CN106500619B - The camera internal imaging sensor installation error separation method that view-based access control model measures - Google Patents
The camera internal imaging sensor installation error separation method that view-based access control model measures Download PDFInfo
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
- G01D3/032—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure affecting incoming signal, e.g. by averaging; gating undesired signals
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Abstract
The invention belongs to optical measurement and field of visual inspection, and in particular to a kind of camera internal imaging sensor installation error separation method that view-based access control model measures；This method establishes three coordinate eikonal equations of actual imaging point and ideal image point in imaging sensor by analyzing camera internal imaging sensor actual installation position and migration included angle error, offset distance error and offsetting rotational angle error existing for ideal mounting position；Migration included angle, offset distance and offset rotation angle and coordinate difference relationship graphics are drawn again；Then camera calibration, coordinates computed offset are carried out；Calculate lens distortion error simultaneously；Finally find out imaging sensor migration included angle optimal solution, offset distance optimal solution and offset rotation angle optimal solution；The present invention has considered lens distortion error and camera internal imaging sensor error in mounting position, to imaging sensor actual installation position and ideal mounting position shift caused by error carry out analysis and calibration, and then improve reconstruction accuracy.
Description
Technical field
The invention belongs to optical measurement and field of visual inspection, and in particular to a kind of camera internal figure that view-based access control model measures
As sensor installation error separation method.
Background technology
In recent years, machine vision technique is widely applied with vision detection technology in many fields, as aerial mapping,
The fields such as medical imaging, large complicated carved three dimensional detection, the automatic identification of machine components and dimensional measurement.Vision-based detection is not
But accuracy of detection can be improved, effective solution route when even more many common detection methods cannot achieve.
The acquisition of object to be detected image is the basis of vision-based detection research.Vision detection system should be able to be obtained from industrial camera
The image taken sets out, by determining two-dimentional picture point and actual object point correspondence in image, the thus object in environment-identification,
To carry out three-dimensional reconstruction.
In being detected using industrial camera, error caused by camera is the main error in system, it influences system
The measurement accuracy of system.Due to the limitation of manufacture level, actual camera position of image sensor can deviate ideal image sensor position
It sets to which existence position installation error causes pixel to shift, keeps shooting result inaccurate.In industrial camera work, especially
During it measures large sized object, object distance is hundred times even thousand times of focal length, and installation error may be put in the measurement results
It is thousands of times big, so camera image sensor installation error seriously affects measurement accuracy, it is necessary to being missed caused by industrial camera
Difference is analyzed, so that the precision to system is evaluated.
In existing detection technique, camera lens distortion error is considered mostly, seldom considers camera internal imaging sensor
Pixel caused by error in mounting position deviates, and the present invention is directed to existing vision measurement technical deficiency, carries out mathematical modeling, derives
Go out there are the error model of installation error and imaging model, camera image sensor error in mounting position has been carried out compared with system and
In-depth study.
Invention content
In view of the above-mentioned problems, the invention discloses the camera internal imaging sensor installation errors that a kind of view-based access control model measures
Separation method, this method has considered lens distortion error and camera internal imaging sensor error in mounting position, to camera
Internal image sensor actual installation position and ideal mounting position shift caused by error carry out analysis and calibration, into
And improve reconstruction accuracy.
