CN106500625B - A kind of telecentricity stereo vision measurement method - Google Patents
A kind of telecentricity stereo vision measurement method Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The present invention relates to a kind of telecentricity stereo vision measuring apparatus and its applied to the method for object dimensional pattern micron accuracies measurement, realize that the micron order of testee three-dimensional appearance data is obtained and detected.Telecentricity stereo vision measuring apparatus, including telecentricity camera A, telecentricity camera B and data processing computer.Telecentricity camera A, telecentricity camera B connect firmly installation, data processing computer and telecentricity camera connection, and real-time synchronization acquires the image data of two telecentricity cameras, and resolves object under test three-dimensional appearance data.Telecentricity camera enlargement ratio within the scope of Depth of field is invariable, and has the characteristics that low distortion, the big depth of field, the measuring system constituted using telecentricity camera, and measurement accuracy is high.Method for correcting polar line, be applied to telecentricity Stereo Vision Measurement System, can by the search dimension of subsequent image dense Stereo Matching by Simplified two-dimension be it is one-dimensional, improve the efficiency of dense Stereo Matching.
Description
Technical field
The invention belongs to computer vision fields, more particularly to the telecentricity stereo-visiuon measurement of a set of micron order measurement accuracy
Device and measurement method.
Background technique
High-precision industrial detection is an indispensable link of mechanical manufacturing field, and wherein high-precision three-dimensional pattern
Measurement is to realize a kind of important means of the task.Currently, the technology for obtaining object dimensional pattern can be divided into contact and non-
Contact measurement method two major classes.Contact-type 3 D measuring system is widely used in commercial measurement because of its measurement accuracy height,
But its measuring speed is slower, and the measurement method of contact may measuring targets pollute, be denaturalized or damage, no
Suitable for real-time detection and detect some higher objects of value.And current non-contact 3-D measuring system has merged light
, digital picture, computer vision technique obtain body surface parameter information in the case where not contacting testee surface,
And quite high precision and higher measurement efficiency can be provided, it is the one kind for solving the three-dimensional full-scale detection problem of medium-and-large-sized workpiece
Feasible program.Therefore, since the nineties in last century, with automatic technology, microelectric technique, artificial intelligence technology and meter
The rapid development of calculation machine aided design techniques, contactless measurement and reconfiguration technique are widely used to Surface testing and survey
Amount field.But existing stereo visual system mostly uses regular industrial camera, image-forming principle is similar to pinhole imaging system, thus
When measuring suitable for big visual field large scale, and carrying out image measurement on hand, pattern distortion can bring not measurement than more serious
Benefit influences, and is not suitable for carrying out high-acruracy survey and reconstruct to microsize workpiece.
Conventional vision measurement system utilizes aperture camera, and the imaging size of target has at a distance from target to camera
It closes, causes to need just obtain correct measured value by ratiometric conversion when measurement, increase the consumption of system to a certain extent
When.Different from the perspective projection of aperture camera model, bilateral telecentric lens are by placing an aperture in the position of the focal length of lens
Diaphragm comes so that camera lens is capable of providing the parallel projection of scene.Therefore, bilateral telecentric lens can be in bigger field depth
Interior to provide permanent enlargement ratio, this property enables physics ruler of the camera lens relatively easily only by camera to target
It is very little to measure and compare, do not need the actual size that target is obtained by further calculating.In measurement microsize work
When part, in the case where obtaining identical enlargement ratio, apart from longer, precision is higher for the measurements of telecentric lens.
Summary of the invention
It is an object of the invention to overcome the shortcomings of existing three-dimension measuring system, takes into account conventional telecentricity camera industrial detection and set
Standby advantage with high accuracy, provides a set of telecentricity stereo vision measuring apparatus and measurement method, realizes testee three-dimensional appearance number
According to micron order obtain and detection.
Telecentricity stereo vision measuring apparatus of the invention, including telecentricity camera A, telecentricity camera B and data processing computer.
