CN105181109B - A kind of conducting wire ice-shedding track binocular measurement method - Google Patents
A kind of conducting wire ice-shedding track binocular measurement method Download PDFInfo
- Publication number
- CN105181109B CN105181109B CN201510532023.1A CN201510532023A CN105181109B CN 105181109 B CN105181109 B CN 105181109B CN 201510532023 A CN201510532023 A CN 201510532023A CN 105181109 B CN105181109 B CN 105181109B
- Authority
- CN
- China
- Prior art keywords
- conducting wire
- camera
- track
- formula
- structural parameters
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
Abstract
The present invention relates to a kind of conducting wire ice-shedding track binocular measurement method considering structural parameters, step is：(1) system calibrating：Measuring device is erected to the position parallel with conducting wire to be measured, measuring device uses binocular, i.e., the mode of two camera measurements to connect to form measuring system with host computer by measuring device, be calculated by host computer, obtains the intrinsic parameter and structural parameters of measuring system；(2) picture shooting：Measuring device deices conducting wire using looking up posture and be continuously shot；(3) data processing：Data processing is carried out by host computer, the three-dimensional coordinate of the Stereo matching and match point of completing two cameras and conducting wire images match point calculates；(4) track is shown：To data, treated that result of calculation is coordinately transformed, and shows and deices conducting wire transverse movement track, longitudinal movement track and axes movement locus.It is technologically advanced present invention incorporates binocular vision technology, digital image processing techniques, computer software technology etc..
Description
Technical field
The invention belongs to transmission route survey apparatus fields, especially a kind of conducting wire ice-shedding track binocular measurement side
Method.
Background technology
In the natural calamity that transmission system is faced, conducting wire ice-shedding phenomenon is most commonly seen, seriously threatens defeated
The safety of electric system.In recent years, problem is deiced about conducting wire, has carried out a large amount of research both at home and abroad, be mostly to use numerical simulation
Method to deicing Dynamic tension conducting wire jump height, vertical load, steel tower rod piece and conductor spacer internal force and basis in process
Moment of flexure etc. is calculated.Small part scholar, which deices conducting wire, is simulated experimental study, and reality has been carried out to contiguous items
Border measures.For the measurement of the data such as tension, insulator chain axle power, the measurement difficulty of conducting wire ice-shedding track compared with
Greatly, currently, there has been no the ripe schemes that document provides conducting wire ice-shedding trajectory measurement.
Currently, there are no the maturation methods of the conducting wire ice-shedding trajectory measurement of integrated structure parameter.In order to solve at present
The problem of conducting wire ice-shedding trajectory measurement difficulty, the present invention are designed the structure of biocular systems, provide structural parameters
Optimize acquiring method, characteristic progress Stereo matching intersect with conducting wire using polar curve, realization conducting wire ice-shedding track is non-contact,
Accurately, it measures in real time.
Invention content
It is an object of the invention to overcome the shortage of prior art, a kind of current conducting wire ice-shedding trajectory measurement of solution is provided
Difficult, consideration structural parameters conducting wire ice-shedding track binocular measurement methods.
The technical solution adopted by the present invention is：
A kind of conducting wire ice-shedding track binocular measurement method considering structural parameters, step are：
(1) system calibrating：Measuring device is erected to the position parallel with conducting wire to be measured, measuring device uses binocular, i.e., and two
Measuring device is connect to form measuring system, be calculated by host computer by the mode of a camera measurement with host computer, is obtained and is measured system
The intrinsic parameter and structural parameters of system；
(2) picture shooting：Measuring device deices conducting wire using looking up posture and be continuously shot；
(3) data processing：Data processing is carried out by host computer, completes the solid of two cameras and conducting wire images match point
The three-dimensional coordinate of matching and match point calculates；
(4) track is shown：To data, treated that result of calculation is coordinately transformed, and shows and deices conducting wire transverse movement
Track, longitudinal movement track and axes movement locus.
Moreover, (1) the measuring device includes holder, left camera, right camera, data line to step, holder is " T " font,
Top both sides are respectively symmetrically equipped with a camera, and the camera on the left side is left camera, and the camera on the right is right camera, adjusts two cameras
Position, make the line between two cameras between conducting wire direction and two cameras between midpoint be located at below conducting wire.
