the optical strip image of high quality, extract striation feature and carry out image co-registration, obtain high definition and complete optical strip image.This method can efficiently, accurately obtain image, obtained characteristics of image is clear, quality is good.
Description
Technical Field
The invention belongs to the technical field of computer vision measurement, and relates to a real-time adjusting method for an aperture of a camera and a high-definition characteristic image acquiring method based on the same.
Background
With the development of science and technology, in the manufacturing field of large-scale and heavy-duty equipment such as airplane horizontal and vertical tail bearing members, ship bodies, large-scale antennas and the like, the requirement on the manufacturing precision is higher and higher, and the requirement on corresponding high-precision measurement means is also more and more urgent. A binocular vision measuring method based on auxiliary laser scanning is a high-precision large-scale profile measuring method for recently comparing hot spots, and the method utilizes a binocular camera to collect scanning laser images and performs center extraction and matching reconstruction on collected light bars so as to achieve high-precision restoration of the shape and the size of a free surface. However, the scale of the object to be measured is often large, the gray scale distribution characteristics of scanning light bars at different positions are not consistent, the illumination environment is often complex in the measurement field, the object to be measured has a high reflection phenomenon, and the characteristic information of part of the light bars is submerged, so that the extraction efficiency and the extraction precision of the light bars are seriously influenced. Therefore, how to efficiently and accurately acquire the characteristic information of the large-scale profile image in the complex illumination environment has great significance to the vision measurement method.
In the published journal literature of Richard, adaptive optical 3D-measurement with structured light, SPIE,1999, 3824, 169-178, in order to solve the problem of strong light reflection, the surface of the measured object is utilized to reflect different characteristics of areas under different angles, avoid the area of specular reflection, utilize diffuse reflection to carry out multi-angle local measurement, and finally, the whole measurement of the measured surface is completed by the whole splicing; the method has a complicated measurement process, and errors are introduced during integral splicing, so that the measurement precision is reduced. Journal literature published by Jiang hong Zhi, zhao Hui Jie, and the like, projection grid phase method for measuring the appearance of a strong reflection surface, optical precision engineering, 2010,18 (9): 2002-2008 proposes that technologies such as bright and dark stripe projection, multi-exposure time image acquisition, image synthesis and the like are added in the steps of stripe projection and image acquisition, and the problem of measurement failure caused by saturation or over-darkness of stripe images is solved to realize the three-dimensional appearance measurement of the strong reflection surface; the method adopts the projection light bars to measure the three-dimensional morphology, the imaging quality is difficult to ensure, and the adoption of multi-exposure time image acquisition and image synthesis is also one of effective solutions for image acquisition under complex illumination conditions.
Disclosure of Invention
The invention aims to solve the technical problems of poor quality, unclear characteristics and low precision of characteristic images obtained in a complex illumination environment in the process of measuring the three-dimensional surface topography of a large-scale equipment member, and provides a high-definition image acquisition method based on aperture time control. In the light bar image acquisition process, the gray scale distribution of the acquired scanning light bar image is controlled to be basically consistent by adjusting the size of the camera aperture in real time, and the requirement of accurately extracting light bar information is met, so that high-definition image characteristic information is obtained, and a foundation is laid for realizing accurate measurement of the three-dimensional morphology of a large surface. The method can efficiently and accurately acquire the image characteristic information, and the obtained image has good quality, clear characteristics and high accuracy.
