CN105157604A - Rapid calibration method of outfield multi-beam line-structured light vision measuring system - Google Patents
Rapid calibration method of outfield multi-beam line-structured light vision measuring system Download PDFInfo
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Abstract
The invention belongs to the technical field of machine vision measurement and provides a rapid calibration method and device of an outfield multi-beam line-structured light vision measuring system, and the rapid calibration method and device are used for rapid calibration of the multi-beam line-structured light vision measuring system under an outfield non-cooperation condition. According to the technical scheme, the rapid calibration method of an outfield multi-beam line-structured light vision measuring system comprises the steps that multi-beam line-structured light emitted by a laser emitting device is projected to each calibration plate, a measuring camera only needs to shoot an image to realize rapid calibration, the object-image relation between the measuring camera and each laser surface is established, and the construction of a measurement reference of the vision measuring system is completed, wherein, the rapid calibration specifically comprises the steps that a Zhang's calibration method is firstly adopted for calibrating internal parameters of the measuring camera in advance, and the external parameter calibration process comprises three steps. The rapid calibration method and device provided by the invention are mainly applied to the field of machine vision measurement.
Description
Technical field
The invention belongs to machine vision metrology technical field, particularly the quick calibrating method of outfield multiwire line structure light vision measuring systems.
Technical background
Multiwire line structural light measurement method is widely used in three-dimensional measurement field, is that the batten information by extracting the multiwire line laser rays be projected on testee carries out measuring three-dimensional morphology.As the key link that measuring basis builds, scaling method is generally carry out by repeatedly putting target the spatial relation that imaging determines multiple lasing area and measure between camera.The mode of repeatedly putting target is comparatively conventional under indoor environment, but under space, outfield does not possess the condition that target repeatedly puts, conventional scaling method then can not meet request for utilization, if by once putting target to the spatial relationship setting up many lasing areas and measure between camera, then there is very important practical application meaning to outfield three-dimensional appearance Quick Measurement.
Summary of the invention
For overcoming the deficiencies in the prior art, the object of this invention is to provide quick calibrating method and the device of a kind of outfield multiwire line structure light vision measuring systems, for the multiwire line structure light vision measuring systems Fast Calibration under the non-condition for cooperation in outfield.For this reason, the technical scheme that the present invention takes is, the quick calibrating method of outfield multiwire line structure light vision measuring systems, the multiwire line project structured light that laser beam emitting device sends is on respective scaling board, measurement camera only need be taken a width picture and can realize Fast Calibration, set up the object-image relation measuring camera and each lasing area, complete the structure of vision measurement system measuring basis, wherein, Fast Calibration concrete steps are, first Zhang Shi standardization is adopted to shift to an earlier date the internal reference of calibration measurements camera, and joining calibration process is divided into three steps outward, be described as: (1) is set up and measured relation between camera and world coordinate system, be specially: world coordinate system is based upon a certain angle point of three-dimensional target base number of a tender plate, corresponding respective four scaling boards of each lasing area, adjustment three-dimensional target cursor position is in the visual field monitoring range of camera, and make multiple laser face project on the scaling board of each self-corresponding column top respectively, because three-dimensional target all columns top scaling board size is known, each column is known relative to the three-dimensional coordinate of world coordinate system, the pixel coordinate of each scaling board geometric center in camera image extracts by barycenter and obtains, just can calculate camera relative to the rotation matrix of world coordinate system and translation matrix, namely the three-dimensional coordinate of any point in world coordinate system in image is obtained, (2) relation between lasing area and world coordinate system is set up, be specially: utilize above-mentioned transformation relation to carry out the accurate Calculation of laser plane, namely laser plane can not get to the center of scaling board accurately, but have intersection with scaling board, and the height of scaling board is constant, therefore image zooming-out is utilized to go out the center of each lasing area and scaling board intersection, utilize forgoing relationship can calculate the three-dimensional world coordinate of four intersection points of lasing area and scaling board, just obtain laser plane equation, namely four lasing areas are obtained relative to the rotation of world coordinate system and translation matrix, (3) relation between camera and lasing area is set up, be specially: owing to having calculated the rotation translation matrix of camera and world coordinate system, world coordinate system is relative to the rotation translation matrix of each lasing area, substitute into the camera internal parameter of demarcating in advance again, just establish camera relative to the spatial relationship between each lasing area, and then complete four line laser projection systems demarcation.
Laser beam emitting device emitter projects 4 laser rays, identifies respectively with laser rays 1 to laser rays 4; Scaling board is used for laser rays imaging, totally 19 pieces, identifies respectively with sequence number 1-19;
Every bar laser rays is all projected on each self-corresponding one group of scaling board, and often group comprises 4 pieces, and namely line laser 1 is projected on 1,2,3, No. 4 scaling board; Line laser 2 is projected on 5,6,7, No. 8 scaling boards; Line laser 3 is projected on 9,10,11, No. 12 scaling boards; Line laser 4 is projected on 13,14,15, No. 16 scaling boards, and all the other 17,18, No. 19 scaling boards are used as slave board; Scaling board position distribution adopts space array height alternative form to be fixed on column, and the compound angle often organizing scaling board is coordinate with the crevice projection angle of corresponding laser rays, and column, scaling board, gusset are fixed together.