Wherein, telecentricity camera A, telecentricity camera B connect firmly installation, have public view field, i.e., the visual angle of telecentricity camera A is with telecentricity camera B's
There is an angle at visual angle, and 0 °~90 ° of angular range；Data processing computer and telecentricity camera A, telecentricity camera B connection, real-time synchronization are adopted
Collect the image data of two telecentricity cameras, and resolves object under test three-dimensional appearance data.It connects firmly installation and refers to telecentricity camera A and remote
The relative position of heart camera B is fixed.
With the method for the device of the invention measurement testee three-dimensional appearance, which comprises the following steps:
The first step, system calibrating
1.1 establish the calibration coordinate system O of camera A, BA-XAYAZA、OB-XBYBZB
Telecentricity camera A coordinate system OA-XAYAZA, using telecentricity camera A optical center as origin OA,ZAAxis is overlapped with camera optical axis, is taken
Shooting direction is positive direction；YAAxis and ZAAxis is orthogonal, along telecentricity camera A imaging sensor column direction； XAAxis and YAZAPlane is hung down
Directly, along telecentricity camera A imaging sensor line direction；
Telecentricity camera B coordinate system OB-XBYBZB, using telecentricity camera B optical center as origin OB,ZBAxis is overlapped with camera optical axis, is taken
Shooting direction is positive direction；YBAxis and ZBAxis is orthogonal, along telecentricity camera B imaging sensor column direction； XBAxis and YBZBPlane is hung down
Directly, along telecentricity camera B imaging sensor line direction；
1.2 camera calibration
Using existing telecentricity biocular systems calibration algorithm, such as document " Telecentric stereo micro-vision
System:Calibration method and experiments " (it is published within 2014 " Optics and Lasers in
Engineering ") propose algorithm, obtain telecentricity camera A, B internal reference KA、KB, in world coordinate system OW-XWYWZWIn it is outer
Join (RA,tA)、(RB,tB) and projection matrix PA、 PB, calculation formula is as follows:
tA=[tAx tAy tAz]T,tB=[tBx tBy tBz]T (4)
Wherein,
MAAnd MBIt is the amplification factor of telecentricity camera A, B respectively；
(uA0,vA0) and (uB0,vB0) be respectively telecentricity camera A, B imaging surface center coordinate；
rA1,rA2,rA3Telecentricity camera A is respectively indicated in world coordinate system OW-XWYWZWIn XA,YA,ZAAxis；It indicates
rAiTransposition, wherein i=1,2,3；rB1,rB2,rB3Telecentricity camera B is respectively indicated in world coordinate system OW-XWYWZWIn XB,YB,ZB
Axis；The r of expressionBiTransposition, wherein i=1,2,3；
tA=[tAx tAy tAz]TIndicate the translational movement of telecentricity camera A, tB=[tBx tBy tBz]TIndicate telecentricity camera B's
Translational movement；
RA2×3And RB2×3Respectively indicate telecentricity camera A, B respectively spin matrix RA、RBFront two row；
It is the translation vector t of telecentricity camera AAThe first two component；It is telecentricity phase
The translation vector t of machine BBThe first two component；
QAIndicate the projection matrix P of telecentricity camera AAIt is preceding 3 column, qAIndicate the projection matrix P of telecentricity camera AAThe 4th
Column；QBIndicate the projection matrix P of telecentricity camera BBIt is preceding 3 column, qBIndicate the projection matrix P of telecentricity camera BBThe 4th column；
The polar curves correction internal reference matrix K of 1.3 calculating telecentricity camera A, B 'AAnd KB′
The polar curve correction internal reference matrix K of calculating acquisition telecentricity camera A, B 'AAnd KB', calculation formula is as follows
Wherein,It is the amplification factor of telecentricity camera after polar curve corrects, (u'0,v'0) it is after polar curve corrects
Image plane center coordinate；
1.4 establish the polar curve calibration coordinate system of telecentricity camera A, B
The polar curve calibration coordinate system of telecentricity camera AUsing telecentricity camera A optical center as origin OA,Axis and ZAAxis
It is parallel in the same direction；Axis perpendicular toAxis andAxis；Axis withPlane is vertical；
The polar curve calibration coordinate system of telecentricity camera BUsing telecentricity camera B optical center as origin OB,Axis and ZBAxis
It is parallel in the same direction；Axis withAxis is in the same direction in parallel；Axis withPlane is vertical；
Therefore, telecentricity camera A, B is in world coordinate system O after polar curve correctsW-XWYWZWOuter ginseng be denoted as (R' respectivelyA,t'A)
(R'B,t'B), calculation formula is as follows:
Wherein,
1.5 calculate the projection matrix that telecentricity camera A, B are new after polar curve correctsWith
Calculate the projection matrix that telecentricity camera A, B are new after obtaining polar curve correctionWithCalculation formula is as follows:
Wherein, R'A2×3And R'B2×3Respectively indicate the respective spin matrix R' of telecentricity camera A, B after polar curve correctionA、R'BBefore
Two rows,It is the translation vector t' of telecentricity camera A after polar curve correctsAThe first two component；It is the translation vector t' of telecentricity camera B after polar curve correctsBThe first two component,
Q'AIndicate the projection matrix of telecentricity camera AIt is preceding 3 column,Indicate the projection matrix of telecentricity camera AThe 4th
Column；Q'BIndicate the projection matrix of telecentricity camera BIt is preceding 3 column,Indicate the projection matrix of telecentricity camera BThe 4th column.