The technical scheme adopted by the invention is a high-definition image acquisition method based on aperture time control, which is characterized in that aiming at the problem of strong light reflection of the surface of a large composite material member in the process of line laser scanning measurement based on vision, a light strip image quality judgment criterion which meets the requirement that light strip information can be effectively extracted is established; the high quality light bar image is retained, by two extreme images: determining a diaphragm time control threshold value by using the extremely bright and dark images, and determining a diaphragm control criterion by combining with the space geometric characteristics; adjusting the size of an aperture of the low-quality image in an aperture real-time control mode, and controlling the light inlet quantity to acquire the image, so that a light bar image with basically consistent brightness and high quality is acquired in the whole image acquisition process; and finally, extracting light strip characteristics and carrying out image fusion to obtain a high-definition complete light strip image. The method comprises the following specific steps:
establishing a light bar image quality judgment criterion and determining a reasonable time control threshold value of an aperture
1) Establishing a light bar image quality decision criterion
Defining the corresponding light bar image as a high-quality image under the condition that the light bar characteristic information can be accurately extracted by image processing; the quality of the light bar image is represented by the average gray scale of the cross section of the light bar, and an image quality judgment model is established:
wherein I represents a light bar cross-sectional average gray distribution of an image, and (I) a ,I b ) An average light bar cross section gray scale distribution interval for a high quality light bar image; when I a ＜I＜I b Consider a light bar graphThe image quality is good, and accurate light bar characteristic information is extracted; when I is less than or equal to I a or I≥I b If the quality of the light strip image is poor, controlling the light inlet quantity in a mode of controlling the size of the aperture so that the light strip image meets the high-quality requirement, and further extracting accurate light strip characteristic information;
2) Determining a time-controlled reasonable threshold for an aperture
When line laser-based auxiliary scanning is adopted for visual measurement, the gray level of the collected light strip image reaches the maximum when the collection direction of the camera is positioned in the laser reflection direction. Adjusting the aperture size of the camera to F 1 To make the light strip image gray I 1 Satisfying the high quality image requirements determined by equation (1). Similarly, the laser is used for roughly scanning the detected piece to obtain the minimum position of the light bar image gray scale, and the aperture size of the camera at the moment is adjusted to be F 2 To make the light strip image gray I 2 And meets the requirement of high-quality images. Thus, the regulation and control range of the camera aperture in the whole laser scanning process is obtained to be F 2 ,F 1 ]；
Second-step camera aperture real-time control method
1) Establishing a light strip gray level attenuation model
When the collecting direction of the camera is positioned in the reflecting direction of the line laser projection, the average gray value of the cross section of the optical strip reaches the maximum, and the gray value of the image of the optical strip collected by the camera is attenuated after the position is deviated; establishing a light strip gray attenuation model by using the light strip gray attenuation characteristic:
wherein k is the attenuation rate of the gray scale of the optical strip, I 1 For the camera to collect the grey value of the light strip, I, in the reflection direction of the incident direction of the line laser i The gray value of the light strip of the ith scanning image, d is the distance of the surface of a measured object of the laser, alpha is the incident angle of the light strip at the position with the maximum gray value of the light strip, omega is the scanning rotating speed of the laser, and f is the frame frequency collected by the camera;
2) Determining aperture time control step length
When the gray scale of the light bar is lower than the lower limit I of the gray scale of the image of the high-quality light bar a When the light bar image is acquired, the aperture of the camera needs to be adjusted to increase the light entering amount, so that a high-quality light bar image is acquired; and establishing an aperture time control step length delta L by combining the light strip gray level attenuation rate:
wherein, I 1 For the camera to collect the grey value of the light strip, I, in the reflection direction of the incident direction of the line laser a The gray value lower limit of the high-quality light strip image is defined, and k is the attenuation rate of the light strip gray; when the gray value of the light bar is lower than the lower limit of the gray value of the high-quality light bar image, the moving step length delta L of the scanning light bar is calculated by using the formula and is combined with the geometric relation of scanning motion 0 ：
ΔL 0 ＝d(tanα-tan(α-ωj/f)) (4)
Wherein d is the distance of the surface of the measured object of the laser, alpha is the incidence angle of the light strips at the position with the maximum gray value of the light strips, omega is the scanning rotating speed of the laser, and f is the acquisition frame frequency of the camera; when the aperture time control step length delta L reaches the critical value delta L 0 Namely, adjusting the aperture; then, the size of the first-stage aperture can be adjusted and increased when the light bar is moved for j times in scanning by adopting the formula (4) inverse solution, and then scanning and shooting are continuously carried out;
