CN106767559A - It is a kind of to test the Stereo Vision that primary and secondary flying object sheds area - Google Patents
It is a kind of to test the Stereo Vision that primary and secondary flying object sheds area 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
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
- G01B11/285—Measuring arrangements characterised by the use of optical techniques for measuring areas using photoelectric detection means
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Abstract
The present invention discloses the Stereo Vision that a kind of test primary and secondary flying object sheds area, comprises the following steps：(1), the selection of video camera and image are obtained；(2), camera calibration：The demarcation of binocular stereo vision video camera is completed, the projection matrix of left and right two video cameras and the spin matrix and translation vector of Binocular Stereo Vision System is obtained；(3), image preprocessing and feature extraction；(4), Stereo matching：Foundation can correctly match the matching algorithm of selected feature；(5), 3-d recovery：After calculating space coordinates of the sub- flying object in flight course, and after known video camera imaging aggregation model and matching relationship, the flight path of sub- flying object is rebuild using Computerized three-dimensional Display Technique, obtains the drop point site of sub- flying object, calculate sub- flying object sheds area；(6) calculating of area, is shed：By above step, flight path and distribution shape after sub- flying object is shed can be obtained, so as to obtain shedding area.
Description
Technical Field
The invention relates to an evaluation method for performance of primary and secondary flyers, in particular to a stereoscopic vision method for testing throwing areas of primary and secondary flyers.
Background
The magnitude of the primary and secondary flyer effect is generally expressed in terms of the throw area of the secondary flyer. Because the structure of the sub-flying object is limited in aspects such as volume and the like, measuring equipment cannot be installed in the sub-flying object or on the surface of the sub-flying object, and therefore, only a non-contact external measurement method can be selected.
And the high-speed camera shooting measurement can fully utilize advanced measurement principles and technologies such as computer technology, stereoscopic vision technology, image processing and the like. However, no technology for applying high-speed camera measurement to primary and secondary flight performance evaluation exists in the industry at present.
Disclosure of Invention
The invention aims to provide a stereoscopic vision method for testing the throwing area of primary and secondary flyers.
In order to solve the problems existing in the background technology, the invention adopts the following technical scheme:
a stereoscopic vision method for testing the throwing area of primary and secondary flyers comprises the following steps:
selecting a camera and acquiring an image;
(II) calibrating a camera: on the basis of fully analyzing a camera model, the influence of radial distortion and tangential distortion of a lens is considered; carrying out calibration experiments on different types of checkerboard images to finish calibration of the binocular stereo vision cameras to obtain projection matrixes of the left camera and the right camera and a rotation matrix and a translation vector of a binocular stereo vision system;
(III) image preprocessing and feature extraction: the image preprocessing is to improve the visual effect of the image, improve the definition of the image and make the image more beneficial to the analysis and extraction of various characteristics; the feature extraction is to obtain image features such as point features, linear features and region features which are matched; the image correction is to make better use of epipolar geometric constraint to make matching search be carried out in the same scanning line direction of two images so as to greatly reduce the calculation amount of matching;
(IV) stereo matching: selecting correct matching features, searching essential attributes among the features, establishing a matching algorithm capable of correctly matching the selected features, improving the disambiguation matching and anti-interference capability of the algorithm, and reducing the complexity and the calculation amount of implementation;
(V) three-dimensional recovery: after the space coordinates of the sub-flyers in the flying process are calculated, and after the camera imaging set model and the matching relation are known, the flying tracks of the sub-flyers are reconstructed by adopting a computer three-dimensional display technology, the landing positions of the sub-flyers are obtained, and the scattering areas of the sub-flyers are calculated; obtaining any point in the projection matrix space of the left camera and the right camera through the calibration of the cameras, wherein the projection points on the image planes of the left camera and the right camera are corresponding characteristic points;
and (VI) calculating the scattering area: through the steps, the flying track and the scattering shape of the sub-flying object after scattering can be obtained, and the scattering area is obtained.
After the technical scheme is adopted, the invention has the following beneficial effects:
the method comprises the steps of shooting a flying sequence image of a scattered son flying object at a high speed through a binocular vision camera arranged near a falling flying object area, carrying out post-processing on the flying sequence image to obtain a scattering area, and obtaining an evaluation method of the performance of the son flying object and the mother flying object.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the binocular stereoscopic vision model of the present invention;
FIG. 2 is a schematic block diagram of a system for measuring a drop area in accordance with the present invention;
FIG. 3 is a functional block diagram of a test flow of the present invention;
FIG. 4(a) is a diagram illustrating the image preprocessing result of the left image according to the embodiment of the present invention;
FIG. 4(b) is a diagram illustrating the image preprocessing result of the right image according to the embodiment of the present invention;
FIG. 5(a) is a diagram of the stereo matching result of the left image according to the embodiment of the present invention;
FIG. 5(b) is a diagram of the stereo matching result of the right image according to the embodiment of the present invention;
fig. 6 is a diagram illustrating a result of reconstructing a spatial object according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, specific embodiments and examples. It should be understood that the detailed description and examples, while indicating the preferred embodiment of the invention, are given by way of illustration only.
