CN106023193A - Array camera observation method for detecting structure surface in turbid media - Google Patents
Array camera observation method for detecting structure surface in turbid media Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/0002—Inspection of images, e.g. flaw detection
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Abstract
The invention discloses an array camera observation method for detecting a structure surface in turbid media, and the method employs a camera array device, can greatly reduce the observation distance under the condition that the size of a view field is not changed and improves the imaging resolution, so as to achieve a purpose of carrying out the clear imaging of the structure surface in the turbid media. The method comprises the following steps: calibrating all cameras through employing a coding point calibration plate, and obtaining the internal parameter matrix and distortion parameter matrix of each camera and a rotating matrix and translation matrix of a camera coordinate system and the world coordinate system; calculating an ideal internal parameter matrix of a camera array; calculating an image homography transformation matrix; carrying out the correction calculation of optical centers of the camera; carrying out the correction calculation of lens distortion; carrying out the calculation of the mapping relation between a single camera image and an array image, i.e., a look-up table; and carrying out the high-resolution imaging display and detection of the structure surface.
Description
Technical field
The present invention relates to a kind of array camera observation procedure of body structure surface detection in turbid media, especially a kind of
Utilize the observation of the fine definition body structure surface in turbid media that digital image processing techniques and camera calibration technology realize
Method.
Background technology
Structure under arms during can be affected by various conditions, these impacts can cause structure damage in various degree
Wound, affects it and normally uses.Therefore the safety to structure detects and is extremely important, and Surface testing is the most important
An aspect.Surface testing refer to overall structure and the measurement of the physical dimension of partial structurtes, Structural defect detection with
Measure.
Under normal condition, general employing one camera carries out Surface testing to structure, but is situated between as muddy at some complex conditions
In matter, if observed range farther out time, affected by optical transmission medium, hardly resulted in apparent image clearly；But observed range is near
When, visual field then can diminish.Current most of camera array use remote imaging, and image definition is difficult to ensure that, so far
A kind of array camera method that may be used for the detection of body structure surface in turbid media does not also occur.
Summary of the invention
Technical problem: the present invention provides a kind of simple to operate, it is easy to accomplish, can be with real-time display structure during detection
The array camera observation procedure of the detection of body structure surface in turbid media of surface image.
Technical scheme: the present invention body structure surface in turbid media detection array camera observation procedure, including with
Lower step:
1) array camera is demarcated: encoded point scaling board is placed in position, tested structural plan, and all cameras of array synchronize to adopt
Collection scaling board image, obtains one group of image 0；By scaling board along the direction translation known distance vertical with its plane, array phase
Machine synchronous acquisition scaling board image, obtains one group of image 1；By each collected by camera to image 0 and image 1 utilize two-step method mark
Surely obtaining all parameters of this camera, described camera parameter includes: inner parameter matrix Ai, lens distortion parameter matrix Di, camera
Photocentre coordinate system is relative to the spin matrix R of encoded point scaling board world coordinate systemi=[RI, x RI, y RI, z] and translation matrix Ti
=[TI, x TI, y TI, z], described inner parameter matrix isWherein fI, x、fI, yFor i-th camera
Horizontal direction and vertical direction equivalent focal length, i=1,2 ..., m, m is camera number, siFor obliquity factor, cI, x、cI, yFor mirror
The optical axis of head and the pixel coordinate of target surface intersection point；
2) array camera synchronous acquisition body structure surface image, calculates the structural table of each collected by camera according to relationship below
The homograph matrix H of face imagei:
AidealRideal=HiAiRi
Wherein fIdeal, x、fIdeal, y、sidealFor all camera fI, x、fI, y、siMeansigma methods, cIdeal, xAnd cIdeal, yFor often
The image list of individual camera should correct after the maximum preferable principal point coordinate of imaging region, RidealFor unit matrix,
3) world coordinates of each camera photocentre is first calculatedWherein Ci=[CI, x CI, y CI, z], then