The three-dimensional appearance of second step, object under test is rebuild
2.1 place object under test
Object under test is placed in two telecentricity camera public view field regional locations；And ensure the visual field covering of two cameras
Entire object under test, and blur-free imaging；
The acquisition of 2.2 data images
The image of two telecentricity cameras of synchronous acquisition, and it is saved in data processing computer；
The polar curve of 2.3 images corrects
For telecentricity camera A, the picpointed coordinate m' of the image after polar curve correctionA=[u'A v'A]TIt can be by following formula meter
It obtains:
Wherein, mA=[uA vA]TIt is spatial point [xw yw zw]TBefore the polar curve of telecentricity camera A corrects on original image
Picpointed coordinate；
The picpointed coordinate m' on image for telecentricity camera B, after polar curve correctionB=[u'B v'B]TIt can be by following formula
It can be calculated:
Wherein, mB=[uB vB]TIt is spatial point [xw yw zw]TPicture before telecentricity camera B polar curve corrects on original image
Point coordinate；
Under normal circumstances, the pixel (rounded coordinate position) of the image after correction corresponds to non-in original image plane
The position of integer.Therefore, the gray level of the image after correction is to carry out bilinear interpolation meter by the gray level of original image pixels
It obtains；
The dense Stereo Matching of 2.4 images
Using the algorithm of existing image dense Stereo Matching, such as document " Stereoprocessingbysemiglobalmatc
Hingandmutualinformation " (it is published within 2008 " IEEE Transactions on Pattern Analysis
And Machine Intelligence ") algorithm that proposes is intensive to carrying out along horizontal line direction to the image after polar curve correction
Matching obtains the corresponding image points coordinate pair m' after the polar curve correction of telecentricity camera A, B in imageA=[u'A v'A]TAnd m'B=
[u'B v'B]T；
2.5 three-dimensional appearance data calculate
According to telecentric lens model, the world coordinates [x of object under test surface pointw yw zw]TWith telecentricity camera A, B
Picpointed coordinate m' after polar curve correction in imageAAnd m'BBetween relationship description it is as follows:
In conjunction with two above formula, then world coordinates [the x of object under test surface pointw yw zw]TIt can be by using line
Property least square method obtain.
Advantages of the present invention:
1. telecentricity camera enlargement ratio within the scope of Depth of field is invariable, and has the characteristics that low distortion, the big depth of field,
The measuring system constituted using telecentricity camera, relative to traditional microspur measuring system, precision is higher.
It, can be close by subsequent image 2. method for correcting polar line proposed by the present invention is applied to telecentricity Stereo Vision Measurement System
Collect matched search dimension by Simplified two-dimension be it is one-dimensional, greatly improve the efficiency of dense Stereo Matching.
Detailed description of the invention
Fig. 1 is the instrument artwork of measuring system of the embodiment of the present invention,
Fig. 2 is overall flow figure of the present invention,
Fig. 3 is the original image of telecentricity camera A acquisition,
Fig. 4 is the original image of telecentricity camera B acquisition,
Fig. 5 is the image after the correction of telecentricity camera A polar curve,
Fig. 6 is the image after the correction of telecentricity camera B polar curve,
Fig. 7 is the object dimensional pattern schematic diagram of the final reconstruction of testing result in kind of the invention.
