CN106643731B - A kind of pair of point target carries out the system and method for tracking measurement - Google Patents
A kind of pair of point target carries out the system and method for tracking measurement Download PDFInfo
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- CN106643731B CN106643731B CN201611242397.0A CN201611242397A CN106643731B CN 106643731 B CN106643731 B CN 106643731B CN 201611242397 A CN201611242397 A CN 201611242397A CN 106643731 B CN106643731 B CN 106643731B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses the system and methods that a kind of pair of point target carries out tracking measurement, which includes: two imaging units and image processing apparatus；Each imaging unit includes a cylindrical lens and a line-scan digital camera being connected with image processing apparatus, wherein, perpendicular to the mother's axle of cylindrical lens, point target forms striations after cylindrical lens are imaged for the pixel orientation of line-scan digital camera, and line-scan digital camera is for shooting striations；The mother's axle of two cylindrical lens is in the same plane and is mutually perpendicular to, and imaging optical axis is parallel to each other, and is directed to point target；Image processing apparatus is for detecting the pixel coordinate value and shooting time for taking the pixel of corresponding striations in each line-scan digital camera, and the path curves according to pixel coordinate value and shooting time synthesis point target on observation visual field perspective plane with predeterminated frequency.The system can be with higher sample frequency and higher resolution ratio carries out positioning to point target and tracking measurement, applicability are more preferable.
Description
Technical field
The present invention relates to system and sides that technical field of image processing more particularly to a kind of pair of point target carry out tracking measurement
Method.
Background technique
Point target generally has the feature that picture size is small, only includes one or several pixels, does not carry target substantially
Shape and pattern-information.In general, when image objects distance farther out or the imageable target of actual concern is feature on object
When point, it can be handled object as point target.
For point target, the features such as its shape contour and surface texture can not be generally obtained, concern is primarily with point targets
Position coordinates and motion profile of existence, point target on observation visual field perspective plane etc., also that is, on observation visual field perspective plane
On, observation point target whether there is, and point target is relative to the position of observation platform and point target on observation visual field perspective plane
Actual motion track etc..Based on this, if being not concerned with the profile and surface characteristics of object, the motion profile of object is only focused on
When, so that it may it is observed processing using object as point target, such as: in military affairs on the aircraft, infrared spectral coverage of observation distant place
Tank etc., since such target displacement speed is exceedingly fast, and the distance apart from observation platform is farther out, will not usually pay close attention to it certainly
The profile or surface characteristics of body only can carry out tracking measurement to its motion conditions, in such cases, so that it may by aircraft and tank
Tracking measurement is carried out as point target；It, can be by pasting index point in measurand in industrial circle and scientific experiment
Measurand is converted to point target by method, real by the tracking measurement of movement and attitudes vibration to point target (index point)
Now to the tracking measurement of measurand.
In the prior art, the movement rail of circle lens and area array cameras to point target on observation visual field perspective plane is generallyd use
Mark carries out record by imaging, and the tracking measurement of point target, but the resolution ratio and frame of existing area array cameras are carried out by analysis image
Frequency is usually lower.For current common area array cameras frame frequency usually in 10Hz~50Hz, face battle array ranks pixel number is less than 2048pixel.
The area array cameras frame frequency of higher pixel number is lower, and price is also very expensive.For the point target of fast speed, surveyed with it
When amount tracking, speed index and accuracy index are unable to satisfy actual measurement demand.
So the existing system for carrying out tracking measurement to point target, is observing visual field for the point target of fast speed
The tracking and measurement of motion profile on perspective plane, speed index and precision index are unable to satisfy actual measurement demand, are applicable in
Property is poor.