Moreover, (1) the measuring system intrinsic parameter is solved step using plane checkerboard pattern method, mark used
Fixed board size is 600mm*400mm, and lattice point size 50mm*50mm, calibration picture is 20 width.
Moreover, the computational methods of step (1) structural parameters of the measuring system are：
If P is an angle point on scaling board, then P points meet in the camera coordinates system of left and right：
Pc1=RlPw+Tl (1)
Pc2=RrPw+Tr (2)
Pc2=R'Pc1+T' (3)
Pc1=R " Pc2+T” (4)
It is easy to get by formula (1), (2), (3)
R'=RrRl -1 (5)
T'=Tr-R'Tl (6)
Similarly, it can be obtained by formula (1), (2), (4)
R "=RlRr -1 (7)
T "=Tl-R"Tr (8)
Using smaller scaling board, size 300mm*300mm, lattice point size 50mm*50mm shoot several calibration maps
Piece considers re-projection error function：
In formula, PlijAnd PrijRespectively represent j-th of angle point in the i-th width calibration picture of the P points captured by the camera of left and right.WithIt represents and the spin matrix of picture is demarcated by camera internal reference, the i-th width in left and right camera and is translated towards
Calculated j-th of subpoint is measured, formula (5) (6) formula is brought into formula (9), can obtain：
Above-mentioned equation is solved using LM (Levenberg-Marquard) optimization algorithms, show that R''s and T' is accurate
Value.In above-mentioned solution procedure, the initial value of R' and T' can select some values of the structural parameters directly calculated by formula (5) (6).
It brings formula (7) (8) formula into formula (9), obtains：
Compare re-projection error E after solving1And E2Size, take the value of the structural parameters corresponding to smaller value.
Moreover, the solid matching method of step (3) two cameras and conducting wire images match point is：
First, it is clapped from left and right two cameras using the image processing method of greyscale transformation, binaryzation, morphologic filtering
Conducting wire is extracted in the conducting wire image taken the photograph, and least square fitting is carried out to wire center line, then, in taking left camera conducting wire to be fitted
Certain point p on heart linel, pixel homogeneous coordinates are ml, then its polar curve in right image is lr=Fml, corresponding in right image
Match point be lrThe intersection point p of center line is fitted with conducting wire in right imager, wherein F is basic matrix, sets generation in the present system
Boundary's coordinate system is overlapped with left camera coordinates system, thenT1=[0 0 0]T, when taking R' and T', R2=R', T2
=T', when taking R " and T ", R2=(R ")-1, T2=-(R ")-1T ", basis matrix[T2]×For T2Opposition
Claim matrix.
Moreover, the three-dimensional coordinate computational methods of the step (3) match point are：
World coordinate system O is established respectivelywXwYwZw, it is located at the camera coordinates system O of camera photocentrec1Xc1Yc1Zc1With
Oc2Xc2Yc2Zc2, it is located at principal point for camera (u0,v0) image physical coordinates system O1X1Y1And O2X2Y2, it is located at the imaging plane upper left corner
Image pixel coordinates system Ouv1U1V1And Ouv2U2V2.By camera projection theory, can obtain：
In above formula, s is scale factor, fxWith fyScale factor respectively in both direction, R and T are respectively world coordinates
It is the spin matrix and translation vector to camera coordinates system,
And M=M1M2The respectively Intrinsic Matrix of camera, outer ginseng
Matrix number and projection matrix.
Moreover, in step (3) the three-dimensional coordinate calculating process of the match point, radial distortion to camera lens and cut
To the carry out subpoint compensation calculation of distortion, computational methods are：
In camera coordinates system, the coordinate of subpoint is after lens distortion：
In above formula, P=[p1 p2 p3 p4 p5], it is distortion factor,
For any measurement point, two image pixel coordinates (u are obtained on two imaging planes in left and rightl,vl) and (ur,
vr), it brings formula (12) into, equation group can be obtained：
Above-mentioned equation group is abbreviated asIt is solved, can be obtained using least square method
Moreover, step (4) in coordinate transformation method be：
Obtained conducting wire ice-shedding track will be measured and be located at XwOZw(Xc1OZc1) in face, in order to weigh conducting wire horizontal and
Motion conditions on vertical direction define new coordinate systemWhereinAxis is parallel to baseline,Axis is perpendicular to base
Line, transformation for mula between the two are
Advantage of the present invention and good effect are：
Conducting wire ice-shedding provided by the invention track binocular measurement method may be implemented to deice ice-shedding rail to conducting wire
Non-contact, real-time, the accurate measurement of mark, the conducting wire that can be applied to from now on deice in experiment and path monitoring, obtain conducting wire
Ice-shedding initial data.
