CN106767913A - A kind of compound eye system caliberating device and scaling method based on single LED luminous points and dimensional turntable - Google Patents
A kind of compound eye system caliberating device and scaling method based on single LED luminous points and dimensional turntable Download PDFInfo
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Abstract
The invention discloses a kind of compound eye system caliberating device and scaling method based on single LED luminous points and dimensional turntable, caliberating device system is made up of LED, dimensional turntable and tested compound eye system etc., dimensional turntable includes support frame, high-precision motor and supporting driver, and the compound eye system being calibrated is arranged on the horizontal the tip of the axis of turntable.In calibration process, computer is rotated by controlling driver drives turntable, the target image of compound eye capture under collection two motors difference rotational angle, calculate image spot centre coordinate, record turntable motor rotational angle and corresponding spot coordinate, by Mathematical Modeling, set up both mapping relations.The present invention can build the high accuracy target of covering compound eye full filed, the coordinate system of numerous sub- eyes can be unified, without considering complicated system imaging and distortion model, can realize that unattended automation is demarcated, can complete that sub- eye is more, the Accurate Calibration of the compound eye system of complicated, the big visual field of distorting, and caliberating device is simple, stated accuracy is high.
Description
Technical field
The invention belongs to field of machine vision, and in particular to a kind of compound eye system based on single LED luminous points and dimensional turntable
System caliberating device and scaling method.
Background technology
Natural Compound Eye of Insects with its big visual field, moving height sensitiveness and compact conformation the advantages of in industry, security protection, military affairs
There is great potential using value Deng field.For this, we devise a kind of novel bionic compound eye device, as shown in Figure 1,
System remains the sub- eye curved surface characteristic distributions of nature Compound Eye of Insects；And meniscus lens is introduced, make the irradiation that light is more vertical
Onto imageing sensor；141 sub- eyes of cloth are divided on hemispherical compound eye spherical shell, sub- eye uses logarithmic axicon lens, to improve light
Spot focus characteristics；All sub- eyes share a CMOS camera, and image sensor resolutions are 2048pixel × 2048pixel, as
12 μm of 12 μ m of first size.Compound eye plant bulk is about 110mm × 110mm × 80mm, and overall visual field is 100 ° × 100 °, capture
Image can be transferred in computer by USB interface.
Inevitably there is nonlinear distortion in each sub- eye imaging of compound eye system, in order that can be carried out with this covering device
The work such as impact point Detection location to it, it is necessary to first demarcate.In machine vision applications, the purpose of camera calibration is for true
Determine three-dimensional geometry position and its correlation in the picture between corresponding points of space object surface point.In order to determine compound eye
The corresponding relation of picture point and spatial point in system, the problem that the demarcation needs of compound eye are solved includes：How every height eye is set up
The relation of channel image hot spot and incident ray vector；How numerous sub- eye coordinates systems are unified；How to reduce to numerous sons
Eye demarcates the plenty of time and resource expended.
Conventional camera calibration method is mainly first structure imaging model and distortion model at present, then using based on radially
A series of scaling methods such as constraint, 2D targets, Cross ration invariability solve the inside and outside and distortion parameter in these camera models, from
And set up the relation of image and spatial point.And in compound eye system, sub- eye Numerous, closer to the distortion of the sub- eye in spherical shell edge
It is more big more complicated, if demarcated to every height eye respectively, face model and be difficult to construct, sub- eye coordinates system is numerous, staking-out work amount
Big the problems such as；Simultaneously demarcated in the big visual field of compound eye, it is necessary to large scale target it is expensive, while target precision is difficult to
Ensure.Therefore these common scaling methods are not applied for this occasion.
In view of compound eye system demarcate complexity, therefore, it is necessary to design it is a set of demarcate high accuracy, coordinate system unification, from
The caliberating device of dynamicization operation and the scaling method of corresponding high efficient and flexible.
Need, according to bionic compound eyes system architecture feature, to design a set of caliberating device and corresponding scaling method, no longer need
Concentrate on how solving system is specifically imaged and distortion parameter, so as to overcome the shortcomings of existing scaling method, realize construction
The high accuracy target of compound eye full filed scope is covered, by the automatic operating of software control realization calibration process, is realized in system
The nonlinear correspondence relation per height between eye passage light spot and target spot angle is set up under one coordinate system, so as to solve sub- eye
Many, the compound eye system that distortion is complicated, visual field is big problem of calibrating, while improve demarcating efficiency, reduces system calibrating error.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the shortcomings of existing scaling method, there is provided a set of demarcation high accuracy, seat
The scaling method of the caliberating device of mark system one, automatic operating and corresponding high efficient and flexible, realizes compound eye under the big visual field of close shot
The Accurate Calibration of system, and caliberating device is simple, stated accuracy is high.