Summary of the invention
The system and method for being designed to provide a kind of pair of point target and carrying out tracking measurement of the embodiment of the present invention, to solve
The existing system for carrying out tracking measurement to point target is observing the movement on visual field perspective plane for the point target of fast speed
The tracking and measurement of track, speed index and precision index are unable to satisfy actual measurement demand, the poor problem of applicability.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
In a first aspect, the embodiment of the invention provides the system that a kind of pair of point target carries out tracking measurement, which includes:
Two imaging units and image processing apparatus；Each imaging unit includes a cylindrical lens and a line-scan digital camera, each
The line-scan digital camera of the imaging unit is connected with described image processing unit by signal transmssion line；Each imaging unit
In, perpendicular to the mother's axle of its cylindrical lens, point target formed after cylindrical lens imaging for the pixel orientation of line-scan digital camera
Striations, the striations is vertical with the pixel orientation of the line-scan digital camera, which is used to regard in point target in observation
Captured in real-time striations during being moved on the perspective plane of field；The mother's axle of the cylindrical lens of described two imaging units is mutually perpendicular to
And it is in the same plane；The imaging optical axis of the cylindrical lens of described two imaging units is parallel to each other, and is directed to the point target；
Described image processing unit is used in the point target during moving on the observation visual field perspective plane, with predeterminated frequency
To detect frequency, detects the pixel coordinate value for taking the pixel of corresponding striations in each line-scan digital camera and each take
The shooting time of the pixel of corresponding striations, and the point target is synthesized according to the pixel coordinate value and the shooting time and is existed
The path curves moved on the observation visual field perspective plane.
With reference to first aspect, in the first possible implementation of the first aspect, described two imaging units are identical.
The possible implementation of with reference to first aspect the first, in second of possible implementation of first aspect
In, the minimum value of the predeterminated frequency is 0, and the maximum value of the predeterminated frequency is the line frequency of the line-scan digital camera.
With reference to first aspect, second of possible reality of the possible implementation of the first of first aspect and first aspect
Any one possible implementation in existing mode, in a third possible implementation of the first aspect, described image
Processing unit is used in the point target during moving on the observation visual field perspective plane, is detection frequency with predeterminated frequency
Rate detects the pixel coordinate value for taking the pixel of corresponding striations in each line-scan digital camera and each takes corresponding striation
It before the shooting time of the pixel of line, is also used to: establishing measurement coordinate system O-uvw, the coordinate origin O of the measurement coordinate system is set
Be placed between the imaging optical center of two cylindrical lens, it is described measurement coordinate system u axis and v axis determine plane u-v plane with two
The plane that the mother's axle of cylindrical lens determines is overlapped, and the u axis and v axis and the angle of the mother's axle of each cylindrical lens of the measurement coordinate system are equal
It is 45 °, the w axis of the measurement coordinate system is directed toward the point target.
The third possible implementation with reference to first aspect, in the 4th kind of possible implementation of first aspect
In, described image processing unit is used to synthesize the point target in the sight according to the pixel coordinate value and the shooting time
Examine the path curves moved on visual field perspective plane, specifically include: described image processing unit is for executing operations described below: root
According to the pixel coordinate value and the shooting time, determine that the point target is corresponding in each shooting time according to the following equation
Displacement of the position relative to its initial position；Wherein, u indicates the survey
The coordinate variable of the u axis of coordinate system is measured, v indicates that the coordinate variable of the v axis of the measurement coordinate system, du indicate that the point target exists
The corresponding position of any shooting time relative to its initial position displacement along the measurement coordinate system u axis direction component,
Dv indicate the point target the corresponding position of the shooting time relative to its initial position displacement along the measurement coordinate system
V axis direction component, S indicate point target to the measurement coordinate system coordinate origin distance, f indicates each cylindrical lens
Focal length, aCIndicate the resolution ratio of the pixel of the sensor of each line-scan digital camera, nL1, nR1Indicate the point target at initial position
The pixel coordinate value of the pixel of corresponding striations, n are taken in two line-scan digital camerasL2, nR2Indicate the point target in the shooting
The pixel coordinate value of the pixel of corresponding striations is taken when time corresponding position in two line-scan digital cameras；According to the shooting
Time and the point target synthesize the point target relative to the displacement of its initial position in the corresponding position of each shooting time
The path curves moved on the observation visual field perspective plane.
Second aspect, the embodiment of the invention provides a kind of using the possible reality of the first of first aspect or first aspect
The method that system in existing mode carries out tracking measurement to point target, this method comprises: point target is on observation visual field perspective plane
During movement, using the system two line-scan digital camera captured in real-time point targets through the corresponding cylindrical lens of the system at
The striations formed as after；The image processing apparatus of the system is used, for detection frequency, to detect each linear array with predeterminated frequency
The pixel coordinate value of the pixel of corresponding striations is taken in camera and each takes the shooting of the pixel of corresponding striations
Time, and the point target is synthesized according to the pixel coordinate value and the shooting time and is transported on the observation visual field perspective plane
Dynamic path curves.