Referring to fig. 1 to fig. 3, the following technical solutions are adopted in the present embodiment:
firstly, according to the imaging principle of binocular stereo vision, a mathematical model of binocular stereo vision comprising an optimal image coordinate system, a camera coordinate system and a world coordinate system is established, as shown in fig. 1.
Setting a camera coordinate system O-xyz and a world coordinate system O of a left cameraw-XwYwZwCoincidence with origin at optical center of left cameraCoordinate system is Ol-XlYlFocal length of fl(ii) a Camera coordinate system o of the right camera 2r-xryrzrImage coordinate system of Or-XrYrFocal length of fr. Coordinate system O-xyz and coordinate system Or-xryrzrThe mutual position between them can be represented by a spatial transformation matrix M
M＝[R T](2)
Wherein,and T ═ TxTyTz]TRespectively representing coordinate systems O-xyz and Or-xryrzrA rotation matrix in between and a translation vector between the two coordinate system origins.
According to the projection transmission model of the camera, the three-dimensional space coordinate of a certain point P (x, y, z) in the world coordinate system is obtained as
Secondly, a mathematical model of the test system based on the binocular stereo vision technology is established, as shown in fig. 2. The system comprises a left camera, a right camera (two CCD cameras), a synchronous control circuit, a digital image acquisition card (not shown), a computer processing module (not shown) and the like; the synchronous control circuit is respectively connected with the left camera and the right camera, the left camera and the right camera are connected with a digital image acquisition card (not shown), and the digital image acquisition card (not shown) is connected with a computer processing module (not shown).
The synchronous control circuit ensures that the left camera and the right camera are started simultaneously, and ensures the simultaneity of acquiring the left image and the right image of the sub-flyer; and after preprocessing and epipolar correction are carried out on the obtained sub-flying object images, feature extraction, stereo matching and three-dimensional reconstruction are carried out to obtain the flying tracks and the falling point positions of the sub-flying objects, and finally the scattering area is obtained through calculation.
To accomplish the above task, the following six steps are required, as shown in fig. 3:
and (I) selecting a camera and acquiring an image.
(II) calibrating a camera:
on the basis of fully analyzing a camera model, the influence of radial distortion and tangential distortion of a lens is considered; carrying out calibration experiments on different types of checkerboard images to finish calibration of the binocular stereoscopic vision camera to obtain projection matrixes of the left camera and the right cameraAndand rotation matrix of binocular stereo vision systemAnd translation vector T ═ TxTyTz]T。
(III) image preprocessing and feature extraction:
the image preprocessing is to improve the visual effect of the image, improve the definition of the image and make the image more beneficial to the analysis and extraction of various characteristics; the feature extraction is to obtain image features such as point features, linear features and region features which are matched; the image correction is to make better use of epipolar geometric constraint to make matching search in the same scanning line direction of two images, so as to greatly reduce the calculation amount of matching.
(IV) stereo matching:
selecting correct matching features, searching essential attributes among the features, establishing a matching algorithm capable of correctly matching the selected features, improving the disambiguation matching and anti-interference capability of the algorithm, and reducing the complexity and the calculation amount of implementation.
(V) three-dimensional recovery:
after the space coordinates of the sub-flyers in the flying process are calculated, and after the camera imaging set model and the matching relation are known, the flying tracks of the sub-flyers are reconstructed by adopting a computer three-dimensional display technology, the landing positions of the sub-flyers are obtained, and the scattering areas of the sub-flyers are calculated.
By the calibration of the camera, the projection matrixes of the left camera 1 and the right camera 2 are obtained respectivelyAndat any point in space, the projected point P of P (x, y, z) on the left and right camera image planesl(ul，vl) And pr(ur，vr) The feature points corresponding to each other are
The above formula can be expressed in the form of its secondary coordinates
Or in the form of a matrix
A·X＝B (8)
Can be obtained by using pseudo-inverse matrix
X＝(ATA)A-1B (9)
And (VI) calculating the scattering area:
through the steps, the flying track and the scattering shape of the sub-flying object after scattering can be obtained, and the scattering area is obtained.
According to the specific embodiment, the binocular vision camera arranged near the landing area is used for shooting the flying sequence images of the scattered son flying objects at a high speed, and the flying sequence images are subjected to post-processing to obtain the scattering area, so that the evaluation method of the performance of the son and mother flying objects is obtained.
