CN105806249A - Method for achieving image collection and depth measurement simultaneously through a camera - Google Patents
Method for achieving image collection and depth measurement simultaneously through a camera Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000005259 measurement Methods 0.000 title claims abstract description 13
- 238000000605 extraction Methods 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 9
- 239000000284 extract Substances 0.000 claims description 8
- 238000013507 mapping Methods 0.000 claims description 7
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 4
- 210000003141 lower extremity Anatomy 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 abstract description 3
- 238000003702 image correction Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000034656 Contusions Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000034526 bruise Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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Abstract
The invention relates to a method for achieving image collection and depth measurement simultaneously through a camera.The method comprises the following steps that 1, line structured light is projected to the surface of a measured object and forms a light section curve on the surface of the measured object, the camera is used for continuously shooting the surface of the measured object at a certain frame rate, and a shot original sequence image is stored, wherein the light section curve is contained in a surface image; 2, image correction and splicing treatment are carried out on the original sequence image, and an integral image of the measured object is obtained; 3, a line structured light perpendicular-incidence type optical triangle method is adopted, and object surface depth information of the position where the line structured light is located in each image is obtained.According to the method, image collection under a large view field can be completed, depth information obtained through auxiliary measurement through line structured light can be positioned to be corresponding surface position, image information corresponding to the depth information is obtained, and the shape condition of the measured object can be obtained more comprehensively.
Description
Technical field
The present invention relates to a kind of one camera information collecting method, particularly relate to a kind of method utilizing single area array CCD camera integrated structure light simultaneously to realize image acquisition and depth survey.
Background technology
Realize body surface image acquisition or depth survey currently with single camera respectively, be widely used in engineering.For the object of uniform motion, line-scan digital camera can pass through uninterrupted scanning and realize body surface high accuracy complete imaging, thus uniformly detecting its surface appearance.When the visual field is very big or when testee is elongated, belt-shaped, it is suitable for using line-scan digital camera, but line-scan digital camera cannot realize depth survey.Object in field range can only be carried out imaging by area array cameras, big high accuracy complete imaging within the vision cannot be obtained, but area array cameras can realize the measurement to object surface depth information, but structured light often abandons the image that area array cameras obtains when extracting depth information.In commercial measurement, generally require the image and depth information that obtain measured object surface simultaneously, more fully to reflect the apparent condition of measurand, the such as detection of Railway wheelset flat sliding situation.
" the LY series wheelset failure dynamic detection system " of current domestic employing, adopt " light cuts image measurement technology " to detect light in wheelset profile profile and cut image measurement, it is irradiate wheel surface along tread normal direction linear laser source, make it form a light on surface and cut curve, then the light that the high speed face array CCD video camera angled with incident light plane shoots on wheel is utilized to cut curve, then through image acquisition and process, wheelset profile parameter just can be obtained.The method is intended to extract light and cuts curve, and on image, other information not utilizes, and therefore can not obtain the true picture of tread.The online wheel tread bruise detection system that Sun Ran et al. proposes, is utilized multiple line-scan digital camera that the wheel tread of motion is carried out imaging, is processed by image mosaic correction etc., obtain complete tread image, thus obtaining tread damage information intuitively.The method has the disadvantage that what can not obtain tread quantitatively specifically wears away parameter.In actually detected, not only to judge qualitatively whether to abrade according to the true picture of complete tread, and to obtain corresponding abrasive depth information quantitatively, such double check can obtain result accurately, but in existing Railway wheelset flat sliding detection method, have to tread image, or can only obtain the flat sliding degree of depth.Therefore, existing profile state testing method existing defects in actual application, it is difficult to meet application demand well.
In prior art, the simple method accuracy rate by image recognition processing detection testee surface condition is not high, wrong report phenomenon often occurs.Such as there is water stain or rust staining on testee surface, when image recognition owing to the gray value of this area image is different, will be judged as exception.
Summary of the invention
For the deficiencies in the prior art, it is an object of the invention to, utilize single area array CCD camera joint line structured light, synchronize to realize class wheel body surface image acquisition and depth survey, complete the image acquisition under big visual field.And the depth information recorded by line-structured light auxiliary can navigate to its corresponding surface location.