Specific embodiment
Telecentricity stereo vision measuring apparatus of the invention, including telecentricity camera A, telecentricity camera B and data processing computer.
Data processing computer and telecentricity camera connection, real-time synchronization acquire the image data of two telecentricity cameras, and resolve determinand
Body three-dimensional appearance data.
Three-dimensional reconstruction is carried out to object using the present invention, by taking one piece of unitary coin as an example, the specific steps are as follows:
The first step, system calibrating
1.1 fix telecentricity camera A, B with pedestal, connect data processing computer, place object under test；
1.2 establish camera coordinates system OA-XAYAZA、OB-XBYBZB；
1.3 respectively demarcate telecentricity camera A, B, obtain the original internal reference K of telecentricity camera A, BA、KBWith outer ginseng (RA,
tA)、(RB,tB) and projection matrix PA、PB；
1.4 establish polar curve calibration coordinate systemIt is calculated according to formula (6)-formula (9)
To projection matrixWith
The three-dimensional appearance of second step, object under test is rebuild
2.1 place object under test
Object under test is placed in two telecentricity camera public view field regional locations；And ensure the visual field covering of two cameras
Entire object under test, and blur-free imaging；
The acquisition of 2.2 data images
Reasonable camera site and angle are chosen, shoots the image of an object under test using measurement camera, and guarantee institute
The image of shooting includes entire object under test；
The polar curve of 2.3 images corrects
It, will be before the correction of telecentricity camera A, B polar curve using bilinear interpolation resampling according to formula (10) and formula (11)
Original image is converted into polar curve correction image；
The dense Stereo Matching of 2.4 images
Dense Stereo Matching is carried out to along horizontal line direction to the image after polar curve correction, obtains corresponding image points coordinate pair m'A=
[u'A v'A]TAnd m'B=[u'B v'B]T；
2.5 three-dimensional appearance data calculate
In conjunction with formula (12) and formula (13), the world point coordinate on object under test surface is obtained using linear least square
[xw yw zw]T。
Claims (1)
1. a kind of telecentricity stereo vision measurement method is measured for object dimensional pattern micron accuracies, vertical using a kind of telecentricity
Body vision measuring device, device include telecentricity camera A, telecentricity camera B and data processing computer,
The telecentricity camera A, telecentricity camera B connect firmly installation, have public view field, the i.e. visual angle of telecentricity camera A and telecentricity camera B
Visual angle have an angle, 0 °~90 ° of angular range；
The data processing computer and telecentricity camera A, telecentricity camera B connection, real-time synchronization acquire the figure of two telecentricity cameras
As data, and resolve object under test three-dimensional appearance data；
It connects firmly installation and refers to that telecentricity camera A and the relative position of telecentricity camera B are fixed；
It is characterized in that, measurement method the following steps are included:
The first step, system calibrating
1.1 fix telecentricity camera A, B with pedestal, connect data processing computer, place object under test；
1.2 establish camera coordinates system OA-XAYAZA、OB-XBYBZB；
Telecentricity camera A coordinate system OA-XAYAZA, using telecentricity camera A optical center as origin OA,ZAAxis is overlapped with camera optical axis, takes shooting
Direction is positive direction；YAAxis and ZAAxis is orthogonal, along telecentricity camera A imaging sensor column direction；XAAxis and YAZAPlane is vertical, along remote
Heart camera A imaging sensor line direction；
Telecentricity camera B coordinate system OB-XBYBZB, using telecentricity camera B optical center as origin OB,ZBAxis is overlapped with camera optical axis, takes shooting
Direction is positive direction；YBAxis and ZBAxis is orthogonal, along telecentricity camera B imaging sensor column direction；XBAxis and YBZBPlane is vertical, along remote
Heart camera B imaging sensor line direction；
1.3 calculate telecentricity camera A, telecentricity camera B polar curve correction internal reference matrix K 'AWith K 'B；