Conducting wire ice-shedding provided by the invention track binocular measurement method utilizes re-projection error function pair structural parameters
It optimizes, effectively improves structural parameters solving precision, it is real by comparing the re-projection error value of left and right camera in biocular systems
It is now further preferred to values of the structural parameters；On the other hand, this system has with biocular systems polar curve using wire center line and intersects
Characteristic, realize match point fast and accurately extract, wire center line is fitted, matching precision is effectively improved, is combined
Binocular vision technology, digital image processing techniques, computer software technology etc., it is technologically advanced.
Description of the drawings
Fig. 1 is the structural schematic diagram of measuring device in the present invention；
Fig. 2 is the schematic diagram that three-dimensional coordinate calculates in the present invention.
Specific implementation mode
Below by attached drawing, the invention will be further described in conjunction with specific embodiments, and following embodiment is descriptive
, it is not restrictive, protection scope of the present invention cannot be limited with this.
A kind of conducting wire ice-shedding track binocular measurement method considering structural parameters, step are：
(1) system calibrating：Measuring device is erected to the position parallel with conducting wire to be measured, measuring device uses binocular, i.e., and two
The mode of a camera measurement, is shown in Fig. 1, and measuring device is connect to form measuring system with host computer, is calculated by host computer, obtains
The intrinsic parameter and structural parameters of measuring system, measuring device include holder, left camera, right camera, data line, and holder is " T " word
Type, top both sides are respectively symmetrically equipped with a camera, and the camera on the left side is left camera, adjusts two camera positions, makes two cameras
Between line between conducting wire direction and two cameras between midpoint be located at below conducting wire；
See Fig. 2, the measurement range for selecting conducting wire ice-shedding height is 4.0m；
Select the value of baseline distance B for 1.5m；
In order to ensure that the value of floor projection angle beta in measurement process will not be excessive, the value of floor projection angle α is set as 67 °；
Focal length to increase camera reduces the field angle of camera to 28 °, at this time may be used under the requirement for meeting measuring range
Depending on range about in 1.0-5.0m；
During conducting wire ice-shedding trajectory measurement, using looking up posture, and it is horizontal and about leading to adjust system position
Line is symmetrical, ensures symmetrical configuration in measurement process.
(1) the measuring system intrinsic parameter is solved step using plane checkerboard pattern method, calibration board foot used
Very little is 600mm*400mm, and lattice point size 50mm*50mm, calibration picture is 20 width, the calculating side of the structural parameters of measuring system
Method is：
If P is an angle point on scaling board, then P points meet in the camera coordinates system of left and right：
Pc1=RlPw+Tl (1)
Pc2=RrPw+Tr (2)
Pc2=R'Pc1+T' (3)
Pc1=R " Pc2+T” (4)
It is easy to get by formula (1), (2), (3)
R'=RrRl -1 (5)
T'=Tr-R'Tl (6)
Similarly, it can be obtained by formula (1), (2), (4)
R "=RlRr -1 (7)
T "=Tl-R"Tr (8)
Using smaller scaling board, size 300mm*300mm, lattice point size 50mm*50mm shoot several calibration maps
Piece considers re-projection error function：
In formula, PlijAnd PrijRespectively represent j-th of angle point in the i-th width calibration picture of the P points captured by the camera of left and right.WithIt represents and the spin matrix of picture is demarcated by camera internal reference, the i-th width in left and right camera and is translated towards
Calculated j-th of subpoint is measured, formula (5) (6) formula is brought into formula (9), can obtain：
Above-mentioned equation is solved using LM (Levenberg-Marquard) optimization algorithms, show that R''s and T' is accurate
Value.In above-mentioned solution procedure, the initial value of R' and T' can select some values of the structural parameters directly calculated by formula (5) (6).
It brings formula (7) (8) formula into formula (9), obtains：
Compare re-projection error E after solving1And E2Size, take the value of the structural parameters corresponding to smaller value.