To achieve these goals, the present invention adopts the following technical scheme that:
A kind of method using one camera simultaneously to realize image acquisition and depth survey, comprises the following steps:
Step 1, to testee surface incident line structured light, it forms a light on testee surface and cuts curve, uses one camera to be continuously shot the surface of testee with certain frame per second simultaneously, and stores the original series image that shooting obtains；Light cuts curve and is included in surface image；
Step 2, carries out image rectification, splicing to original series image sequence, obtains the complete image of testee；
Step 3, adopts line-structured light direct-injection type optic triangle method, obtains the object surface depth information of each image centerline construction light position.
When testee is class wheel object, when making wheeled rotation in fixed position, light cuts curve and is positioned at the centre position of described original series image, and one camera is continuously shot testee with certain frame per second and rotates the surface of tread.When the relative position of testee with one camera and line-structured light projector is not fixed, namely when testee does the motion close to or away from one camera, one camera inclination angle and testee tread normal angle are below 10 °.
Described image acquisition is the testee surface being continuously shot with certain frame per second with one camera, then surface image sequence is corrected splicing and obtains complete image；Described depth survey is by body surface incident line structured light, adopting triangle optical measuring method, obtain the object surface depth information of structure Rhizoma Dioscoreae (peeled) position in each image.
Described image rectification is to carry out remarkable configuration extracting matching, then carries out geometric correction and gray reconstruction, makes the testee in original series image rotate tread and is in same position, and width is identical, facilitates follow-up splicing.
Described surface image splicing is different from general image mosaic, and is analogous to the scanning imagery method of line-scan digital camera, comprises the following steps:
Measure K in original series image and open image and K+1 opens the length that testee between image taking turns over, by known one camera imaging parameters, calculate number of lines of pixels corresponding in original series image, namely extract line number；
Extract the initial position in region in fixing each image, then the lower limb in the middle extraction region of K+1 width image is exactly the top edge extracting region in K width original image；
Described extraction region is spliced successively by the sequencing of shooting, until obtaining the complete image of testee, thus the image acquisition completed under the big visual field that single area array cameras can not shoot.
When testee uniform motion, extracting region is fixed pixel region, and the object distance between speed, the frame frequency of one camera collection image and one camera and testee that the size in extraction region is rolled by testee determines.
Splicing is extracted the initial row in region and is determined by the position of line-structured light, the centre position in current original series image zooming-out region is the structure light place of front piece image, namely representated by the structure light in current original series image be in next width original series image extract centre position, region depth information, thus line-structured light can be reverted on spliced complete image according to splicing order, it is achieved the one_to_one corresponding of structure light and picture position.
First from original series image, extract described light cut curve, and be refined as single pixel curve；Then pass through the point coordinates on single pixel light curve, calculate and obtain K and open light in image and cut the row-coordinate meansigma methods n of curve0；It is n that the initial row coordinate in region is extracted in the splicing of K+1 width image0+nm/ 2, namely the light of K width image cuts curve and is positioned at the middle in K+1 width image zooming-out region.
Described object surface depth information measurement adopts line-structured light direct-injection type optic triangle method, by setting up horizontal and vertical mapping calculation model, sets up the mapping relations of image pixel coordinates and actual physics coordinate.In actual physics coordinate, abscissa is for being parallel to camera direction, and vertical coordinate is project structured light direction, i.e. representative surface depth information.According to the object surface structure light image that collected by camera arrives, it is possible to obtain unique corresponding depth information on body surface abscissa.
Due to the fact that the above technical scheme of employing, it has the following advantages and beneficial effect:
Technical scheme strong adaptability, the object of acquisition process is not limited to class wheel object, and the position simultaneously also not limiting testee is fixed or does movement close, away from one camera.Being applied in use one camera and carry out image acquisition, simple in construction, cost is low；Use line-structured light auxiliary to carry out depth survey, eliminate demarcation and the matching process of complexity, save time cost, improve the simplification of measurement process；Adopt the image split-joint method simplified, original sequence is extracted fixed area and splices, obtain the undistorted complete image under big visual field, expand the measurement scope of single area array cameras；The method that region initial row is determined is extracted in the splicing adopting present image by the position of structure light in front piece image, structure light is reverted on spliced surface image, make the depth information on structure light and its picture position, place one_to_one corresponding, it is achieved that the purpose of metrical information synchronism of the present invention and correspondence.