thirdly, extracting and synthesizing the light strip image characteristics
If the light strip gray scales of the image acquired by the real-time adjustment of the aperture size are basically consistent, extracting light strip characteristics by adopting a uniform gray threshold value, thereby quickly acquiring a high-precision and high-definition light strip characteristic image;
1) Light bar feature extraction
The method comprises the steps of extracting edge features of collected light bar images, enabling a first derivative of an image function to reflect the gray level change significance degree of the images, determining the edge features of the light bars by calculating the local maximum value of the first derivative of the image function, and enabling the first derivative of an image function f (x, y) to be
Wherein G (x, y) is the gradient of the two-dimensional function f (x, y) of the image, G x And G y The partial derivatives for x and y, respectively. Sobel operator is adopted for edge detection, and gradient values are calculated by utilizing 3 multiplied by 3 neighborhoods near pixel points (x, y), and two convolution templates are
Measuring the gradient amplitude | G (x, y) | = max (| G) by using an infinite norm x |,|G y The maximum value of the two template operators is taken as the output bit of the point; then calculating the gradient value of each point, and defining the position with the maximum gradient as an edge position;
2) High definition feature image fusion
A series of light bar characteristic images f obtained by processing i (x, y) (i =1, 2.., n) image fusion is performed by using a gray-scale weighted average method, and then the process of image fusion is represented as
Wherein F (x, y) is a high-definition characteristic image obtained after fusion, and lambda i A weighting coefficient corresponding to the ith light bar image and having
The method for acquiring the high-definition image based on the aperture time control has the advantages that the gray scale distribution of the light bars in the image acquisition process is adjusted by adopting a method for controlling the size of the aperture of the camera in real time, so that the light bar image with basically consistent brightness and high quality is acquired in the whole image acquisition process. The method can realize the acquisition of high-definition characteristic images and ensure that high-precision image characteristic information can be quickly acquired in the image processing process. The method is simple, quick, easy to operate and high in image precision.
Drawings
FIG. 1 is a schematic view of a scanned light bar acquisition. In the figure, 1-the surface of a measured object, 2-a laser, 3-a camera, the position of a light bar when the gray scale of the cross section of the light bar in an A-image is maximum, B-the position of the light bar in an ith image, d-the vertical distance from the laser to the measured object, the incident angle of an alpha-laser light bar and the acquisition frame frequency of the f-camera are shown.
Fig. 2 is a flow chart of high definition image acquisition.
Detailed Description
The following detailed description of the embodiments of the invention refers to the accompanying drawings and technical solutions. FIG. 1 is a schematic view of scanning light bar collection. The surface of the object to be measured is a t800 composite plate with the thickness of 3.4 multiplied by 0.6m, light bars are projected onto the composite plate at a certain angle, a laser performs scanning movement, and an industrial camera is used for image acquisition.
Embodiment 1, the present invention takes a series of light bar scan images using an industrial camera equipped with a wide-angle lens. The camera model is a view works VC-12 MC-M/C65 camera, and the resolution is as follows: 4096 × 3072, image sensor: CMOS, frame rate: full frame, maximum 64.3fps, weight: 420g. The wide-angle lens is EF 16-35mm f/2.8L II USM, the parameters are as follows, and the lens focal length is as follows: f =16-35, aps focal length: 25.5-52.5, aperture: F2.8-F16, lens size: 82X 106. The shooting conditions were as follows: the picture pixel is 4096 × 3072, the lens focal length is 17mm, the object distance is 750mm, and the field of view is about 800mm × 800mm.
Fig. 1 is a schematic view of scanning light bar collection, firstly, a laser 2 is used for carrying out primary pre-scanning on a surface 1 of a measured object, a light bar position B of an ith image is scanned, a light bar position a with the maximum gray distribution of the cross section of an image light bar is judged from the scanned image, and the aperture size of a camera 3 is adjusted, so that a high-quality light bar image can be obtained; then the laser 2 carries out scanning movement, the camera 3 carries out image acquisition, and each time the scanning light bar moves by delta L, the first-stage aperture is adjusted and increased in real time until the scanning is finished; and finally, extracting light bar features and fusing images to quickly acquire high-definition image features.
According to the flow chart of fig. 2, the flow of acquiring high-definition images includes establishing an image quality evaluation criterion, controlling an aperture in real time, extracting light bar features, fusing images, and the like.
Establishing a light bar image quality judgment criterion and determining a reasonable time control threshold value of an aperture
1) Establishing a light bar image quality decision criterion
This example establishes a light stripe image quality evaluation model according to equation (1) and considers that the average gray level distribution of the light stripe cross section of the image is (I) a ,I b ) The image obtained in the interval is a high-quality image, and the high-precision extraction of the image features is facilitated.