(2) picture shooting：Measuring device deices conducting wire using looking up posture and be continuously shot.
(3) data processing：Data processing is carried out by host computer, complete two camera conducting wire images match points three-dimensional
With the three-dimensional coordinate calculating with match point, the solid matching method of two cameras and conducting wire images match point is：
First, it is clapped from left and right two cameras using the image processing method of greyscale transformation, binaryzation, morphologic filtering
Conducting wire is extracted in the conducting wire image taken the photograph, and least square fitting is carried out to wire center line, then, in taking left camera conducting wire to be fitted
Certain point p on heart linel, pixel homogeneous coordinates are ml, then its polar curve in right image is lr=Fml, corresponding in right image
Match point be lrThe intersection point p of center line is fitted with conducting wire in right imager, wherein F is basic matrix, sets generation in the present system
Boundary's coordinate system is overlapped with left camera coordinates system, then
T1=[0 0 0]T, when taking R' and T', R2=R', T2=T', when taking R " and T ", R2=
(R")-1, T2=-(R ")-1T ", basis matrix[T2]×For T2Antisymmetric matrix.
The three-dimensional coordinate computational methods of the match point are：
World coordinate system O is established respectivelywXwYwZw, it is located at the camera coordinates system O of camera photocentrec1Xc1Yc1Zc1With
Oc2Xc2Yc2Zc2, it is located at principal point for camera (u0,v0) image physical coordinates system O1X1Y1And O2X2Y2, it is located at the imaging plane upper left corner
Image pixel coordinates system Ouv1U1V1And Ouv2U2V2.By camera projection theory, can obtain：
In above formula, s is scale factor, fxWith fyScale factor respectively in both direction, R and T are respectively world coordinates
It is the spin matrix and translation vector to camera coordinates system,
And M=M1M2The respectively Intrinsic Matrix of camera, outer ginseng
Matrix number and projection matrix.
In step (3) the three-dimensional coordinate calculating process of the match point, radial distortion and tangential distortion to camera lens
Carry out subpoint compensation calculation, computational methods are：
In camera coordinates system, the coordinate of subpoint is after lens distortion：
In above formula, P=[p1 p2 p3 p4 p5], it is distortion factor,
For any measurement point, two image pixel coordinates (u can be obtained on two imaging planes in left and rightl,vl) and
(ur,vr), it brings formula (12) into, equation group can be obtained：
Above-mentioned equation group is abbreviated asIt is solved, can be obtained using least square method
(4) track is shown：To data, treated that result of calculation is coordinately transformed, and shows and deices conducting wire transverse movement
Track, longitudinal movement track and axes movement locus, coordinate transformation method are：
Obtained conducting wire ice-shedding track will be measured and be located at XwOZw(Xc1OZc1) in face, in order to weigh conducting wire horizontal and
Motion conditions on vertical direction define new coordinate systemWhereinAxis is parallel to baseline,Axis is perpendicular to base
Line, transformation for mula between the two are
Although disclosing the embodiment of the present invention and attached drawing for the purpose of illustration, those skilled in the art can manage
Solution：Do not departing from the present invention and spirit and scope of the appended claims in, various substitutions, changes and modifications be all it is possible,
Therefore, the scope of the present invention is not limited to embodiment and attached drawing disclosure of that.