Accompanying drawing explanation
Fig. 1 is the wheel tread schematic diagram that the one camera of embodiment is continuously shot uniform rotation.
Fig. 2 is the surface image splicing principle schematic of embodiment.
Fig. 3 is original series image and the splicing extraction area schematic of embodiment.
Fig. 4 is the line-structured light direct-injection type optic triangle method measuring principle figure of embodiment.
Fig. 5 is longitudinal parameter mapping model schematic diagram of embodiment.
Fig. 6 is the lateral parameter mapping model schematic diagram of embodiment.
Fig. 7 is the line-structured light position corresponding relation schematic diagram with image of embodiment.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is done the explanation of further information.
The present invention is mainly suitable for the class wheel body surface of uniform rotation.Referring to Fig. 1, the system that one camera realizes image acquisition and depth information measurement is used to be made up of area array CCD camera 101, wheel or class wheel object 102, laser projecting apparatus 103 and computer 105.Measurement process is as follows: line laser is projected to wheel or class wheel object 102 surface by laser projecting apparatus 103, form a light and cut curve 104, object 102 surface of uniform rotation in the direction of the arrow is fixed the image acquisition of frame frequency by area array cameras 101, wherein viewing field of camera contains light and cuts curve 104, and the sequence image obtained is stored in computer 105.
Referring to Fig. 2, the image mosaic of described method is extracted region 201 and is positioned at the centre position in camera imaging region 202.
Referring to Fig. 3, the image mosaic principle of described method is as follows: the length turned over by camera imaging parameter and wheel, calculates corresponding number of lines of pixels, and owing to wheel is uniform rotation, the distance therefore turned in the set time is constant.Region is extracted as splicing in the fixed pixel region extracting each image, splicing in K width original image is extracted zone length and is exactly the length that in image acquisition interval, wheel turns over, if therefore fixing each image is extracted the initial position in region, then the lower limb in the middle extraction region of K+1 width image is exactly the top edge extracting region in K width original image, therefore the splicing regions in sequence image is extracted, splice by the sequencing of shooting, it is possible to complete the complete image collection under the big visual field that single area array cameras can not shoot.
Referring to Fig. 4, in the optical triangulation on structured light direct projection measured object surface, the difference in height between measured object surface and the plane of reference is moved with the picture on imaging plane a certain specific mathematical relationship.This relation is divided into vertical and horizontal parameter mapping model be analyzed (respectively referring to Fig. 5 and Fig. 6), the case depth value of its correspondence can be obtained according to the light curve pixel coordinate on image.
Referring to Fig. 7, splicing is extracted the initial row in region and is determined by the position of line-structured light.Operate as follows: from original image, first extract structure Rhizoma Dioscoreae (peeled), and be refined as single pixel curve；Then pass through the point coordinates on single pixel light curve, calculate and obtain the row-coordinate meansigma methods n of structure light in K width original series image0；Calculate the extraction line number n corresponding to image sequencem；It is n that the initial row coordinate in region is extracted in the splicing of K+1 width image0+nm/ 2, namely the structure light of K width image is positioned at the middle in K+1 width image zooming-out region.Therefore it is the depth information extracting centre position, region in next width original image representated by the laser rays in current original image.
Original series image for ensureing shooting is clear, picture correction and splicing etc. are easy to operate to be carried out, and when ensureing image acquisition and depth survey required precision, adjusts one camera filming frequency, and according to one camera parameter, it is determined that certainly initiate the spacing with testee when terminating taking pictures.As preferably, spacing is between 50cm～200cm.
Described above to embodiment, makes professional and technical personnel in the field be capable of or uses the present invention.The multiple amendment of embodiment be will be apparent from for those skilled in the art, and generic principles defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to embodiment illustrated herein, and all employings are equal to the technical scheme that the mode of replacement or equivalent transformation obtains, and all fall within protection scope of the present invention.
