CN106529091B - A kind of 3D scaling method of the line-structured light based on finite element - Google Patents
A kind of 3D scaling method of the line-structured light based on finite element Download PDFInfo
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Abstract
The present invention provides a kind of 3D scaling method of line-structured light based on finite element, and method application value is high, simple and easy, precision is high, is demarcated using sawtooth block and obtains intrinsic parameters of the camera, recycles the unit split plot design of finite element to correct distortion.The scaling method based on finite element is established, calibration cost is low, model calculation amount is small.Can accurately and reliably calibrating camera, have the value of reference and application for camera calibration.
Description
Technical field
The present invention relates to field of machine vision more particularly to a kind of 3D scaling methods of the line-structured light based on finite element.
Background technique
In image measurement process and machine vision applications, for the three-dimensional geometry position for determining space object surface point
With the correlation between its in the picture corresponding points, it is necessary to establish the geometrical model of video camera imaging, these geometrical models ginseng
Number is exactly camera parameters.These parameters must can just be obtained by experiment and calculating in most conditions, this solves ginseng
Several processes is just referred to as camera calibration.
Calibrating camera usually wants to do two pieces thing, and one is correction distortion effect, the other is according to the image weight of acquisition
Structure three-dimensional scenic.The algorithm of distortion correction can be divided into three classes: the first kind is the method based on linear calibration, and this method does not need
Iteration, calibration speed is fast, but does not account for distorting, and stated accuracy is not high；Method of second class based on nonlinear calibration, this method
The advantages of such methods is can to cover all aberration deformations, reaches very high precision, the disadvantage is that it is computationally intensive, to iteration
The selection of initial value has strict demand, and iterative algorithm stability is poor；Third class is based on two-stage calibration method and (is divided into two step of classics of Tsai
The scaling method of method and Zhang Zhengyou), such as plane grid, gridiron pattern, the template of this method are plane template, have linear solution
Speed fastly and the advantage with high accuracy of nonlinear optimization, but need in solving using self-calibration it is theoretical in absolute conic
Principle obtains the initial estimate of intrinsic parameter, and algorithm is cumbersome.
In image measurement or machine vision applications, the calibration of camera parameter is that very the key link, calibration are tied
The precision of fruit and the stability of algorithm directly affect the accuracy that camera work generates result.It is right with the development of practical application
Camera calibration precision has higher requirement.
Summary of the invention
In order to overcome the deficiencies in the prior art described above, it is high, simple that the object of the present invention is to provide a kind of application values
The 3D scaling method of line-structured light easy, with high accuracy based on finite element,
3D scaling method includes:
It builds and adopts figure platform, acquisition aliased image obtains sawtooth binary map by processing；
After carrying out image thinning processing to sawtooth binary map, single pixel sawtooth bar graph is obtained, passes through vision algorithm later
Look for angle point；
Extract the angle point that has found and obtain nonlinear angle point diagram, since picture centre distortion is approximately zero, to the cross of image,
Ordinate sums obtain the sum of abscissa and the sum of ordinate respectively.The sum of abscissa is obtained divided by angle point number on image
The abscissa of picture centre angle point；The sum of abscissa obtains lateral step value divided by the spacing number of laterally two angle points.Ordinate
The sum of divided by angle point number on image, obtain the ordinate of picture centre angle point；The sum of ordinate is divided by between longitudinal two angle points
Longitudinal step value is obtained away from number；Abscissa and ordinate the composition picture centre angle point for the center angle point that image is calculated are sat
Mark, i.e., centered on, using center angle point as calculating benchmark, ordinate value horizontal to center angle point be separately summed subtracts laterally, longitudinal step-length
After value, the normal linearity angle point figure under image coordinate system is obtained；
A quadrilateral units are formed in nonlinear angle point diagram per adjacent quadrangle point, four points of quadrilateral units are regarded as
Four nodes of finite element unit, then quadrangle angle point is denoted as l respectively1、l2、l3、l4, normal linearity figure quadrangle angle point difference
It is denoted as q1、q2、q3、q4, will be opposite in a quadrilateral units of four angle point every in non-linear figure composition and normal linearity angle point figure
The coordinate value for the quadrangle angle point answered subtracts each other, and the difference of the angle point of acquisition is denoted as Δi(Δ x, Δ y) (1≤i≤4), then four phases
The amount of distortion of corresponding angle point is respectively Δ1(Δx1,Δy1)、Δ2(Δx2,Δy2)、Δ3(Δx3,Δy3)、Δ4(Δx4,Δ
y4)；The image for needing to correct is acquired, four angle points of certain point P (x, y) and this in nonlinear angle point diagram on image are taken
In the field of composition, according to finite element unit split plot design, quadrilateral units are divided into four triangle P12、P24、P43、P13, point
Not Ji respective area be S12、S24、S43、S13.The adjacent triangular element area of angle point is added total face divided by quadrilateral units
Product obtains angle point distortion factor λ, and the distortion factor of four angle points is denoted as λ respectively1、λ2、λ3、λ4, expression formula is such as shown in (1).