In conjunction with second aspect, in the first possible implementation of the second aspect, at the image using the system
It is detection frequency that device, which is managed, with predeterminated frequency, detects the pixel coordinate that the pixel of corresponding striations is taken in each line-scan digital camera
Value and before each taking the shooting time of pixel of corresponding striations, this method further include: using the figure of the system
It is established as processing unit and measures coordinate system O-uvw, the coordinate origin O of the measurement coordinate system is set to the imaging of two cylindrical lens
Between optical center, the mother's axle of plane u-v plane and two cylindrical lens that the u axis and v axis of the measurement coordinate system determine determines flat
Face is overlapped, and the angle of the mother's axle of the u axis and v axis and each cylindrical lens of the measurement coordinate system is 45 °, the measurement coordinate system
W axis be directed toward the point target.
In conjunction with the first possible implementation of second aspect, in second of possible implementation of second aspect
In, synthesize what the point target moved on the observation visual field perspective plane according to the pixel coordinate value and the shooting time
The process of path curves, specifically includes: according to the pixel coordinate value and the shooting time, determining according to the following equation
Displacement of the point target in the corresponding position of each shooting time relative to its initial position；Wherein, u indicates the coordinate variable of the u axis of the measurement coordinate system, v table
Show that the coordinate variable of the v axis of the measurement coordinate system, du indicate that the point target is opposite in the corresponding position of any shooting time
In its initial position displacement along the measurement coordinate system u axis direction component, dv indicates the point target in the shooting
Between corresponding position relative to its initial position displacement along it is described measurement coordinate system v axis direction component, S indicate point target
To the distance of the coordinate origin of the measurement coordinate system, f indicates the focal length of each cylindrical lens of the system, aCIndicate the system
The resolution ratio of the pixel of the sensor of each line-scan digital camera of system, nL1, nR1Indicate the point target two lines at initial position
The pixel coordinate value of the pixel of corresponding striations, n are taken in array cameraL2, nR2Indicate the point target in the shooting time pair
The pixel coordinate value of the pixel of corresponding striations is taken when the position answered in two line-scan digital cameras；According to the shooting time with
The point target synthesizes the point target described relative to the displacement of its initial position in the corresponding position of each shooting time
The path curves moved on observation visual field perspective plane.
In conjunction with second of possible implementation of second aspect, in the third possible implementation of second aspect
In, the minimum value of the predeterminated frequency is 0, and the maximum value of the predeterminated frequency is the line frequency of the line-scan digital camera of the system.
The technical solution that the embodiment of the present invention provides can include the following benefits: the present invention provides one kind to point
Target carries out the system and method for tracking measurement, and in the system, there are two imaging unit, each imaging unit includes one for setting
Cylindrical lens and a line-scan digital camera.The extending direction of the mother's axle of the cylindrical lens of the two imaging units is mutually perpendicular to, point target warp
It is respectively formed a striations after crossing the cylindrical lens imaging of the two imaging units, the line-scan digital camera in the two imaging units point
Captured in real-time Yong Yu not be carried out to the striations in respective imaging unit, image processing apparatus and the two line-scan digital cameras pass through letter
Number transmission line is connected, and the pixel coordinate value for record the pixel for taking corresponding striations in two line-scan digital cameras with
Shooting time.Movement of the point target on observation visual field perspective plane, can be decomposed into the componental movement of two mutually perpendicular directions, this
Sample respectively can measure two componental movements of point target using two imaging units of the system, to realize to point
The tracking measurement of the motion profile of target, also, for the point target of high-speed motion, line-scan digital camera also can accurately take accordingly
Striations, to realize that, to the accurate tracking measurement of its motion profile, applicability is more preferable.