The object of the present invention is achieved like this：
The camera internal imaging sensor installation error separation method that view-based access control model measures, includes the following steps：
Step a, it is deviated with existing for ideal mounting position by analyzing camera internal imaging sensor actual installation position
Angle error carries out mathematical modeling, establishes the first coordinate eikonal equation of actual imaging point and ideal image point in imaging sensor；
Step b, it is deviated with existing for ideal mounting position by analyzing camera internal imaging sensor actual installation position
Range error carries out mathematical modeling, establishes the second coordinate eikonal equation of actual imaging point and ideal image point in imaging sensor；
Step c, it is deviated with existing for ideal mounting position by analyzing camera internal imaging sensor actual installation position
Rotation angle error carries out mathematical modeling, establishes the third coordinate difference of actual imaging point and ideal image point in imaging sensor
Equation；
Step d, the first coordinate eikonal equation established using step a, draws migration included angle and coordinate difference relationship graphics；
Step e, the second coordinate eikonal equation established using step b, draws offset distance and coordinate difference relationship graphics；
Step f, the third coordinate eikonal equation that abbreviation step c is established, draws offset rotation angle and coordinate difference relationship graphics；
Step g, camera calibration is carried out, a certain calibration point of scaling board is set as index point, inside and outside the camera calibrated
Parameter is counter to release the calibration point coordinate value, is compared with true coordinate value, coordinates computed offset；
Step h, camera lens distortion error is calculated；
Step i, the coordinate shift amount obtained using step g subtracts the lens distortion error that step h is obtained, and utilizes step d
Obtained migration included angle and the obtained offset distance of coordinate difference relationship graphics, step e and coordinate difference relationship graphics and step f
Obtained offset rotation angle and coordinate difference relationship graphics, it is optimal to find out imaging sensor migration included angle optimal solution, offset distance
Solution and offset rotation angle optimal solution.
The camera internal imaging sensor installation error separation method that above-mentioned view-based access control model measures, the step a are specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image
Sensor parallel, o are Z axis and imaging sensor intersection point, and Oo is the focal length f of camera；Then actual imaging point is sat in imaging sensor
Mark and ideal image point coordinates Y-axis offset Δ Y in camera coordinates system1With Z axis offset Δ Z1Respectively：
In formula, f indicates camera focus, φ1Indicate that incident ray and z-axis angle, λ indicate imaging sensor actual installation position
Set the angle with ideal mounting position.
The camera internal imaging sensor installation error separation method that above-mentioned view-based access control model measures, the step b are specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image
Sensor parallel, o are Z axis and imaging sensor intersection point；Then actual imaging point coordinates is sat with ideal image point in imaging sensor
It is marked on Y-axis offset Δ Y in camera coordinates system2With Z axis offset Δ Z2Respectively：
ΔY2=Δ ftan φ2
ΔZ2=Δ f
In formula, Δ f indicates the bias of imaging sensor actual installation position and ideal mounting position, φ2Indicate incident
Light and Z axis angle.
The camera internal imaging sensor installation error separation method that above-mentioned view-based access control model measures, the step c are specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image
Sensor parallel, o are Z axis and imaging sensor intersection point；The intersection point of camera optical axis and imaging sensor is defined as ideal image
Face and actual imaging areal coordinate axis origin, o-xy are ideal image areal coordinate system, and o-x ' y ' are actual imaging areal coordinate system, x, y
Axis, x ', y ' axis are parallel with imaging sensor；Then in imaging sensor actual imaging point coordinates with ideal image point coordinates in phase
Y-axis offset Δ Y in machine coordinate system3With X-axis offset Δ X1Respectively：
In formula,A, b are the resonable ideal image coordinate being thought of as in image coordinates system o-xy of imaging point,
To deviate rotation angle.
The step f is specially：
It enables：
B=atank
r2=a2+b2=a2+a2·tan2K=b2·cot2k+b2
Then：
And then draw Δ X1, Δ Y3With k,Curve distribution figure.
Advantageous effect：The present invention has considered lens distortion error and camera internal imaging sensor installation site is missed
Difference, to camera internal imaging sensor actual installation position and ideal mounting position shift caused by error analyze
With calibration, and then improve reconstruction accuracy.
Description of the drawings
Fig. 1 is the flow chart of the camera internal imaging sensor installation error separation method the present invention is based on vision measurement.
Fig. 2 is the correspondence figure between camera coordinates system and imaging sensor coordinate system.
Fig. 3 is that there are mathematical representations when angle error with actual imaging face in ideal image face.
Fig. 4 is that there are mathematical representations when biased error with actual imaging face in ideal image face.