Certain angle point distortion factor λi(1≤i≤4) are multiplied by certain corresponding angle point amount of distortion Δi(Δ x, Δ y) (1≤i≤4) are certain
Amount of distortion of the point P in the angle point.Four angle point amount of distortion of quadrilateral units are added summation and obtain resultant distortion amounts, certain point P with it is always abnormal
Addition of variables calculates the point P of correctionO(x, y), expression formula is such as shown in (2)
As can be seen from the above technical solutions, the invention has the following advantages that
The scaling method based on finite element is established through the invention, and calibration cost is low, model calculation amount is small.It can be with
Accurately and reliably calibrating camera has camera calibration the value of reference and application.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in description will be made below simple
Ground introduction, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill
For personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is sawtooth binary map；
Fig. 2 is single pixel sawtooth bar graph；
Fig. 3 is nonlinear angle point diagram；
Fig. 4 is normal linearity angle point figure；
Fig. 5 is the quadrilateral units figure in non-linear angle point and normal linearity angle point；
Fig. 6 is the coordinate diagram of the non-linear angle point of Fig. 5 part A and the quadrangle of normal linearity angle point；
Fig. 7 is the coordinate diagram that the quadrilateral units based on correction distortion effect are divided into four triangles.
Specific embodiment
It in order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below will be with specific
Examples and drawings, the technical solution protected to the present invention are clearly and completely described, it is clear that implementation disclosed below
Example is only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiment in this patent, the common skill in this field
Art personnel all other embodiment obtained without making creative work belongs to the model of this patent protection
It encloses.
The present invention provides a kind of 3D scaling method of line-structured light based on finite element, and method includes:
It builds and adopts figure platform, to obtain sawtooth binary map as shown in Figure 1 by processing for acquisition aliased image.To sawtooth binary map
After carrying out image thinning processing, single pixel sawtooth bar graph is obtained as shown in Fig. 2, rear look for angle point by vision algorithm.
It extracts the angle point found in Fig. 2 and obtains nonlinear angle point diagram as shown in figure 3, since picture centre distortion is approximately
Zero, it sums respectively to cross, the ordinate of image and obtains the sum of abscissa and the sum of ordinate.The sum of abscissa is divided by angle on image
Point number, obtains the abscissa of picture centre angle point；The sum of abscissa obtains laterally step divided by the spacing number of laterally two angle points
Long value.The sum of ordinate obtains the ordinate of picture centre angle point divided by angle point number on image；The sum of ordinate is divided by longitudinal direction
The spacing number of two angle points obtains longitudinal step value.The abscissa and ordinate for the center angle point that image is calculated form image
Center angular coordinate (centered on i.e.), using center angle point as calculating benchmark, to center angle point, horizontal, ordinate value is separately summed and subtracts cross
After to, longitudinal step value, it is as shown in Figure 4 to obtain the normal linearity angle point figure under image coordinate system.
As shown in Figure 5, Figure 6, a quadrilateral units are formed in nonlinear angle point diagram per adjacent quadrangle point, by quadrangle list
Four points of member regard four nodes of finite element unit as, then quadrangle angle point is denoted as l1、l2、l3、l4, four side of normal linearity figure
Shape angle point is denoted as q respectively1、q2、q3、q4, by a quadrilateral units of four angle point every in non-linear figure composition and normal linearity angle
The difference that angle point is obtained after the coordinate value of corresponding quadrangle angle point subtracts each other in point diagram, can be described as angle point amount of distortion, is denoted as Δi
(Δ x, Δ y) (1≤i≤4), then the amount of distortion of four corresponding angle points is Δ1(Δx1,Δy1)、Δ2(Δx2,Δy2)、
Δ3(Δx3,Δy3)、Δ4(Δx4,Δy4)；The image for needing to correct is acquired, certain point P (x, y) and point on image are taken
In the four angle point fields in nonlinear angle point diagram, according to finite element unit split plot design, quadrilateral units are divided into four three
Angular P12、P24、P43、P13, remember that respective area is S respectively12、S24、S43、S13.As shown in fig. 7, the triangle list that angle point is adjacent
Elemental area, which is added, obtains angle point distortion factor λ divided by the gross area of quadrilateral units, and the distortion factor of four angle points is denoted as respectively
λ1、λ2、λ3、λ4, expression formula is such as shown in (1).