The embodiment of the present invention it should be understood that more than general description and following detailed description be only exemplary reconciliation
The property released, it does not limit the disclosure.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without any creative labor, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram for the system that a kind of pair of point target provided in an embodiment of the present invention carries out tracking measurement；
Fig. 2 be it is provided in an embodiment of the present invention it is a kind of using it is above-mentioned to point target carry out tracking measurement system to point target
Carry out the flow diagram of the method for tracking measurement.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
The present invention provides the system and method that a kind of pair of point target carries out tracking measurement, in the system setting there are two at
As unit, each imaging unit includes a cylindrical lens and a line-scan digital camera, point target can observed visual field perspective plane
On Kinematic Decomposition be componental movement in two mutually orthogonal directions, it is right respectively using two imaging units of the system later
Two componental movements carry out track up, so that the tracking measurement to the motion profile of point target is realized, moreover, because line-scan digital camera
Filming frequency it is higher, point target higher for movement velocity, also can be used the system its motion profile is carried out it is accurate
Tracking measurement.
With reference to the accompanying drawing, specific embodiments of the present invention are discussed in detail.
As shown in Figure 1, shown in fig. 1 is the system that a kind of pair of point target provided in an embodiment of the present invention carries out tracking measurement
Structural schematic diagram, which includes:
Two imaging units and image processing apparatus (not shown)；
Each imaging unit includes a cylindrical lens 1 and a line-scan digital camera 2, the linear array of each imaging unit
Camera 2 is connected with described image processing unit by signal transmssion line；
In each imaging unit, mother's axle of the pixel orientation of line-scan digital camera 2 perpendicular to its cylindrical lens 1, point
Target 3 forms striations 4 after the cylindrical lens 1 imaging, and the striations 4 is vertical with the pixel orientation of the line-scan digital camera 2,
The line-scan digital camera 2 is used for captured in real-time striations 4 during point target 3 is in movement on observation visual field perspective plane；
The mother's axle of the cylindrical lens 1 of described two imaging units is mutually perpendicular to, and the mother's axle of two cylindrical lens is located at same put down
On face；
The imaging optical axis of the cylindrical lens 1 of described two imaging units is parallel to each other, and is directed to the point target 3；
Described image processing unit is used in the point target 3 during moving on the observation visual field perspective plane,
It is detection frequency with predeterminated frequency, detects the pixel coordinate value for taking the pixel of corresponding striations 4 in each line-scan digital camera 2
(herein, by any one pixel in each line-scan digital camera along the pixel orientation of the line-scan digital camera, in the line-scan digital camera
Occupied location of pixels is defined as pixel coordinate value of the pixel in the line-scan digital camera) and each take corresponding striation
The shooting time of the pixel of line 4, and the point target 3 is synthesized in the sight according to the pixel coordinate value and the shooting time
Examine the path curves moved on visual field perspective plane.The system is due to applying two orthogonal cylindrical lens 1 by point target 3
Position and Kinematic Decomposition are two orthogonal directions, and are imaged on corresponding line-scan digital camera 2, can with higher sample frequency and more
High resolution ratio carries out positioning to point target 3 and tracking measurement, applicability are more preferable.
In general, point target can be imaged as straight line on the image plane of the cylindrical lens after the imaging of some cylindrical lens
Striations, and for point target observation visual field perspective plane on two dimensional motion, can usually be decomposed into two it is orthogonal
Componental movement on direction, the two directions can arbitrarily be chosen, for example, the mother's axle with the cylindrical lens is selected as in one of direction
The extending direction of the mother's axle of the cylindrical lens is selected as in another direction by vertical direction, and point target is on observation visual field perspective plane
When movement, the componental movement along the direction vertical with the mother's axle of the cylindrical lens corresponds to the striations on the image plane of the cylindrical lens
A line-scan digital camera is placed in translation on the image plane of the cylindrical lens, and the pixel orientation of the line-scan digital camera is (herein,
It is the pixel orientation of the line-scan digital camera by the spread length direction definition of the pixel of the sensor of line-scan digital camera) it is saturating with the column
When the mother's axle of mirror is vertical, the translation of striations can be detected by the line-scan digital camera.Referring to aforementioned, using another mother's axle with before
State the pixel orientation of the vertical cylindrical lens and another pixel orientation and aforementioned line-scan digital camera of mother's axle of cylindrical lens
Vertical line-scan digital camera, then can detecte point target along the componental movement of the extending direction of the mother's axle of aforementioned cylindrical lens, later, comprehensive
Close the information of two line-scan digital cameras, so that it may synthesize the motion profile that point target moves on observation visual field perspective plane.Based on upper
Principle is stated, the embodiment of the present invention proposes the above-mentioned system for carrying out tracking measurement to point target.