Compared with the prior art, technical characterstic of the present invention and effect:
Feature of the present invention and usefulness are: under the non-condition for cooperation in outfield, can by putting the demarcation that a time target just can complete whole vision measurement system; All need demarcation situation for multiwire line structured light, devise the alternate interleaving mode of 3 D stereo target, can ensure that many laser rays are demarcated simultaneously, as far as possible little bulk can be ensured again.Adopt which that the problem that cannot realize at present measuring central area is resolved, and online measuring three-dimensional morphology can be realized.
Accompanying drawing explanation
Fig. 1 Basic principles and devices principle of work of the present invention schematic diagram.
Fig. 2 target arranging apparatus of the present invention figure.
Embodiment
The present invention is achieved by following technical proposals.The Basic principles and devices of invention as shown in Figure 1.The present invention devises array and to interlock the three-dimensional target of column, adopts internal reference to demarcate and method that outer ginseng demarcation is separated once puts the Fast Calibration that this target can realize the many lasing areas in outfield and camera locus.To demarcate four lasing areas simultaneously, first adopt Zhang Shi standardization to shift to an earlier date the internal reference of calibration measurements camera, and join calibration process outward and be divided into three steps, be described as: (1) is set up and measured relation between camera and world coordinate system.Be specially: world coordinate system is based upon a certain angle point of three-dimensional target base number of a tender plate, corresponding respective four scaling boards of each lasing area, adjustment three-dimensional target cursor position in the visual field monitoring range of camera, and makes four lasing areas project respectively on the scaling board of each self-corresponding column top.Because three-dimensional target all columns top scaling board size is known, each column is known relative to the three-dimensional coordinate of world coordinate system, the pixel coordinate of each scaling board geometric center in camera image extracts by barycenter and obtains, just can calculate camera relative to the rotation matrix of world coordinate system and translation matrix (i.e. spatial relation), the three-dimensional coordinate of any point in world coordinate system in image can be obtained.(2) relation between lasing area and world coordinate system is set up.Be specially: utilize above-mentioned transformation relation to carry out the accurate Calculation of laser plane, namely laser plane can not get to the center of scaling board accurately, but have intersection with scaling board, and the height of scaling board is constant, therefore image zooming-out is utilized to go out the center of each lasing area and scaling board intersection, utilize forgoing relationship can calculate the three-dimensional world coordinate of four intersection points of lasing area and scaling board, to arrive laser plane equation, namely obtained four lasing areas relative to the rotation of world coordinate system and translation matrix.(3) relation between camera and lasing area is set up.Be specially: owing to having calculated the rotation translation matrix of camera and world coordinate system, world coordinate system is relative to the rotation translation matrix of each lasing area, substitute into the camera internal parameter of demarcating in advance again, just establish camera relative to the spatial relationship between each lasing area, and then complete four line laser projection systems demarcation.Utilize this spatial relationship, as long as any luminous point coordinate in known camera image planes, just can obtain the world coordinates of corresponding point on inner laser face, space, realize the space three-dimensional topography measurement under quad bundle project structured light.
The method of the embodiment of the present invention is to make the measuring three-dimensional morphology of Bo Chi central area.The measurement that central area wave is high is domestic at present does not still possess ripe measurement means, and existing mode is only limitted to adopt rod-type wave height recorder to realize Point Measurement at pool wall edge.Owing to being carry out vision system calibration on the water, more do not possess the condition of repeatedly putting target, quick calibrating method of the present invention is now adopted to can be described as: laser beam emitting device and measurement camera spacing 60 meters, line laser emitter adopts 4 line-structured lights of power 2w, wavelength 532nm, measure camera and adopt 2,000,000 pixel industrial cameras, 25mm focal length lens; 3 D stereo target floats to measured zone center, and four line-structured lights can project on respective scaling board.Now measurement camera only need be taken a width picture and can realize Fast Calibration, sets up the object-image relation measuring camera and each lasing area, completes the structure of vision measurement system measuring basis.After starting to make ripple, the three-dimensional information of the laser waveform modulated through unrestrained face can calculate according to the object-image relation demarcated.
In accompanying drawing 1, line laser emitter can project 4 laser rays, identifies respectively with laser rays 1 to laser rays 4; Scaling board is used for laser rays imaging, totally 19 pieces, identifies respectively with sequence number 1-19.