Claims (10)
1. one kind uses the method that one camera realizes image acquisition and depth survey simultaneously, it is characterised in that comprise the following steps:
Step 1, to testee surface incident line structured light, it forms a light on testee surface and cuts curve, use one camera is continuously shot the surface image of the testee rotation tread of wheeled rotation with certain frame per second simultaneously, described light cuts curve and is included in the image of shooting, and stores the original series image that shooting obtains；
Step 2, carries out image rectification, splicing to described original series image sequence, obtains the complete image of testee；
Step 3, adopts line-structured light direct-injection type optic triangle method, obtains the object surface depth information of line-structured light position described in each image.
2. method according to claim 1, it is characterised in that: preferred, testee is class wheel object.
3. method according to claim 1 and 2, it is characterised in that: when the relative position of testee with one camera and line-structured light projector is fixed, described light cuts curve and is positioned at the centre position of described original series image.
4. method according to claim 1 and 2, it is characterized in that: when the relative position of testee with one camera and line-structured light projector is not fixed, namely when testee does the motion close to or away from one camera, one camera inclination angle and testee tread normal angle are below 10 °.
5. method according to claim 1, it is characterized in that: described image rectification is to carry out remarkable configuration extracting matching, geometric correction and gray reconstruction, make the testee image in original series image be in same position, and width is identical, facilitates follow-up splicing.
6. method according to claim 1, it is characterised in that described splicing comprises the following steps:
Measure K in described original series image and open image and K+1 opens the length that testee between image taking turns over, in conjunction with one camera imaging parameters, calculate number of lines of pixels corresponding in described original series image, namely extract line number nm；
Extract the initial position in region in fixing each image, then the lower limb in the middle extraction region of K+1 width image is exactly the top edge extracting region in K width original image；
Described extraction region is spliced successively, until obtaining the complete image of testee by the sequencing of shooting.
7. method according to claim 6, it is characterized in that: when described testee uniform motion, described extraction region is fixed pixel region, testee the frame frequency of the speed rolled, one camera collection image and the object distance between one camera and testee determine.
8. the method according to claim 6 or 7, it is characterised in that: splicing is extracted the initial row in region and is cut the position decision of curve by described light, first extracts described light from described original series image and cuts curve, and is refined as single pixel curve；Then pass through the point coordinates on single pixel light curve, calculate and obtain K and open light described in image and cut the row-coordinate meansigma methods n of curve0；It is n that the initial row coordinate in region is extracted in the splicing of K+1 width image0+nm/ 2, namely the described light of K width image cuts curve and is positioned at the middle in K+1 width image zooming-out region；
What the described light in presently described original series image cut curve representative is the depth information extracting centre position, region described in next width described in original series image, thus according to splicing order, described light can be cut curve and revert on spliced complete image, it is achieved described light cuts curve and position one_to_one corresponding on complete image.
9. method according to claim 1, it is characterised in that: object surface depth information measurement adopts line-structured light direct-injection type optic triangle method, by setting up horizontal and vertical mapping calculation model, sets up the mapping relations of image pixel coordinates and actual physics coordinate；In actual physics coordinate, abscissa is for being parallel to camera direction, and vertical coordinate is described line-structured light projecting direction, i.e. representative surface depth information.