Wherein, two imaging units of the system can be identical, i.e., two cylindrical lens 1 are identical, two line-scan digital cameras 2 also phase
Together, equally, two imaging units of the system can also be different.In general, it is more convenient in order to detect and calculate in use process,
Identical state can be set by two imaging units of the system.And for certain special application scenarios, for example, point target
3 on observing visual field perspective plane when moving, when requiring different for the measurement accuracy of two direction of motion, it will usually by the system
Two imaging units be set as different states.For the cylindrical lens 1 in each imaging unit, section can choose as circle
Cylindrical lens, also can choose section be semicircular cylindrical lens.
Predeterminated frequency is pre-stored in the image processing apparatus of system, and user can need random according to the measurement of oneself
It is set, the minimum value of predeterminated frequency can be set as 0, and the maximum value of predeterminated frequency can be set as the row of line-scan digital camera 2
Frequently, user in a particular application, if necessary to higher measurement accuracy and measurement frequency, can set the value of predeterminated frequency to
Relatively larger value, such as the value of predeterminated frequency can be set to the line frequency of line-scan digital camera 2, equally, if measurement accuracy
Requirement it is lower if, the value of predeterminated frequency can be set to relatively smaller value, such as can be by the value of predeterminated frequency
It is set as some value of one or two order of magnitude lower than the line frequency of line-scan digital camera 2.
In the specific implementation, when being configured to the image processing apparatus of the system, which is used in institute
Point target 3 is stated during moving on the observation visual field perspective plane, is detection frequency with predeterminated frequency, detects each linear array
The pixel coordinate value of the pixel of corresponding striations 4 is taken in camera 2 and each takes the bat of the pixel of corresponding striations 4
It takes the photograph before the time, is also used to: establishing measurement coordinate system O-uvw, the coordinate origin O of the measurement coordinate system O-uvw is set to two
Between the imaging optical center of a cylindrical lens 1, for example, the coordinate origin O of the measurement coordinate system O-uvw is set to two cylindrical lens
The line center of 1 imaging optical center, the plane u-v plane and two columns that the u axis and v axis of the measurement coordinate system O-uvw determines
The plane that the mother's axles of lens 1 determines is overlapped, the mother's axles of the u axis and v axis of the measurement coordinate system O-uvw and each cylindrical lens 1 it
Between have certain angle, in the specific implementation, which can be arbitrarily arranged in the range of 0 °~90 °, but cannot set
It is set to 0 °, cannot also be set as 90 °, it is all simpler generally for measurement and calculating, by the measurement coordinate system O-uvw's
Angle between u axis and v axis and the mother's axle of each cylindrical lens 1 is disposed as 45 °, described in the w axis of the measurement coordinate system is directed toward
Point target 3.
Image processing apparatus is used for according to pixel coordinate value and shooting time synthesis point target 3 on observation visual field perspective plane
The path curves of movement, specifically include: the image processing apparatus is for executing operations described below: according to the pixel coordinate value
With the shooting time, determine that the point target 3 rises in the corresponding position of each shooting time relative to it according to the following equation
The displacement of beginning position；Wherein, u indicates the measurement coordinate system O-uvw
U axis coordinate variable, v indicates that the coordinate variable of the v axis of the measurement coordinate system O-uvw, du indicate that the point target 3 is in office
The corresponding position of one shooting time relative to its initial position displacement along it is described measurement coordinate system O-uvw u axis direction point
Amount, dv indicate that the point target 3 is sat relative to the displacement of its initial position along the measurement in the corresponding position of the shooting time
The component of the v axis direction of mark system O-uvw, S indicate the distance of point target 3 to the coordinate origin O for measuring coordinate system O-uvw, f
Indicate the focal length of each cylindrical lens 1, aCIndicate the resolution ratio of the pixel of the sensor of each line-scan digital camera 2, nL1, nR1Described in expression
Point target 3 takes the pixel coordinate value of the pixel of corresponding striations, n at initial position in two line-scan digital camerasL2, nR2Table
Show that the point target 3 takes the picture of the pixel of corresponding striations at the corresponding position of the shooting time in two line-scan digital cameras
Plain coordinate value；According to the shooting time and the point target 3 in the corresponding position of each shooting time relative to its start bit
The displacement set synthesizes the path curves that the point target 3 moves on the observation visual field perspective plane.