The polar curve correction internal reference matrix K of calculating acquisition telecentricity camera A, B 'AWith K 'B, calculation formula is as follows
Wherein,It is the amplification factor of telecentricity camera after polar curve corrects, (u'0,v'0) be polar curve correction after picture
Face centre coordinate；MAAnd MBIt is the amplification factor of telecentricity camera A, B respectively；(uA0,
vA0) and (uB0,vB0) be respectively telecentricity camera A, B imaging surface center coordinate；KA、KBFor the internal reference of telecentricity camera A, B,
1.4 establish the polar curve calibration coordinate system of telecentricity camera A, telecentricity camera B
The polar curve calibration coordinate system of telecentricity camera AUsing telecentricity camera A optical center as origin OA,Axis and ZAAxis is flat
Row is in the same direction；Axis perpendicular toAxis andAxis；Axis withPlane is vertical；
The polar curve calibration coordinate system of telecentricity camera BUsing telecentricity camera B optical center as origin OB,Axis and ZBAxis is flat
Row is in the same direction；Axis withAxis is in the same direction in parallel；Axis withPlane is vertical；
1.5 new projection matrix after calculating telecentricity camera A, the correction of telecentricity camera B polar curveWith
Calculate the projection matrix that telecentricity camera A, B are new after obtaining polar curve correctionWithCalculation formula is as follows:
Wherein, R'A2×3And R'B2×3Respectively indicate the respective spin matrix R' of telecentricity camera A, B after polar curve correctionA、R'BFront two row,It is the translation vector t' of telecentricity camera A after polar curve correctsAThe first two component；t'Bs=[t'Bx
t'By]TIt is the translation vector t' of telecentricity camera B after polar curve correctsBThe first two component；Q'AIndicate the projection matrix of telecentricity camera AIt is preceding 3 column,Indicate the projection matrix of telecentricity camera AThe 4th column；Q'BIndicate the projection matrix of telecentricity camera B
It is preceding 3 column,Indicate the projection matrix of telecentricity camera BThe 4th column；
The three-dimensional appearance of second step, object under test is rebuild
2.1 place object under test
Object under test is placed in two telecentricity camera public view field regional locations；And ensure that the visual field covering of two cameras is entire
Object under test, and blur-free imaging；
The acquisition of 2.2 data images
Reasonable camera site and angle are chosen, the image of an object under test is shot using measurement camera, and captured by guarantee
Image include entire object under test；
The polar curve of 2.3 images corrects
Polar curve school is converted by the original image before telecentricity camera A, the correction of telecentricity camera B polar curve using bilinear interpolation resampling
Positive image；
For telecentricity camera A, the picpointed coordinate m' of the image after polar curve correctionA=[u'A v'A]TIt can be calculated by following formula
It arrives:
Wherein, mA=[uA vA]TIt is spatial point [xw yw zw]TPicture point before the polar curve of telecentricity camera A corrects on original image
Coordinate；
The picpointed coordinate m' on image for telecentricity camera B, after polar curve correctionB=[u'B v'B]TCan be calculated by following formula can
:
Wherein, mB=[uB vB]TIt is spatial point [xw yw zw]TPicture point before telecentricity camera B polar curve corrects on original image is sat
Mark；QAIndicate the projection matrix P of telecentricity camera AAIt is preceding 3 column, qAIndicate the projection matrix P of telecentricity camera AAThe 4th column；QBIt indicates
The projection matrix P of telecentricity camera BBIt is preceding 3 column, qBIndicate the projection matrix P of telecentricity camera BBThe 4th column；
The dense Stereo Matching of 2.4 images
Dense Stereo Matching is carried out to along horizontal line direction to the image after polar curve correction, obtains corresponding image points coordinate pair m'A=[u'A
v'A]TAnd m'B=[u'B v'B]T；
Wherein, m'A=[u'A v'A]TIt is the picpointed coordinate of the image after the correction of telecentricity camera A polar curve；
m'B=[u'B v'B]TIt is the picpointed coordinate of the image after the correction of telecentricity camera B polar curve；
2.5 three-dimensional appearance data calculate
World point coordinate [the x on object under test surface is obtained using linear least squarew yw zw]T。
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