Fig. 5 is that there are mathematical representations when rotation angle biased error with actual imaging face in ideal image face.
Fig. 6 is migration included angle and coordinate difference relationship graphics one.
Fig. 7 is migration included angle and coordinate difference relationship graphics two.
Fig. 8 is offset distance and coordinate difference relationship graphics.
Fig. 9 is offset rotation angle and coordinate difference relationship graphics one.
Figure 10 is offset rotation angle and coordinate difference relationship graphics two.
Specific implementation mode
The specific implementation mode of the present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment one
The camera internal imaging sensor installation error separation method that the view-based access control model of the present embodiment measures, flow chart is as schemed
Shown in 1, this approach includes the following steps：
Step a, it is deviated with existing for ideal mounting position by analyzing camera internal imaging sensor actual installation position
Angle error carries out mathematical modeling, establishes the first coordinate eikonal equation of actual imaging point and ideal image point in imaging sensor；
Step b, it is deviated with existing for ideal mounting position by analyzing camera internal imaging sensor actual installation position
Range error carries out mathematical modeling, establishes the second coordinate eikonal equation of actual imaging point and ideal image point in imaging sensor；
Step c, it is deviated with existing for ideal mounting position by analyzing camera internal imaging sensor actual installation position
Rotation angle error carries out mathematical modeling, establishes the third coordinate difference of actual imaging point and ideal image point in imaging sensor
Equation；
Step d, the first coordinate eikonal equation established using step a, draws migration included angle and coordinate difference relationship graphics；
Step e, the second coordinate eikonal equation established using step b, draws offset distance and coordinate difference relationship graphics；
Step f, the third coordinate eikonal equation that abbreviation step c is established, draws offset rotation angle and coordinate difference relationship graphics；
Step g, camera calibration is carried out, a certain calibration point of scaling board is set as index point, inside and outside the camera calibrated
Parameter is counter to release the calibration point coordinate value, is compared with true coordinate value, coordinates computed offset；
Step h, camera lens distortion error is calculated；
Step i, the coordinate shift amount obtained using step g subtracts the lens distortion error that step h is obtained, and utilizes step d
Obtained migration included angle and the obtained offset distance of coordinate difference relationship graphics, step e and coordinate difference relationship graphics and step f
Obtained offset rotation angle and coordinate difference relationship graphics, it is optimal to find out imaging sensor migration included angle optimal solution, offset distance
Solution and offset rotation angle optimal solution.
Specific embodiment two
The camera internal imaging sensor installation error separation method that the view-based access control model of the present embodiment measures, is being embodied
On the basis of example one, further limiting step a is specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image
Sensor parallel, o are Z axis and imaging sensor intersection point, and Oo is the focal length f of camera；Then actual imaging point is sat in imaging sensor
Mark and ideal image point coordinates Y-axis offset Δ Y in camera coordinates system1With Z axis offset Δ Z1Respectively：
In formula, f indicates camera focus, φ1Indicate that incident ray and z-axis angle, λ indicate imaging sensor actual installation position
Set the angle with ideal mounting position.
Specific embodiment three
The camera internal imaging sensor installation error separation method that the view-based access control model of the present embodiment measures, is being embodied
On the basis of example one, further limiting step b is specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image
Sensor parallel, o are Z axis and imaging sensor intersection point；Then actual imaging point coordinates is sat with ideal image point in imaging sensor
It is marked on Y-axis offset Δ Y in camera coordinates system2With Z axis offset Δ Z2Respectively：
ΔY2=Δ ftan φ2
ΔZ2=Δ f
In formula, Δ f indicates the bias of imaging sensor actual installation position and ideal mounting position, φ2Indicate incident
Light and Z axis angle.