It is provided in an embodiment of the present invention to point target carry out tracking measurement system in, setting there are two imaging unit and with
The image processing apparatus that the two imaging units are connected by signal transmssion line, wherein each imaging unit includes a column
Lens and a line-scan digital camera, point target are imaged as a striations after the cylindrical lens, can be right using the line-scan digital camera
The striations is shot, and two imaging units are respectively arranged in two mutually orthogonal directions, can be existed to point target
It observes the componental movement of two dimensional motion in both directions on visual field perspective plane and carries out tracking measurement, and filled using image procossing
The path curves that synthesis point target moves on observation visual field perspective plane are set, point target is thrown in observation visual field to realize
The filming frequency of the tracking measurement of two dimensional motion on shadow face, the line-scan digital camera of the system is higher, faster for movement velocity
Point target pass through during exercise cylindrical lens be imaged the striations to be formed can also understand take, realize to high speed point target
The high precision tracking of movement measures, and applicability is more preferable.
As shown in Fig. 2, Fig. 2 shows be provided in an embodiment of the present invention a kind of tracking survey to be carried out to point target using above-mentioned
The system of amount carries out the flow diagram of the method for tracking measurement to point target, this method comprises:
Step 101, point target on observing visual field perspective plane during moving, using two linear array phases of the system
The striations that machine captured in real-time point target is formed after the imaging of the corresponding cylindrical lens of the system.
Point target on observing visual field perspective plane during moving, after two cylindrical lens imaging of the point target by system
The striations of formation can be moved with the movement of point target, using the corresponding line-scan digital camera of system to corresponding striations
When being shot, point target moves to different positions, and the pixel that each line-scan digital camera takes corresponding striations can become
Change, therefore, is formed after the imaging of the corresponding cylindrical lens of the system by two line-scan digital camera captured in real-time point targets of system
Striations, and record and take the position of the pixel of corresponding striations in each line-scan digital camera and be recognized that the movement of point target
Track.
Step 102 uses the image processing apparatus of the system, for detection frequency, to detect each linear array phase with predeterminated frequency
When taking the pixel coordinate value of the pixel of corresponding striations in machine and each taking the shooting of pixel of corresponding striations
Between, and the point target is synthesized according to the pixel coordinate value and the shooting time and is moved on the observation visual field perspective plane
Path curves.
In general, a measurement coordinate system can be established when carrying out tracking measurement to point target, the movement as measurement point target
Reference standard.Therefore, the image processing apparatus of the system is used, for detection frequency, to detect each linear array phase with predeterminated frequency
When taking the pixel coordinate value of the pixel of corresponding striations in machine and each taking the shooting of pixel of corresponding striations
Between before, this method further include: measurement coordinate system O-uvw, measurement seat are established using the image processing apparatus of the system
The coordinate origin O of mark system O-uvw is set between the imaging optical center of two cylindrical lens, for example, by the measurement coordinate system O-uvw
Coordinate origin O be set to two cylindrical lens imaging optical center line center, it is described measurement coordinate system O-uvw u axis and v axis
Determining plane u-v plane is overlapped with the plane that the mother's axle of two cylindrical lens determines, the u axis and v of the measurement coordinate system O-uvw
The angle of the mother's axle of axis and each cylindrical lens is 45 °, and the w axis of the measurement coordinate system O-uvw is directed toward the point target.
Further, the movement moved on observation visual field perspective plane according to pixel coordinate value and shooting time synthesis point target
The process of geometric locus, specifically includes: according to the pixel coordinate value and the shooting time, according to the following equation determine described in
Displacement of the point target in the corresponding position of each shooting time relative to its initial position；Wherein, u indicates that the coordinate of the u axis of the measurement coordinate system O-uvw becomes
Amount, v indicate that the coordinate variable of the v axis of the measurement coordinate system O-uvw, du indicate that the point target is corresponding in any shooting time
Position relative to its initial position displacement along the measurement coordinate system O-uvw u axis direction component, dv indicates the point
Target the corresponding position of the shooting time relative to its initial position displacement along it is described measurement coordinate system O-uvw the axis side v
To component, S indicate point target to the measurement coordinate system O-uvw coordinate origin distance, f indicates each of described system
The focal length of cylindrical lens, aCIndicate the resolution ratio of the pixel of the sensor of each line-scan digital camera of the system, nL1, nR1Described in expression
Point target takes the pixel coordinate value of the pixel of corresponding striations, n at initial position in two line-scan digital camerasL2, nR2It indicates
The point target takes the pixel of the pixel of corresponding striations at the corresponding position of the shooting time in two line-scan digital cameras
Coordinate value；According to the shooting time and the point target in the corresponding position of each shooting time relative to its initial position
Displacement synthesizes the path curves that the point target moves on the observation visual field perspective plane, i.e., in measurement coordinate system,
The displacement time curve of shooting time and displacement is depicted, to realize the purpose for carrying out tracking measurement to point target.