10. method according to claim 1, it is characterised in that: described one camera is single area array CCD camera.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106404791A (en) * | 2016-08-24 | 2017-02-15 | 北京主导时代科技有限公司 | Train, on-line wheel tread image detection device and flaw detection system |
| CN110007289A (en) * | 2019-03-21 | 2019-07-12 | 杭州蓝芯科技有限公司 | A kind of motion artifact minishing method based on flight time depth camera |
| CN110155369A (en) * | 2019-05-29 | 2019-08-23 | 中国民航大学 | A kind of aircraft skin face crack inspection method |
| CN110530868A (en) * | 2018-05-25 | 2019-12-03 | 上海翌视信息技术有限公司 | A kind of detection method based on location information and image information |
| CN110779451A (en) * | 2019-11-14 | 2020-02-11 | 湖北工业大学 | Vehicle size measuring device and method based on single camera |
| CN112595261A (en) * | 2020-12-01 | 2021-04-02 | 哈尔滨石油学院 | Rusty spot detection system based on structured light |
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| CN113709371A (en) * | 2021-08-27 | 2021-11-26 | 苏州立创致恒电子科技有限公司 | Following imaging method and system for relatively moving object |
| CN114636385A (en) * | 2020-12-15 | 2022-06-17 | 奕目(上海)科技有限公司 | Three-dimensional imaging method and system based on light field camera and three-dimensional imaging measurement production line |
-
2016
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106404791A (en) * | 2016-08-24 | 2017-02-15 | 北京主导时代科技有限公司 | Train, on-line wheel tread image detection device and flaw detection system |
| CN106404791B (en) * | 2016-08-24 | 2019-05-24 | 北京主导时代科技有限公司 | A kind of train, online wheel tread image detection device and fault detection system |
| CN110595999A (en) * | 2018-05-25 | 2019-12-20 | 上海翌视信息技术有限公司 | Image acquisition system |
| CN110596126A (en) * | 2018-05-25 | 2019-12-20 | 上海翌视信息技术有限公司 | Sheet glass edge flaw detection method based on image acquisition |
| CN110530868A (en) * | 2018-05-25 | 2019-12-03 | 上海翌视信息技术有限公司 | A kind of detection method based on location information and image information |
| CN110530889A (en) * | 2018-05-25 | 2019-12-03 | 上海翌视信息技术有限公司 | A kind of optical detecting method suitable for industrial production line |
| CN110530885A (en) * | 2018-05-25 | 2019-12-03 | 上海翌视信息技术有限公司 | A kind of Systems for optical inspection suitable for industrial production line |
| CN110596132A (en) * | 2018-05-25 | 2019-12-20 | 上海翌视信息技术有限公司 | System suitable for industrial image detection |
| CN110596133A (en) * | 2018-05-25 | 2019-12-20 | 上海翌视信息技术有限公司 | Method suitable for industrial image detection |
| CN110596127B (en) * | 2018-05-25 | 2022-07-08 | 翌视智能科技(上海)有限公司 | Sheet glass edge flaw detection system based on image acquisition |
| CN110602355A (en) * | 2018-05-25 | 2019-12-20 | 上海翌视信息技术有限公司 | Image acquisition method |
| CN110596127A (en) * | 2018-05-25 | 2019-12-20 | 上海翌视信息技术有限公司 | Sheet glass edge flaw detection system based on image acquisition |
| CN110007289A (en) * | 2019-03-21 | 2019-07-12 | 杭州蓝芯科技有限公司 | A kind of motion artifact minishing method based on flight time depth camera |
| CN110007289B (en) * | 2019-03-21 | 2021-09-21 | 杭州蓝芯科技有限公司 | Motion artifact reduction method based on time-of-flight depth camera |
| CN110155369A (en) * | 2019-05-29 | 2019-08-23 | 中国民航大学 | A kind of aircraft skin face crack inspection method |
| CN110155369B (en) * | 2019-05-29 | 2022-05-17 | 中国民航大学 | Method for checking surface cracks of aircraft skin |
| CN110779451A (en) * | 2019-11-14 | 2020-02-11 | 湖北工业大学 | Vehicle size measuring device and method based on single camera |
| CN112595261A (en) * | 2020-12-01 | 2021-04-02 | 哈尔滨石油学院 | Rusty spot detection system based on structured light |
| CN114636385A (en) * | 2020-12-15 | 2022-06-17 | 奕目(上海)科技有限公司 | Three-dimensional imaging method and system based on light field camera and three-dimensional imaging measurement production line |
| CN113049082B (en) * | 2021-02-08 | 2022-03-08 | 杭州富加镓业科技有限公司 | Detection method of seed crystal rod jitter detection device and crystal growth method |
| CN113049082A (en) * | 2021-02-08 | 2021-06-29 | 杭州富加镓业科技有限公司 | Detection method of seed crystal rod jitter detection device and crystal growth method |
| CN113709371A (en) * | 2021-08-27 | 2021-11-26 | 苏州立创致恒电子科技有限公司 | Following imaging method and system for relatively moving object |
| CN113709371B (en) * | 2021-08-27 | 2023-11-03 | 苏州立创致恒电子科技有限公司 | Follow imaging method and system of relatively moving object |
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