Claims (5)
1. a kind of conducting wire ice-shedding track binocular measurement method considering structural parameters, step are：
(1) system calibrating：Measuring device is erected to the position parallel with conducting wire to be measured, measuring device uses binocular, i.e. two phases
The mode that machine measures, measuring device is connect to form measuring system with host computer, is calculated by host computer, obtains measuring system
Intrinsic parameter and structural parameters；
(2) picture shooting：Measuring device deices conducting wire using looking up posture and be continuously shot；
(3) data processing：Data processing is carried out by host computer, completes the Stereo matching of two cameras and conducting wire images match point
It is calculated with the three-dimensional coordinate of match point；
(4) track is shown：To data, treated that result of calculation is coordinately transformed, show deice conducting wire transverse movement track,
Longitudinal movement track and axes movement locus；
(1) the measuring device includes holder, left camera, right camera, data line to step, and holder is " T " font, top both sides
One camera is respectively symmetrically installed, the camera on the left side is left camera, and the camera on the right is right camera, adjusts two camera positions, makes
Line between two cameras between conducting wire direction and two cameras between midpoint be located at below conducting wire；
(1) the measuring system intrinsic parameter is solved step using plane checkerboard pattern method, and calibration board size used is
600mm*400mm, lattice point size 50mm*50mm, calibration picture are 20 width；
The computational methods of step (1) structural parameters of the measuring system are：
If P is an angle point on scaling board, then P points meet in the camera coordinates system of left and right：
Pc1=RlPw+Tl (1)
Pc2=RrPw+Tr (2)
Pc2=R'Pc1+T' (3)
Pc1=R " Pc2+T” (4)
It is easy to get by formula (1), (2), (3)
R'=RrRl -1 (5)
T'=Tr-R'Tl (6)
Similarly, it can be obtained by formula (1), (2), (4)
R "=RlRr -1 (7)
T "=Tl-R"Tr (8)
Using smaller scaling board, size 300mm*300mm, lattice point size 50mm*50mm shoot several calibration pictures,
Consider re-projection error function：
In formula, PlijAnd PrijJ-th of angle point in the i-th width calibration picture of the P points captured by the camera of left and right is respectively represented,WithRepresent spin matrix and the translation for demarcating picture in left and right camera by camera internal reference, the i-th width
Calculated j-th of the subpoint of vector, brings formula (5) (6) formula into formula (9), can obtain：
Above-mentioned equation is solved using LM (Levenberg-Marquard) optimization algorithms, obtains the exact value of R' and T',
In above-mentioned solution procedure, the initial value of R' and T' can select some values of the structural parameters directly calculated by formula (5) (6),
It brings formula (7) (8) formula into formula (9), obtains：
Compare re-projection error E after solving1And E2Size, take the value of the structural parameters corresponding to smaller value.
2. the conducting wire ice-shedding track binocular measurement method according to claim 1 for considering structural parameters, feature exist
In：The solid matching method of step (3) two cameras and conducting wire images match point is：
First, using greyscale transformation, binaryzation, morphologic filtering image processing method captured by left and right two cameras
Conducting wire is extracted in conducting wire image, and least square fitting is carried out to wire center line, then, takes left camera conducting wire fitting center line
Upper certain point pl, pixel homogeneous coordinates are ml, then its polar curve in right image is lr=Fml, corresponding in right image
It is l with pointrThe intersection point p of center line is fitted with conducting wire in right imager, wherein F is basic matrix, sets the world in the present system and sits
Mark system overlaps with left camera coordinates system, thenT1=[0 0 0]T, when taking R' and T', R2=R', T2=
T', when taking R " and T ", R2=(R ")-1, T2=-(R ")-1T ", basis matrix[T2]×For T2Antisymmetry
Matrix.
3. the conducting wire ice-shedding track binocular measurement method according to claim 1 for considering structural parameters, feature exist
In：The three-dimensional coordinate computational methods of the step (3) match point are：
World coordinate system O is established respectivelywXwYwZw, it is located at the camera coordinates system O of camera photocentrec1Xc1Yc1Zc1And Oc2Xc2Yc2Zc2, position
In principal point for camera (u0,v0) image physical coordinates system O1X1Y1And O2X2Y2, it is located at the image pixel coordinates in the imaging plane upper left corner
It is Ouv1U1V1And Ouv2U2V2, by camera projection theory, can obtain：
In above formula, s is scale factor, fxWith fyScale factor respectively in both direction, R and T are respectively that world coordinate system arrives
The spin matrix and translation vector of camera coordinates system,And M=M1M2Respectively
The Intrinsic Matrix of camera, outer parameter matrix and projection matrix.