Every bar laser rays all can be projected on each self-corresponding one group of scaling board, and often group comprises 4 pieces, and namely line laser 1 is projected on 1,2,3, No. 4 scaling board; Line laser 2 is projected on 5,6,7, No. 8 scaling boards; Line laser 3 is projected on 9,10,11, No. 12 scaling boards; Line laser 4 is projected on 13,14,15, No. 16 scaling boards, and all the other 17,18, No. 19 scaling boards are used as slave board.Scaling board position distribution adopts space array height alternative form, and the compound angle often organizing scaling board is coordinate with the crevice projection angle of corresponding laser rays, and this kind of mode can ensure that every bar laser rays imaging is all unobstructed in measurement viewing field of camera.
Claims (2)
1. the quick calibrating method of an outfield multiwire line structure light vision measuring systems, it is characterized in that, the multiwire line project structured light that laser beam emitting device sends is on respective scaling board, measurement camera only need be taken a width picture and can realize Fast Calibration, set up the object-image relation measuring camera and each lasing area, complete the structure of vision measurement system measuring basis, wherein, Fast Calibration concrete steps are, first Zhang Shi standardization is adopted to shift to an earlier date the internal reference of calibration measurements camera, and joining calibration process is divided into three steps outward, be described as: (1) is set up and measured relation between camera and world coordinate system, be specially: world coordinate system is based upon a certain angle point of three-dimensional target base number of a tender plate, corresponding respective four scaling boards of each lasing area, adjustment three-dimensional target cursor position is in the visual field monitoring range of camera, and make multiple laser face project on the scaling board of each self-corresponding column top respectively, because three-dimensional target all columns top scaling board size is known, each column is known relative to the three-dimensional coordinate of world coordinate system, the pixel coordinate of each scaling board geometric center in camera image extracts by barycenter and obtains, just can calculate camera relative to the rotation matrix of world coordinate system and translation matrix, namely the three-dimensional coordinate of any point in world coordinate system in image is obtained, (2) relation between lasing area and world coordinate system is set up, be specially: utilize above-mentioned transformation relation to carry out the accurate Calculation of laser plane, namely laser plane can not get to the center of scaling board accurately, but have intersection with scaling board, and the height of scaling board is constant, therefore image zooming-out is utilized to go out the center of each lasing area and scaling board intersection, utilize forgoing relationship can calculate the three-dimensional world coordinate of four intersection points of lasing area and scaling board, just obtain laser plane equation, namely four lasing areas are obtained relative to the rotation of world coordinate system and translation matrix, (3) relation between camera and lasing area is set up, be specially: owing to having calculated the rotation translation matrix of camera and world coordinate system, world coordinate system is relative to the rotation translation matrix of each lasing area, substitute into the camera internal parameter of demarcating in advance again, just establish camera relative to the spatial relationship between each lasing area, and then complete four line laser projection systems demarcation.
2. the quick calibrating method of outfield as claimed in claim 1 multiwire line structure light vision measuring systems, it is characterized in that, laser beam emitting device emitter projects 4 laser rays, identifies respectively with laser rays 1 to laser rays 4; Scaling board is used for laser rays imaging, totally 19 pieces, identifies respectively with sequence number 1-19;
Every bar laser rays is all projected on each self-corresponding one group of scaling board, and often group comprises 4 pieces, and namely line laser 1 is projected on 1,2,3, No. 4 scaling board; Line laser 2 is projected on 5,6,7, No. 8 scaling boards; Line laser 3 is projected on 9,10,11, No. 12 scaling boards; Line laser 4 is projected on 13,14,15, No. 16 scaling boards, and all the other 17,18, No. 19 scaling boards are used as slave board; Scaling board position distribution adopts space array height alternative form to be fixed on column, and the compound angle often organizing scaling board is coordinate with the crevice projection angle of corresponding laser rays, and column, scaling board, gusset are fixed together.
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| CN106441099A (en) * | 2016-10-13 | 2017-02-22 | 北京交通大学 | Multi-line structure light sensor calibration method |
| CN106767762A (en) * | 2017-01-26 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Non-visible laser calibrates indoor positioning air navigation aid and system |
| CN107728617A (en) * | 2017-09-27 | 2018-02-23 | 速感科技（北京）有限公司 | More mesh online calibration method, mobile robot and systems |
| CN108267089A (en) * | 2018-01-23 | 2018-07-10 | 中国科学院合肥物质科学研究院 | The reference net of large-scale cycle object is measured using laser tracker |
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| CN106441099A (en) * | 2016-10-13 | 2017-02-22 | 北京交通大学 | Multi-line structure light sensor calibration method |
| CN106767762A (en) * | 2017-01-26 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Non-visible laser calibrates indoor positioning air navigation aid and system |
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| CN109443214A (en) * | 2018-12-19 | 2019-03-08 | 广东工业大学 | A kind of scaling method of structured light three-dimensional vision, device and measurement method, device |
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