Further, the minimum value of predeterminated frequency is 0, and the maximum value of the predeterminated frequency is the line-scan digital camera of the system
Line frequency.
The method provided in an embodiment of the present invention that tracking measurement is carried out to point target, wherein using two imaging units to point
Movement of the target on observation visual field perspective plane carries out tracking measurement, includes a line-scan digital camera and one in each imaging unit
Cylindrical lens, for the point target of high-speed motion, line-scan digital camera can also accurately take the point target by corresponding cylindrical lens
The striations formed is imaged, to realize the precise measurement of the movement to the point target of the high-speed motion, applicability is more preferable.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein as separation
The unit of part description may or may not be physically separated, component shown as a unit can be or
It can not be physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to reality
Border needs to select some or all of the modules therein to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art
It can understand and implement without creative efforts.
It should be noted that, in this document, such as the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including element.
The above is only a specific embodiment of the invention, it is noted that those skilled in the art are come
It says, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (5)
1. the system that a kind of pair of point target carries out tracking measurement characterized by comprising
Two imaging units and image processing apparatus；
Each imaging unit include a cylindrical lens and a line-scan digital camera, the line-scan digital camera of each imaging unit with
Described image processing unit is connected by signal transmssion line；
In each imaging unit, mother's axle of the pixel orientation of line-scan digital camera perpendicular to its cylindrical lens, point target warp
Striations is formed after crossing cylindrical lens imaging, the striations is vertical with the pixel orientation of the line-scan digital camera, the line-scan digital camera
For captured in real-time striations during point target is in movement on observation visual field perspective plane；
The mother's axle of the cylindrical lens of described two imaging units is mutually perpendicular to and in the same plane；
The imaging optical axis of the cylindrical lens of described two imaging units is parallel to each other, and is directed to the point target；
Described image processing unit is used in the point target during moving on the observation visual field perspective plane, with default
Frequency is detection frequency, detects the pixel coordinate value that the pixel of corresponding striations is taken in each line-scan digital camera and each bat
The shooting time of the pixel of corresponding striations is taken the photograph, and described mesh is synthesized according to the pixel coordinate value and the shooting time
It is marked on the path curves moved on the observation visual field perspective plane；
Described image processing unit is used in the point target during moving on the observation visual field perspective plane, with default
Frequency is detection frequency, detects the pixel coordinate value that the pixel of corresponding striations is taken in each line-scan digital camera and each bat
It takes the photograph before the shooting time of the pixel of corresponding striations, is also used to:
Establish measurement coordinate system O-uvw, it is described measurement coordinate system coordinate origin O be set to two cylindrical lens imaging optical center it
Between, the plane u-v plane that the u axis and v axis of the measurement coordinate system determine is overlapped with the plane that the mother's axle of two cylindrical lens determines,
The angle of the mother's axle of the u axis and v axis and each cylindrical lens of the measurement coordinate system is 45 °, and the w axis of the measurement coordinate system refers to
To the point target；
Described image processing unit is used to synthesize the point target described according to the pixel coordinate value and the shooting time
The path curves moved on observation visual field perspective plane, specifically include:
Described image processing unit is for executing operations described below:
According to the pixel coordinate value and the shooting time, determine the point target in each shooting time according to the following equation
Displacement of the corresponding position relative to its initial position；
Wherein, u indicates that the coordinate variable of the u axis of the measurement coordinate system, v indicate that the coordinate of the v axis of the measurement coordinate system becomes
Amount, du indicate that the point target is sat relative to the displacement of its initial position along the measurement in the corresponding position of any shooting time
The component of the u axis direction of system is marked, dv indicates the point target in the corresponding position of the shooting time relative to its initial position
It is displaced the component of the v axis direction along the measurement coordinate system, S indicates the coordinate origin of the point target to the measurement coordinate system
Distance, f indicates the focal length of each cylindrical lens, aCIndicate the resolution ratio of the pixel of the sensor of each line-scan digital camera, nL1, nR1Table
Show that the point target takes the pixel coordinate value of the pixel of corresponding striations, n at initial position in two line-scan digital camerasL2,
nR2Indicate that the point target takes the pixel of corresponding striations at the corresponding position of the shooting time in two line-scan digital cameras
Pixel coordinate value；
Position according to the shooting time and the point target in the corresponding position of each shooting time relative to its initial position
It moves and synthesizes the path curves that the point target moves on the observation visual field perspective plane.