After calculating correction, photocentre is to distance C of body structure surfaceIdeal, z, CIdeal, zFor C in all camera photocentre world coordinatesI, zAverage
Value；
4) with the upper left corner camera in camera array for camera 1, all camera photocentres are calculated relative to camera 1 according to following formula
The horizontally and vertically pixel translation x of photocentretrans、ytrans:
xtrans=(CI, x-C1, x)×fIdeal, x/CIdeal, z
ytrans=(CI, y-C1, y)×fIdeal, y/CIdeal, z
5) travel through the institute in array image as follows a little, calculate and determine the body structure surface figure that single camera gathers
As with the mapping relations of array image: for any point on array image, according to described step 4) all camera phases of obtaining
Pixel for camera 1 translates, and calculates this point and is positioned at the picture position of i-th camera, then utilizes described step 3) obtain
After correction, photocentre carries out photocentre position correction to the distance of body structure surface to each camera, utilizes described step 2) list that obtains should
Transformation matrix carries out homograph correction, finally utilizes described step 1) the lens distortion parameter matrix that obtains carries out school of distorting
Just；
Described photocentre position correction is carried out according to equation below:
xideal-cIdeal, x=(xi-cIdeal, x)×CI, z/CIdeal, z
yideal-cIdeal, y=(yi-cIdeal, y)×CI, z/CIdeal, z
Wherein xi、yiFor the image coordinate of any point, x before correctionideal、yidealSit for the image of any point after correction
Mark；
6) by described step 5) pixel value of each picture point in the mapping relations computing array image that obtains, and thus
Obtain array image to carry out array image in real time and show and the detection of apparent of structure.
Further, in the inventive method, described step 1) in, lens distortion parameter matrix includes 6 rank radial distortion ginsengs
Number K1、K2、K3、K4、K5、K6With 2 rank tangential distortion parameter matrix P1、P2。
Further, in the inventive method, described step 2) in, scaling board image includes but are not limited to encoded point.
The inventive method, by using camera array device, shortens observed range in the case of visual field size is constant, carries
Imaging definition in high turbid media, finally realizes carrying out the purpose of body structure surface detection in turbid media.
Beneficial effect: the present invention compared with prior art, has the advantage that
(1) tested body structure surface visual inspection.Compared with the detection techniques such as other acoustic imagings, the present invention uses optical imagery
Technology, can be directly observed body structure surface original image, more intuitively, effectively.
(2) body structure surface imaging becomes apparent from.Farther out, visual field is relatively for traditional one camera body structure surface detection image-forming range
Little；And the present invention uses array camera device, not only increase visual field, shorten observed range simultaneously, decrease Jie of muddiness
Verify in the impact of imaging definition, improve body structure surface imaging definition.
(3) simple to operation.The present invention uses encoded point, only needs two steps can complete to demarcate, fixing owing to using
Array camera device, demarcates once when only need to dispatch from the factory, and carries out afterwards when body structure surface detects without again demarcating.
(4) body structure surface detects in real time.The present invention, can direct computing array image by building by the way of look-up table
Pixel value, and suitable multithreading concurrent operation；Higher compared to the method computational efficiency using image mosaic.
Accompanying drawing explanation
Fig. 1 is encoded point scaling board, is the standard component of known dimensions.
Fig. 2 is inventive method flow chart.
Detailed description of the invention
Below in conjunction with embodiment and Figure of description, the present invention is further illustrated.
Prepare a camera array device: camera is ordered on rigid mount by grid arrangement mode, the most all cameras
Image resolution ratio, aperture, the camera such as focal length the most consistent with lens parameters, the visual field size of single camera is about 8cm × 6cm,
Observed range is about 11cm, and between adjacent cameras, horizontal range is slightly less than the width of single camera visual field, and vertical distance is slightly less than list
The height of individual viewing field of camera, keeping parallelism of trying one's best between camera and camera；This arrangement mode both can make full use of the figure of camera
Can ensure that again between adjacent cameras, have certain overlapping region as resolution, thus ensure the seriality of final array image.If
Condition carries out body structure surface detection under water, then camera should possess water-tight device, for ensure under low light condition can blur-free imaging,
At least should arrange around each camera that 4 LED are to improve brightness.