2) Determining a reasonable threshold for time control of an aperture
Adopting a line laser to carry out prescanning to obtain the positions with the maximum and minimum gray scale distribution of the optical strips of a scanned image, adjusting the size of the aperture to ensure that the quality of the acquired image meets the requirement of a high-quality image, and further determining that the regulation and control range of the aperture of the camera in the whole laser scanning process is F 2 ,F 1 ]。
Second-step camera aperture real-time control method
1) Establishing a light strip gray level attenuation model
In the embodiment, the surface of a typical composite material component of a large airplane is taken as an example, a laser scans the surface of the component to be detected at a certain rotating speed omega, and a camera acquires images at a certain frame frequency f; and (3) establishing a light strip gray attenuation model according to the formula (2), thereby obtaining the attenuation rule of the light strip gray distribution on the surface of the composite material and obtaining an approximate attenuation rate k.
2) Determining aperture time control step length
After the attenuation rate k of the light strip gray scale in the image acquisition process is obtained, the aperture can be adjusted in real time to realize the acquisition of a high-quality image in the whole scanning process; according to the formula (3), the time control step length delta L of the camera aperture can be conveniently obtained, namely, the size of the camera aperture is increased by one step in real time when the light stripe is scanned on the surface of the object to be measured and moves for the distance delta L, so that the gray scale distribution of the collected image light stripe is basically consistent; and then, combining the geometric relation (4) of scanning motion, the number j of the movement of the light bar can be reversely solved, namely the size of the aperture is increased by one stage when the camera collects j images, thereby achieving the purpose of controlling the size of the aperture in real time.
Thirdly, extracting and synthesizing the characteristics of the light strip image
The light strip gray scale of the image acquired by the real-time adjusting mode of the aperture size is basically consistent, and the light strip characteristics can be extracted by adopting a uniform gray scale threshold value, so that a high-precision and high-definition light strip characteristic image can be quickly obtained;
1) Light bar feature extraction
And (3) carrying out light bar edge feature extraction on the collected series light bar images by adopting a Sobel edge detection operator template formula (6), and storing the light bar edge position of each image so as to obtain light bar feature images.
2) High definition feature image fusion
According to the series of light bar characteristic images obtained by the processing, a gray weighted average algorithm formula (7) is adopted to carry out series of image fusion to obtain a final high-definition characteristic image F, wherein the final high-definition characteristic image F comprises
The invention adopts a method of controlling the aperture size of the camera in real time to adjust the gray scale distribution of the light bars in the image acquisition process, so that the light bar image with basically consistent brightness and high quality is acquired in the whole image acquisition process. The method can realize the acquisition of high-definition characteristic images, ensure that high-precision image characteristic information can be quickly obtained in the image processing process, and provide guarantee for the precise measurement of the three-dimensional morphology.
Claims (1)
1. A high-definition image acquisition method based on aperture time control is characterized in that the method aims at the problem of strong light reflection in the online laser scanning measurement process of the surface of a large composite material member and establishes a light strip image quality judgment criterion meeting the light strip information extraction requirement; reserving a high-quality light bar image, determining an aperture regulation and control range through two extreme images of extreme brightness and extreme darkness, and determining an aperture control criterion by combining the space geometric characteristics; adjusting the size of an aperture of the low-quality image in an aperture real-time control mode, and controlling the light inlet quantity to acquire the image, so that a light bar image with basically consistent brightness and high quality is acquired in the whole image acquisition process; finally, extracting light strip characteristics and carrying out image fusion to obtain a high-definition complete light strip image; the method comprises the following specific steps:
establishing a light bar image quality judgment criterion in the first step, and determining a reasonable threshold value for aperture time control
1) Establishing a light bar image quality decision criterion
Defining the corresponding light bar image as a high-quality image under the condition that the light bar characteristic information can be accurately extracted by image processing; the quality of the light bar image is represented by the average gray scale of the cross section of the light bar, and an image quality judgment model is established:
wherein I represents a light bar cross-sectional average gray distribution of an image, and (I) a ,I b ) The light bar cross section average gray distribution interval is a high-quality light bar image; when I is a <I<I b Extracting accurate light bar characteristic information when the light bar image quality is considered to be good; when I is less than or equal to I a or I≥I b If the quality of the light bar image is poor, the light inlet quantity is controlled in a mode of controlling the size of the aperture, so that the light bar image meets the high-quality requirement, and accurate light bar characteristic information is extracted;