Specific embodiment four
The camera internal imaging sensor installation error separation method that the view-based access control model of the present embodiment measures, is being embodied
On the basis of example one, further limiting step c is specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image
Sensor parallel, o are Z axis and imaging sensor intersection point；The intersection point of camera optical axis and imaging sensor is defined as ideal image
Face and actual imaging areal coordinate axis origin, o-xy are ideal image areal coordinate system, and o-x ' y ' are actual imaging areal coordinate system, x, y
Axis, x ', y ' axis are parallel with imaging sensor；Then in imaging sensor actual imaging point coordinates with ideal image point coordinates in phase
Y-axis offset Δ Y in machine coordinate system3With X-axis offset Δ X1Respectively：
In formula,A, b are the resonable ideal image coordinate being thought of as in image coordinates system o-xy of imaging point,
To deviate rotation angle.
Specific embodiment five
The camera internal imaging sensor installation error separation method that the view-based access control model of the present embodiment measures, is being embodied
On the basis of example four, further limiting the step f is specially：
It enables：
B=atank
r2=a2+b2=a2+a2·tan2K=b2·cot2k+b2
Then：
And then draw Δ X1, Δ Y3With k,Curve distribution figure.
In order to explanation is further explained in detail to above example, a few width figures are appended, wherein：
Fig. 2 is the correspondence figure between camera coordinates system and imaging sensor coordinate system；
Fig. 3 is that there are mathematical representations when angle error with actual imaging face in ideal image face；
Fig. 4 is that there are mathematical representations when biased error with actual imaging face in ideal image face；
Fig. 5 is that there are mathematical representations when rotation angle biased error with actual imaging face in ideal image face；
Fig. 6 and Fig. 7 is migration included angle and coordinate difference relationship graphics；
Fig. 8 is offset distance and coordinate difference relationship graphics；
Fig. 9 and Figure 10 is offset rotation angle and coordinate difference relationship graphics.
In addition, in step h, picture point can be expressed as in coordinate of the camera under lens distortion：
Wherein, (xu,yu) it is the image point coordinates (x calculated by camera linear modeld,yd) it is real image point
Coordinate；δxAnd δyIt is nonlinear distortion value, is represented by：
In formula, k1、k2、p1、p2、s1、s2For nonlinear distortion variable element.
Claims (5)
1. the camera internal imaging sensor installation error separation method that view-based access control model measures, which is characterized in that including following step
Suddenly：
Step a, by analyzing camera internal imaging sensor actual installation position and migration included angle existing for ideal mounting position
Error carries out mathematical modeling, establishes the first coordinate eikonal equation of actual imaging point and ideal image point in imaging sensor；
Step b, by analyzing camera internal imaging sensor actual installation position and offset distance existing for ideal mounting position
Error carries out mathematical modeling, establishes the second coordinate eikonal equation of actual imaging point and ideal image point in imaging sensor；
Step c, by analyzing camera internal imaging sensor actual installation position and offset rotation existing for ideal mounting position
Angular error carries out mathematical modeling, establishes the third coordinate eikonal equation of actual imaging point and ideal image point in imaging sensor；
Step d, the first coordinate eikonal equation established using step a, draws migration included angle and coordinate difference relationship graphics；
Step e, the second coordinate eikonal equation established using step b, draws offset distance and coordinate difference relationship graphics；
Step f, the third coordinate eikonal equation that abbreviation step c is established, draws offset rotation angle and coordinate difference relationship graphics；
Step g, camera calibration is carried out, a certain calibration point of scaling board is set as index point, utilizes the camera inside and outside parameter calibrated
It is counter to release the calibration point coordinate value, it is compared with true coordinate value, coordinates computed offset；
Step h, camera lens distortion error is calculated；
Step i, the coordinate shift amount obtained using step g subtracts the lens distortion error that step h is obtained, and is obtained using step d
Migration included angle obtained with the obtained offset distance of coordinate difference relationship graphics, step e and coordinate difference relationship graphics and step f
Offset rotation angle and coordinate difference relationship graphics, find out imaging sensor migration included angle optimal solution, offset distance optimal solution and
Offset rotation angle optimal solution.