Example (b):
through the research on the throwing and spreading rule of the primary and secondary flyers, the flight tracks of the primary and secondary flyers are known to follow the parabolic falling body and are normally distributed in a circle at the ground falling point, so that the flying tracks of the primary and secondary flyers after being thrown are replaced by the thrown objects when the umbrella is unfolded, a simulation experiment is carried out, and the specific experimental steps are as follows:
the method comprises the following steps: and (3) carrying out system construction on the measurement hardware according to experimental requirements, and ensuring that a computer can acquire images in real time. The testing system adopts two high-speed industrial color digital cameras (AFT-VD078CS), the known focal length is 12mm, the distance between the centers of two lenses is 26cm, the upward viewing angle of the lenses is 30 degrees, the included angle of the optical axis is ensured to be 20 degrees, the two cameras are connected with a USB interface of a desktop computer to carry out image real-time acquisition, and the size of the acquired image is 1024 multiplied by 768.
Step two: after the measuring platform is built, firstly, camera calibration is carried out on the object to be measured, and the fact that the image acquisition system can simultaneously acquire the left camera and the right camera is guaranteed, and calibration accuracy reaches 0.01 mm.
Step three: and keeping the calibrated cameras still, vertically placing the measured object according to the measurement requirement, ensuring that the whole object is in the visual fields of the two cameras, starting the cameras and simultaneously acquiring image interfaces for image acquisition. The image preprocessing is performed on the acquired color image, the image is converted into a gray image and then smoothed, and the preprocessed left and right camera images are respectively shown in fig. 4(a) and 4 (b).
Step four: the image after image preprocessing becomes smooth, the edge characteristic points are relatively protruded, then the characteristic points of the image after preprocessing are matched, and the Harris matching method is adopted to match the characteristic points. Fig. 5(a) and 5(b) are images in which the feature points of the left and right camera images are matched.
Step five: after the images are matched, a plurality of blind spots appear in the feature points, so that useful feature points need to be selected, and two-dimensional coordinates of the corresponding feature points obtained after experiment selection are shown in table 1:
TABLE 1 matching feature point two-dimensional coordinates and reconstruction space point three-dimensional coordinates
Step six: according to the matching result of the feature points of the left image and the right image, the selected 5 layers of feature points are reconstructed, and the space coordinates of the feature points obtained through calculation are shown in table 1. And performing ellipse fitting on each layer of the obtained characteristic points, and reconstructing the surface of the measured object by utilizing layer-by-layer longitudinal recovery, wherein the result is shown in fig. 6.
Step seven: through the reconstruction of the spatial object in fig. 6, the projection area S of the object to the ground is 1.25m2And the calculated result has a certain error with the actual umbrella size data, but basically matches with the calculated result, so that the feasibility of the measuring system is verified.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (1)
1. A stereoscopic vision method for testing the throwing area of primary and secondary flyers is characterized by comprising the following steps:
selecting a camera and acquiring an image;
(II) calibrating a camera:
on the basis of fully analyzing a camera model, the influence of radial distortion and tangential distortion of a lens is considered; carrying out calibration experiments on different types of checkerboard images to finish calibration of the binocular stereoscopic vision camera to obtain projection matrixes of the left camera and the right cameraAndand rotation matrix of binocular stereo vision systemAnd translation vector
(III) image preprocessing and feature extraction:
the image preprocessing is to improve the visual effect of the image, improve the definition of the image and make the image more beneficial to the analysis and extraction of various characteristics; the feature extraction is to obtain image features such as point features, linear features and region features which are matched; the image correction is to make better use of epipolar geometric constraint to make matching search be carried out in the same scanning line direction of two images so as to greatly reduce the calculation amount of matching;
(IV) stereo matching:
selecting correct matching features, searching essential attributes among the features, establishing a matching algorithm capable of correctly matching the selected features, improving the disambiguation matching and anti-interference capability of the algorithm, and reducing the complexity and the calculation amount of implementation;
(V) three-dimensional recovery:
after the space coordinates of the sub-flyers in the flying process are calculated, and after the camera imaging set model and the matching relation are known, the flying tracks of the sub-flyers are reconstructed by adopting a computer three-dimensional display technology, the landing positions of the sub-flyers are obtained, and the scattering areas of the sub-flyers are calculated;
by calibrating the cameras, the projection matrixes of the left camera and the right camera are obtained respectivelyAndat any point in space, the projected point P of P (x, y, z) on the left and right camera image planesl(ul，vl) And pr(uu，vr) The feature points corresponding to each other are
The above formula can be expressed in the form of its secondary coordinates
Or in the form of a matrix
A·X＝B (8)
Can be obtained by using pseudo-inverse matrix
X＝(ATA)A-1B (9)
And (VI) calculating the scattering area:
through the steps, the flying track and the scattering shape of the sub-flying object after scattering can be obtained, and the scattering area is obtained.
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