2) Determining a reasonable threshold for time control of an aperture
When line laser-based auxiliary scanning is adopted for visual measurement, the gray level of the collected light strip image reaches the maximum when the collection direction of the camera is positioned in the laser reflection direction; adjusting the aperture size of the camera to F 1 To make the light strip image gray I 1 Meets the high-quality image requirement determined by the formula (1); similarly, the laser is used for roughly scanning the detected piece to obtain the minimum position of the light bar image gray scale, and the aperture size of the camera at the moment is adjusted to be F 2 To make the light strip image gray I 2 The requirements of high-quality images are met; thus, the regulation and control range of the camera aperture in the whole laser scanning process is obtained to be F 2 ,F 1 ]；
Second-step camera aperture real-time control method
1) Establishing a light strip gray level attenuation model
When the collecting direction of the camera is positioned in the reflecting direction of the line laser projection, the average gray value of the cross section of the optical strip is maximized, and the gray value of the image of the optical strip collected by the camera is attenuated after the position is deviated; establishing a light strip gray attenuation model by utilizing the light strip gray attenuation characteristic:
where k is the attenuation ratio of the gray scale of the light bar, I 1 For the camera to collect the grey value of the light strip, I, in the reflection direction of the incident direction of the line laser i The gray value of the light strip of the ith scanning image, d is the distance of the surface of a measured object of the laser, alpha is the incident angle of the light strip at the position with the maximum gray value of the light strip, omega is the scanning rotating speed of the laser, and f is the frame frequency collected by the camera;
2) Determining aperture time control step length
When the gray scale of the light bar is lower than the lower limit I of the gray scale of the high-quality light bar image a When the method is used, the aperture of the camera needs to be adjusted to increase the light inlet quantity, so that a high-quality light bar image is obtained; and establishing an aperture time control step length delta L by combining the light strip gray level attenuation rate:
wherein, I 1 For the camera to collect the grey value of the light strip, I, in the reflection direction of the incident direction of the line laser a The gray value lower limit of the high-quality light strip image is defined, and k is the attenuation rate of the light strip gray; then, the formula can be used for calculating the moving step length delta L of the scanning light bar by combining the geometric relation of the scanning motion when the gray value of the light bar is lower than the lower limit of the gray value of the high-quality light bar image 0 ：
ΔL 0 ＝d(tanα-tan(α-ωj/f)) (4)
Wherein d is the distance of the surface of the measured object of the laser, alpha is the incidence angle of the light strips at the position with the maximum gray value of the light strips, omega is the scanning rotating speed of the laser, and f is the acquisition frame frequency of the camera; when the aperture time control step length delta L reaches the critical value delta L 0 Namely, adjusting the aperture; then, the size of the first-stage aperture is adjusted and increased when the optical strip is moved for each j times of scanning by adopting the formula (4) inverse solution, and then scanning and shooting are continuously carried out;
thirdly, extracting and synthesizing the characteristics of the light strip image
If the light strip gray levels of the images acquired by the mode of adjusting the size of the aperture in real time are basically consistent, the uniform gray level threshold value is adopted to extract the light strip characteristics, so that high-precision and high-definition light strip characteristic images are quickly obtained;
1) Light bar feature extraction
The method comprises the steps of extracting edge features of collected light bar images, enabling a first derivative of an image function to reflect the gray level change significance degree of the images, determining the edge features of the light bars by calculating the local maximum value of the first derivative of the image function, and enabling the first derivative of an image function f (x, y) to be
Wherein G (x, y) is the gradient of the two-dimensional function f (x, y) of the image, G x And G y Partial derivatives for x and y, respectively; sobel operator is adopted for edge detection, gradient value is calculated by utilizing 3 multiplied by 3 neighborhood of pixel point (x, y), and two convolution templates are
Measuring the gradient amplitude | G (x, y) | = max (| G) by using an infinite norm x |,|G y I), taking the maximum value of the two template operators as the output bit of the point; then calculating the gradient value of each point, and defining the position with the maximum gradient as an edge position;
2) High definition feature image fusion
A series of light bar characteristic images f obtained by processing i (x, y) (i =1, 2.. Times, n) image fusion is performed by using a gray-scale weighted average method, and then the process of image fusion is represented as:
wherein F (x, y) is a high-definition characteristic image obtained after fusion, and lambda i A weighting coefficient corresponding to the ith light bar image and having
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