4. the conducting wire ice-shedding track binocular measurement method according to claim 3 for considering structural parameters, feature exist
In：In step (3) the three-dimensional coordinate calculating process of the match point, radial distortion and tangential distortion to camera lens into
Row subpoint compensation calculation, computational methods are：
In camera coordinates system, the coordinate of subpoint is after lens distortion：
In above formula, P=[p1 p2 p3 p4 p5], it is distortion factor,
For any measurement point, two image pixel coordinates (u are obtained on two imaging planes in left and rightl,vl) and (ur,vr), band
Enter formula (12), equation group can be obtained：
Above-mentioned equation group is abbreviated as AP'w=B, is solved using least square method, can obtain P'w=(ATA-1)ATB。
5. the conducting wire ice-shedding track binocular measurement method according to claim 1 for considering structural parameters, feature exist
In：Step (4) in coordinate transformation method be：
Obtained conducting wire ice-shedding track will be measured and be located at XwOZw(Xc1OZc1) in face, in order to weigh conducting wire horizontal and vertical
Motion conditions on direction define new coordinate system X'wOZ'w, wherein OX'wAxis is parallel to baseline, OZ'wAxis perpendicular to baseline,
Transformation for mula between the two is
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510532023.1A CN105181109B (en) | 2015-08-26 | 2015-08-26 | A kind of conducting wire ice-shedding track binocular measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510532023.1A CN105181109B (en) | 2015-08-26 | 2015-08-26 | A kind of conducting wire ice-shedding track binocular measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105181109A CN105181109A (en) | 2015-12-23 |
| CN105181109B true CN105181109B (en) | 2018-08-28 |
Family
ID=54903354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510532023.1A Expired - Fee Related CN105181109B (en) | 2015-08-26 | 2015-08-26 | A kind of conducting wire ice-shedding track binocular measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105181109B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108844486B (en) * | 2018-04-12 | 2021-02-09 | 西安交通大学 | Fixed-image-distance binocular bionic three-dimensional measuring instrument |
| CN109285189B (en) * | 2018-07-12 | 2021-10-01 | 哈尔滨工程大学 | Method for quickly calculating straight-line track without binocular synchronization |
| CN109345471B (en) * | 2018-09-07 | 2022-06-24 | 贵州宽凳智云科技有限公司北京分公司 | Method for measuring and drawing high-precision map data based on high-precision track data |
| CN108917617A (en) * | 2018-09-19 | 2018-11-30 | 贵州电网有限责任公司 | A method of for ice-melt operation field transmission line of electricity ice-shedding vision measurement |
| CN109493349B (en) * | 2018-11-05 | 2021-10-29 | 中科海微(北京)科技有限公司 | Image feature processing module, augmented reality equipment and corner detection method |
| CN117168312B (en) * | 2023-11-03 | 2024-01-26 | 中国航空工业集团公司沈阳空气动力研究所 | Method for measuring deicing track of rotating component in icing wind tunnel |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109620A (en) * | 2007-09-05 | 2008-01-23 | 北京航空航天大学 | Method for standardizing structural parameter of structure optical vision sensor |
| CN102679896A (en) * | 2011-07-15 | 2012-09-19 | 上海工程技术大学 | Track gauge measuring method based on machine vision |
| CN103604419A (en) * | 2013-11-21 | 2014-02-26 | 中国科学院西安光学精密机械研究所 | Lead ice monitoring method and system based on three-dimensional reconstruction |
| CN103714535A (en) * | 2013-12-13 | 2014-04-09 | 大连理工大学 | Binocular vision measurement system camera parameter online adjustment method |
| CN104568003A (en) * | 2014-12-29 | 2015-04-29 | 国家电网公司 | Remote monitoring system and method for ice coating process of power transmission lines |
| CN104697463A (en) * | 2015-03-26 | 2015-06-10 | 北京航空航天大学 | Blanking feature constraining calibrating method and device for binocular vision sensor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006120759A1 (en) * | 2005-05-12 | 2006-11-16 | Techno Dream 21 Co., Ltd. | 3-dimensional shape measuring method and device thereof |
-
2015
- 2015-08-26 CN CN201510532023.1A patent/CN105181109B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109620A (en) * | 2007-09-05 | 2008-01-23 | 北京航空航天大学 | Method for standardizing structural parameter of structure optical vision sensor |
| CN102679896A (en) * | 2011-07-15 | 2012-09-19 | 上海工程技术大学 | Track gauge measuring method based on machine vision |