2. the camera internal imaging sensor installation error separation method that view-based access control model according to claim 1 measures,
It is characterized in that, the step a is specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image sensing
Device is parallel, and o is Z axis and imaging sensor intersection point, and Oo is the focal length f of camera；Then in imaging sensor actual imaging point coordinates with
Ideal image point coordinates Y-axis offset Δ Y in camera coordinates system1With Z axis offset Δ Z1Respectively：
In formula, f indicates camera focus, φ1Indicate incident ray and z-axis angle, λ indicate imaging sensor actual installation position with
The angle of ideal mounting position.
3. the camera internal imaging sensor installation error separation method that view-based access control model according to claim 1 measures,
It is characterized in that, the step b is specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image sensing
Device is parallel, and o is Z axis and imaging sensor intersection point；Then actual imaging point coordinates exists with ideal image point coordinates in imaging sensor
Y-axis offset Δ Y in camera coordinates system2With Z axis offset Δ Z2Respectively：
ΔY2=Δ ftan φ2
ΔZ2=Δ f
In formula, Δ f indicates the bias of imaging sensor actual installation position and ideal mounting position, φ2Indicate incident ray with
Z axis angle.
4. the camera internal imaging sensor installation error separation method that view-based access control model according to claim 1 measures,
It is characterized in that, the step c is specially：
Camera coordinates system O-XYZ is established using the optical center of camera as origin, Z axis is overlapped with camera optical axis, X, Y-axis and image sensing
Device is parallel, and o is Z axis and imaging sensor intersection point；By the intersection point of camera optical axis and imaging sensor be defined as ideal image face with
Actual imaging areal coordinate axis origin, o-xy be ideal image areal coordinate system, o-x ' y ' be actual imaging areal coordinate system, x, y-axis,
X ', y ' axis are parallel with imaging sensor；Then in imaging sensor actual imaging point coordinates and ideal image point coordinates in camera
Y-axis offset Δ Y in coordinate system3With X-axis offset Δ X1Respectively：
In formula,A, b are the resonable ideal image coordinate being thought of as in image coordinates system o-xy of imaging point,It is inclined
From rotation angle.
5. the camera internal imaging sensor installation error separation method that view-based access control model according to claim 4 measures,
It is characterized in that, the step f is specially：
It enables：
B=atank
r2=a2+b2=a2+a2·tan2K=b2·cot2k+b2Then：
And then draw Δ X1, Δ Y3With k,Curve distribution figure.
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| CN109550649B (en) * | 2017-09-25 | 2022-02-08 | 深圳市腾盛精密装备股份有限公司 | Dispensing positioning method and device based on machine vision |
| CN108429908B (en) * | 2018-06-15 | 2020-09-22 | 昆山丘钛微电子科技有限公司 | Camera module testing method, device, equipment and medium |
| CN110245439B (en) * | 2019-06-20 | 2022-04-08 | 成都飞机工业（集团）有限责任公司 | Mounting error modeling and compensating method for flared conduit |
| CN112215888B (en) * | 2019-07-11 | 2024-07-23 | 中国科学院沈阳自动化研究所 | Method for calculating deflection angle of milk powder can based on machine vision |
| CN111179339B (en) * | 2019-12-13 | 2024-03-08 | 深圳市瑞立视多媒体科技有限公司 | Coordinate positioning method, device, equipment and storage medium based on triangulation |
| CN111780689B (en) * | 2020-07-13 | 2021-06-29 | 四川大学 | Optimal rotation angle determination method based on cross-correlation structured light 360-degree measurement |
| CN111951340B (en) * | 2020-08-26 | 2024-05-07 | 珠海广浩捷科技股份有限公司 | Non-contact optical vision calibration method |
| CN117490571B (en) * | 2024-01-02 | 2024-03-22 | 中国石油大学(华东) | Double-plane mirror installation error measurement method for mirror image vision measurement system |
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