In turbid media, the array camera observation procedure of body structure surface detection comprises the following steps:
1) array camera is demarcated: encoded point scaling board shown in Fig. 1 is placed in position, tested structural plan, uses mobile working
Stand and control array all cameras synchronous acquisition scaling board image, obtain one group of image 0；By scaling board along vertical with its plane
Direction translation known distance, array camera synchronous acquisition scaling board image, obtain one group of image 1；By each collected by camera to
Image 0 and image 1 utilize two-step method to demarcate all parameters obtaining this camera；This method has only to two steps and gets final product calibration for cameras
All parameters, can realize repetitive measurement without again demarcating after once demarcation terminates.Use encoded point scaling board conduct
Demarcate pattern, it is characterised in that each characteristic point can uniquely identify, in calibration process the image coordinate of each characteristic point and
World coordinates can uniquely determine, scaling board herein includes but are not limited to encoded point scaling board.Described camera parameter includes:
Inner parameter matrix Ai, lens distortion parameter matrix Di, camera photocentre coordinate system is relative to encoded point scaling board world coordinate system
Spin matrix Ri=[RI, x RI, y RI, z] and translation matrix Ti=[TI, x TI, y TI, z].Inner parameter matrixWherein fI, x、fI, yFor horizontal direction and the vertical direction equivalent focal length of i-th camera, i=1,
2 ..., m (m is camera number), siFor obliquity factor, cI, x、cI, yOptical axis and the pixel coordinate of target surface intersection point for camera lens；Mirror
Head distortion parameter matrix generally comprises 6 rank radial distortion parameter K1、K2、K3、K4、K5、K6With 2 rank tangential distortion parameter matrix P1、
P2, lens distortion parameter matrix is mainly used to the image fault that correction causes due to lens distortion.
2) array camera synchronous acquisition body structure surface image, calculates the structural table of each collected by camera according to relationship below
The homograph matrix H of face imagei:
AidealRideal=HiAiRi
Wherein fIdeal, x、fIdeal, y、sidealFor all camera fI, x、fI, y、siMeansigma methods, cIdeal, xAnd cIdeal, yFor often
The image list of individual camera should correct after the maximum preferable principal point coordinate of image imaging region, RidealFor unit matrix,
3) due to the alignment error of camera, the photocentre of all cameras can not be in the same plane, so that carry out
Camera photocentre position correction.First the world coordinates of each camera photocentre is calculatedWherein Ci=[CI, x CI, y
CI, z].Then after calculating corrects, photocentre is C to the distance of body structure surfaceIdeal, z, CIdeal, zFor in all camera photocentre world coordinates
CI, zMeansigma methods.
4) with the upper left corner camera in camera array for camera 1, all camera photocentres are calculated relative to camera 1 according to following formula
The horizontally and vertically pixel translation x of photocentretrans、ytrans:
xtrans=(CI, x-C1, x)×fIdeal, x/CIdeal, z
ytrans=(CI, y-C1, y)×fIdeal, y/CIdeal, z
5) travel through the institute in array image as follows a little, calculate and determine the body structure surface figure that single camera gathers
As with the mapping relations of array image: for any point on array image, according to described step 4) all camera phases of obtaining
Pixel for camera 1 translates, and calculates this point and is positioned at the picture position of i-th camera, is then utilized respectively described step 3)
To correction after photocentre each camera carried out photocentre position correction to the distance of structural plan, utilizes described step 2) obtain
Homograph matrix carries out homograph correction, finally utilizes described step 1) the lens distortion parameter matrix that obtains distorts
Correction.A little, mapping relations i.e. look-up table has calculated in institute in traversal array image.
Described photocentre position correction is carried out according to equation below:
xideal-cIdeal, x=(xi-cIdeal, x)×CI, z/CIdeal, z
yideal-cIdeal, y=(yi-cIdeal, y)×CI, z/CIdeal, z
Wherein xi、yiFor the image coordinate of any point, x before correctionideal、yidealSit for the image of any point after correction
Mark.
6) by described step 5) pixel value of each picture point in the mapping relations quick computing array image that obtains, from
And obtain array image.When array camera device only need to dispatch from the factory demarcate once obtain described step 5) mapping relations, afterwards
These mapping relations can be directly utilized during detection, use multithreading that body structure surface array can be calculated and be shown in real time
Image.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, it is also possible to making some improvement and equivalent, these are to the present invention
Claim improve with equivalent after technical scheme, each fall within protection scope of the present invention.