2. system according to claim 1, which is characterized in that described two imaging units are identical.
3. system according to claim 2, which is characterized in that the minimum value of the predeterminated frequency is 0, the predeterminated frequency
Maximum value be the line-scan digital camera line frequency.
4. a kind of method for carrying out tracking measurement to point target using system of any of claims 1 or 2, which is characterized in that packet
It includes:
Point target on observing visual field perspective plane during moving, using two line-scan digital camera captured in real-time points of the system
The striations that target is formed after the imaging of the corresponding cylindrical lens of the system；
The image processing apparatus of the system is used, for detection frequency, to detect in each line-scan digital camera with predeterminated frequency and take phase
It answers the pixel coordinate value of the pixel of striations and each takes the shooting time of the pixel of corresponding striations, and according to described
It is bent that pixel coordinate value and the shooting time synthesize the motion profile that the point target moves on the observation visual field perspective plane
Line；
The image processing apparatus of the system is used, for detection frequency, to detect in each line-scan digital camera with predeterminated frequency and take phase
Before answering the pixel coordinate value of the pixel of striations and each taking the shooting time of pixel of corresponding striations, this method
Further include:
Measurement coordinate system O-uvw is established using the image processing apparatus of the system, the coordinate origin O of the measurement coordinate system is set
Be placed between the imaging optical center of two cylindrical lens, it is described measurement coordinate system u axis and v axis determine plane u-v plane with two
The plane that the mother's axle of cylindrical lens determines is overlapped, and the u axis and v axis and the angle of the mother's axle of each cylindrical lens of the measurement coordinate system are equal
It is 45 °, the w axis of the measurement coordinate system is directed toward the point target；
The point target is synthesized according to the pixel coordinate value and the shooting time to move on the observation visual field perspective plane
Path curves process, specifically include:
According to the pixel coordinate value and the shooting time, determine the point target in each shooting time according to the following equation
Displacement of the corresponding position relative to its initial position；
Wherein, u indicates that the coordinate variable of the u axis of the measurement coordinate system, v indicate that the coordinate of the v axis of the measurement coordinate system becomes
Amount, du indicate that the point target is sat relative to the displacement of its initial position along the measurement in the corresponding position of any shooting time
The component of the u axis direction of system is marked, dv indicates the point target in the corresponding position of the shooting time relative to its initial position
It is displaced the component of the v axis direction along the measurement coordinate system, S indicates the coordinate origin of the point target to the measurement coordinate system
Distance, f indicates the focal length of each cylindrical lens of the system, aCIndicate the sensor of each line-scan digital camera of the system
The resolution ratio of pixel, nL1, nR1Indicate that the point target takes corresponding striations in two line-scan digital cameras at initial position
The pixel coordinate value of pixel, nL2, nR2Indicate that the point target is clapped in two line-scan digital cameras at the corresponding position of the shooting time
Take the photograph the pixel coordinate value of the pixel of corresponding striations；
Position according to the shooting time and the point target in the corresponding position of each shooting time relative to its initial position
It moves and synthesizes the path curves that the point target moves on the observation visual field perspective plane.
5. according to the method described in claim 4, it is characterized in that, the minimum value of the predeterminated frequency be 0, the predeterminated frequency
Maximum value be the system line-scan digital camera line frequency.
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| CN107783310B (en) * | 2017-11-08 | 2019-12-24 | 凌云光技术集团有限责任公司 | Calibration method and device of cylindrical lens imaging system |
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