| CN103604419A (en) * | 2013-11-21 | 2014-02-26 | 中国科学院西安光学精密机械研究所 | Lead ice monitoring method and system based on three-dimensional reconstruction |
| CN103714535A (en) * | 2013-12-13 | 2014-04-09 | 大连理工大学 | Binocular vision measurement system camera parameter online adjustment method |
| CN104568003A (en) * | 2014-12-29 | 2015-04-29 | 国家电网公司 | Remote monitoring system and method for ice coating process of power transmission lines |
| CN104697463A (en) * | 2015-03-26 | 2015-06-10 | 北京航空航天大学 | Blanking feature constraining calibrating method and device for binocular vision sensor |
Non-Patent Citations (9)
| Title |
|---|
| "A two-step calibration method of a large FOV binocular stereovision sensor for onsite measurement";Zhenxing Wang etc;《Measurement》;20150228;第62卷;第15-24页 * |
| "An onsite structure parameters calibration of large FOV binocular stereovision based on small-size 2D target";Zhenxing Wang etc;《Optik》;20131231;第124卷;第5164-5169页 * |
| "Flexible Camera Calibration By Viewing a Plane From Unknown Orientation";张正友;《The Proceedings of the Seventh IEEE International Conference》;19991231;第1卷;正文第1节、第2节 * |
| "双目立体视觉传感器的现场标定技术";王俊修 等;《工程与应用》;20041231;第189-192页 * |
| "基于三维重建的绝缘子覆冰图像监测";杨浩 等;《电力自动化设备》;20130228;第33卷(第2期);第92-96页 * |
| "基于三维重建的输电线路覆冰在线监测方法";杨浩 等;《电力系统自动化》;20121210;第36卷(第23期);第103-110页 * |
| "大视场双目视觉传感器的现场标定";孙军华 等;《光学 精密工程》;20090331;第17卷(第3期);第633-640页 * |
| "输电导线脱冰振动测量双目视觉方法";齐宏伟 等;《沈阳理工大学学报》;20100430;第29卷(第2期);正文第1-4节 * |
| Janne Heikkilä etc."A Four-step Camera Calibration Procedure with Implicit Image Correction".《Proceeding of Int Conf》.1997,第1106-1112页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105181109A (en) | 2015-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105181109B (en) | A kind of conducting wire ice-shedding track binocular measurement method | |
| CN111045017B (en) | Method for constructing transformer substation map of inspection robot by fusing laser and vision | |
| CN107392964B (en) | The indoor SLAM method combined based on indoor characteristic point and structure lines | |
| CN106683173B (en) | A method of Three-dimensional Gravity is improved based on neighborhood Block- matching and is laid foundations the dense degree of cloud | |
| CN107314762B (en) | Method for detecting ground object distance below power line based on monocular sequence images of unmanned aerial vehicle | |
| CN108876749A (en) | A kind of lens distortion calibration method of robust | |
| CN105913410A (en) | Long-distance moving object height measurement apparatus and method based on machine vision | |
| Xie et al. | Study on construction of 3D building based on UAV images | |
| US20130222556A1 (en) | Stereo picture generating device, and stereo picture generating method | |
| CN107358633A (en) | Join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things | |
| CN109523595A (en) | A kind of architectural engineering straight line corner angle spacing vision measuring method | |
| CN111091076B (en) | Tunnel limit data measuring method based on stereoscopic vision | |
| CN105469386B (en) | A kind of method and device of determining stereoscopic camera height and pitch angle | |
| CN106023230B (en) | A kind of dense matching method of suitable deformation pattern | |
| CN106960454A (en) | Depth of field barrier-avoiding method, equipment and unmanned vehicle | |
| CN108765495B (en) | Rapid calibration method and system based on binocular vision detection technology | |
| CN110044374A (en) | A kind of method and odometer of the monocular vision measurement mileage based on characteristics of image | |
| CN108470356A (en) | A kind of target object fast ranging method based on binocular vision | |
| CN101794459A (en) | Seamless integration method of stereoscopic vision image and three-dimensional virtual object | |
| CN109992809A (en) | A kind of construction method of buildings model, device and storage device | |
| CN104949658A (en) | Wire ice-shedding skip track measuring device based on binocular stereovision | |
| CN113450416B (en) | TCSC method applied to three-dimensional calibration of three-dimensional camera | |
| CN108492282A (en) | Three-dimensional glue spreading based on line-structured light and multitask concatenated convolutional neural network detects | |
| US9042655B2 (en) | Image processing apparatus, image processing method, and non-transitory computer readable recording medium | |
| CN112183285A (en) | 3D point cloud map fusion method and system for transformer substation inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180828 Termination date: 20190826 |