Claims (3)
1. the array camera observation procedure of body structure surface detection in turbid media, it is characterised in that the method includes
Following steps:
1) array camera is demarcated: encoded point scaling board is placed in position, tested structural plan, array all cameras synchronous acquisition mark
Determine plate image, obtain one group of image 0；By scaling board along the direction translation known distance vertical with its plane, array camera is same
Step gathers scaling board image, obtains one group of image 1；By each collected by camera to image 0 and image 1 utilize two-step method to demarcate
To all parameters of this camera, described camera parameter includes: inner parameter matrix Ai, lens distortion parameter matrix Di, camera photocentre
Coordinate system is relative to the spin matrix R of encoded point scaling board world coordinate systemi=[RI, x RI, y RI, z] and translation matrix Ti=
[TI, x TI, y TI, z], described inner parameter matrix isWherein fI, x、fI, yWater for i-th camera
Square to vertical direction equivalent focal length, i=1,2 ..., m, m is camera number, siFor obliquity factor, cI, x、cI, yFor camera lens
The pixel coordinate of optical axis and target surface intersection point；
2) array camera synchronous acquisition body structure surface image, calculates the body structure surface figure of each collected by camera according to relationship below
The homograph matrix H of picturei:
AidealRideal=HiAiRi
Wherein fIdeal, x、fIdeal, y、sidealFor all camera fI, x、fI, y、siMeansigma methods, cIdeal, xAnd cIdeal, yFor each camera
Image list should correct after the maximum preferable principal point coordinate of imaging region, RidealFor unit matrix,
3) world coordinates of each camera photocentre is first calculatedWherein Ci=[CI, x CI, y CI, z], then calculate
After correction, photocentre is to distance C of body structure surfaceIdeal, z, CIdeal, zFor C in all camera photocentre world coordinatesI, zMeansigma methods；
4) with the upper left corner camera in camera array for camera 1, all camera photocentres are calculated relative to camera 1 photocentre according to following formula
Horizontally and vertically pixel translation xtrans、ytrans:
xtrans=(CI, x-C1, x)×fIdeal, x/CIdeal, z
ytrans=(CI, y-C1, y)×fIdeal, y/CIdeal, z
5) as follows the institute in traversal array image a little, calculate determine body structure surface image that single camera gathers and
The mapping relations of array image: for any point on array image, according to described step 4) all cameras of obtaining relative to
The pixel translation of camera 1, calculates this point and is positioned at the picture position of i-th camera, then utilize described step 3) correction that obtains
Rear photocentre carries out photocentre position correction to the distance of body structure surface to each camera, utilizes described step 2) homograph that obtains
Matrix carries out homograph correction, finally utilizes described step 1) the lens distortion parameter matrix that obtains carries out distortion correction；
Described photocentre position correction is carried out according to equation below:
xideal-cIdeal, x=(xi-cIdeal, x)×CI, z/CiDeal, z
yideal-cIdeal, y=(yi-cIdeal, y)×CI, z/CIdeal, z
Wherein xi、yiFor the image coordinate of any point, x before correctionideal、yidealFor the image coordinate of any point after correction；
6) by described step 5) pixel value of each picture point in the mapping relations computing array image that obtains, thus obtain battle array
Row image.
The array camera observation procedure of body structure surface detection, its feature in turbid media the most according to claim 1
It is, described step 1) in, lens distortion parameter matrix includes 6 rank radial distortion parameter K1、K2、K3、K4、K5、K6Tangential with 2 rank
Distortion parameter matrix P1、P2。
The array camera observation procedure of body structure surface detection in turbid media the most according to claim 1 and 2, it is special
Levy and be, described step 2) in, scaling board image includes but are not limited to encoded point.
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| CN107643213A (en) * | 2017-07-31 | 2018-01-30 | 东南大学 | A kind of high temperature strain measurement method for being used to eliminate off face Influence of Displacement |
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| CN110298878A (en) * | 2018-03-21 | 2019-10-01 | 北京猎户星空科技有限公司 | A kind of the determination method, apparatus and electronic equipment of target object three-dimensional pose |
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