Certain angle point distortion factor λi(1≤i≤4) are multiplied by certain corresponding angle point amount of distortion Δi(Δ x, Δ y) (1≤i≤4) are certain
Amount of distortion of the point P in the angle point.Four angle point amount of distortion of quadrilateral units are added summation and obtain resultant distortion amounts, certain point P with it is always abnormal
Addition of variables calculates the point P of correctionO(x, y), expression formula is such as shown in (2).Distortion effect can be corrected by this method
It answers.
The present invention establishes the scaling method based on finite element, and calibration cost is low, model calculation amount is small.It can be quasi-
Really, reliably calibrating camera, has camera calibration the value of reference and application.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (1)
1. a kind of 3D scaling method of the line-structured light based on finite element, which is characterized in that 3D scaling method includes:
It builds and adopts figure platform, acquisition aliased image obtains sawtooth binary map by processing；
After carrying out image thinning processing to sawtooth binary map, single pixel sawtooth bar graph is obtained, angle is looked for by vision algorithm later
Point；
It extracts the angle point found and obtains nonlinear angle point diagram, since picture centre distortion is approximately zero, the horizontal, vertical of image is sat
Summation obtains the sum of abscissa and the sum of ordinate to mark respectively；The sum of abscissa obtains image divided by angle point number on image
The abscissa of center angle point；The sum of abscissa obtains lateral step value divided by the spacing number of laterally two angle points；The sum of ordinate
Divided by angle point number on image, the ordinate of picture centre angle point is obtained；The sum of ordinate is a divided by the spacing of longitudinal two angle points
Number obtains longitudinal step value；The abscissa and ordinate for the center angle point being calculated with image form picture centre angle point seat
Mark, i.e., centered on, using center angle point as calculating benchmark, ordinate value horizontal to center angle point be separately summed subtracts laterally, longitudinal step-length
After value, the normal linearity angle point figure under image coordinate system is obtained；
A quadrilateral units are formed in nonlinear angle point diagram per adjacent quadrangle point, regard four points of quadrilateral units as limited
Four nodes of first unit, then quadrangle angle point is denoted as l respectively1、l2、l3、l4, normal linearity figure quadrangle angle point is denoted as respectively
q1、q2、q3、q4, a quadrilateral units of four angle point every in non-linear figure composition are corresponding with normal linearity angle point figure
The coordinate value of quadrangle angle point subtracts each other, and the difference of the angle point of acquisition is denoted as Δi(Δ x, Δ y) (1≤i≤4), then four it is corresponding
The amount of distortion of angle point be respectively Δ1(Δx1,Δy1)、Δ2(Δx2,Δy2)、Δ3(Δx3,Δy3)、Δ4(Δx4,Δy4)；
The image for needing to correct is acquired, takes certain point P (x, y) on image and four angle points composition of this in nonlinear angle point diagram
Field in, according to finite element unit split plot design, quadrilateral units are divided into four triangle P12、P24、P43、P13, remember respectively
Respective area is S12、S24、S43、S13, it averages after the adjacent triangular element area of angle point is summed divided by 2, the mean value acquired
Angle point distortion factor λ is obtained divided by the gross area of quadrilateral units again, the distortion factor of four angle points is denoted as λ respectively1、λ2、λ3、
λ4, expression formula is such as shown in (1)；
Certain angle point distortion factor λi(1≤i≤4) are multiplied by certain corresponding angle point amount of distortion Δi(Δ x, Δ y) (1≤i≤4) are certain point P
In the amount of distortion of the angle point；Four angle point amount of distortion of quadrilateral units are added summation and obtain resultant distortion amount, certain point P and resultant distortion amount
It is added the point P for calculating correctionO(x, y), expression formula is such as shown in (2)；
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| CN101776437A (en) * | 2009-09-30 | 2010-07-14 | 江南大学 | Calibration technology for vision sub-pixel of embedded type machine with optical path adjustment |
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| CN101776437A (en) * | 2009-09-30 | 2010-07-14 | 江南大学 | Calibration technology for vision sub-pixel of embedded type machine with optical path adjustment |
| CN104089575A (en) * | 2014-07-02 | 2014-10-08 | 北京东方迈视测控技术有限公司 | Intelligent plane detector and detecting method |
| CN105424350A (en) * | 2015-12-19 | 2016-03-23 | 湖南科技大学 | Method and system for thin-wall part modal testing based on machine vision |
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| Closed form solution for calibrating camera lens distortion using Desargues measures;Lin Chi-Fang 等;《Electronics Letters》;20000330;第36卷(第7期);243-246 |
| 一种基于非量测畸变校正的摄像机标定方法;陈天飞 等;《控制与决策》;20120215;第27卷(第2期);1-2 |
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