The technical solution adopted by the present invention is：A kind of compound eye system based on single LED luminous points and dimensional turntable demarcates dress
Put, including dimensional turntable, motor driver, LED, Magnetic gauge stand support frame, one-dimensional translation stage, computer and compound eye system.Its
Middle dimensional turntable includes high-precision servo motor and fixed frame, and compound eye system is arranged on the horizontal the tip of the axis of turntable, and compound eye is followed
Vertical pivot and transverse axis are rotated.LED is placed in Magnetic gauge stand support frame top, and its riding position can be adjusted, and support frame is fixed on
One-dimensional translation stage, LED can realize one-dimensional translational motion on translation stage along turntable X direction.In calibration process, control drives
Device drives vertical pivot and transverse axis to rotate, and realizes that LED location is moved by controlling one-dimensional translation stage, compound eye system capture three dimensions
Impact point obtains light spot image, and image is transferred in computer by USB interface, calculates image spot dot center coordinate, record
Vertical pivot, transverse axis angle value and spot center coordinate, so as to set up per height eye on two positions under unified coordinate system
The mapping relations of coordinate-angle.
In addition, the present invention also provides a kind of compound eye system scaling method based on single LED luminous points and dimensional turntable, including
Following steps：
Step (1) adjusts dimensional turntable device, realizes that vertical pivot intersects at the sphere center position of compound eye spherical crown surface with transverse axis, and make
Vertical pivot is mutually perpendicular to transverse axis.
Step (2) sets two angle dead-center positions of motor rotation axis, as the starting point of angular turn in calibration process,
And two motors are turned into dead-center position.
Be placed on LED at the about 500mm of compound eye front by step (3), the equiangularly spaced rotation transverse axis in 360 °, at each
The spot image of station acquisition compound eye capture, spot center coordinate, edge will be calculated by USB interface in image transmitting to computer
Guide rail direction adjusts LED location, when transverse axis is rotated, makes the imaging facula center of middle center eye constant.
Since angle dead-center position, the control flow (Fig. 5) of computer realizes the automation fortune of calibration process to step (4)
OK, upper and lower motor is driven to drive compound eye to rotate.The position for remembering now LED is Z1, on a series of angle positions of setting, collection
LED is imaged on the light spot image on CMOS, calculates image spot center point coordinate, and hot spot and corresponding sub- eye passage are carried out
Match somebody with somebody, determine sub- eye belonging to spot, and record sub- eye the passage now rotational angle of upper and lower motor and hot spot point coordinates.
After (5) first position records of step are over, the distance of measurement LED to the compound eye spherical crown surface centre of sphere.
Step (6) controls one-dimensional translation stage movement LED to new position Z2, in Z2Repeat step (4) and (5) on position.
Step (7), can be the rotation for being converted to LED of two axles, it can be considered that turntable when two axles are rotated
It is static, and LED rotates around two axle intersection points in space.According to this relation, as shown in figure 3, unified coordinate system is set up, can
With in Z1And Z2The virtual space pattern of LED spherical distributions in space is respectively obtained on two positions, Z is recorded1And Z2Two
The coordinate of the distance of LED and two axle intersection points on position, the angle that corresponding two machine shaft of eye is rotated per height and picture point.
Step (8) can obtain spot every according to the coordinate and angular relationship of record by the method for discrete points interpolation
Correspondence position on individual virtual spherical surface, can further obtain the mapping relations of each Image Speckle and incident ray vector,
Calibration process can be completed.
Above-mentioned scaling method is expressed as with Mathematical Modeling：
Vertical pivot is designated as α relative to its angle zero point rotational angle, and transverse axis is designated as β relative to its angle zero point rotational angle,
Image glazing spot coordinate is designated as P (u, v), then for every height eye in Z1The angle and facula position that the motor of position two is rotated can
To be designated as (α11,β11,P11), (α12,β12,P12) ..., (α1n,β1n, P1n), in Z2Angle and hot spot that the motor of position two is rotated
Position is designated as (α21,β21,P21),(α22,β22,P22) ..., (α2n,β2n,P2n).Therefore we are established on the image of every height eye
Point and corresponding Z1And Z2The relation of point and turntable coordinate system angle on two spheres of positionWith
OXYZ world coordinate systems as shown in Figure 3 are set up, coordinate origin is located at two axle intersection points, and Y-axis overlaps with vertical pivot, square
To being the direction away from lower motor, in transverse axis coincidence, positive direction is the direction away from upper motor to Z axis, and coordinate system is right-handed scale (R.H.scale)
System, X-direction is as shown in the figure.As shown in figure 4, on the position that origin is R, the angle of upper and lower motor is (α, β), and its is virtual
The three-dimensional coordinate (x, y, z) of target point is：
The corresponding relation of spot-angle is set up on two such positions, for a known angle, by inserting
Value, can obtain corresponding angle, so as to obtain the corresponding points on virtual spherical surface on two positions of Z1 and Z2 respectively, corresponding points connect
The linear equation of line is incident ray, if incident ray is with coordinate system angleTherefore spot can be set up with incidence
The relation of ray vectorsRealize demarcating.
Present invention advantage compared with prior art is：
(1) caliberating device of the invention is made up of single LED and dimensional turntable, can build the target of covering compound eye full filed
Mark, unified the coordinate system of numerous sub- eyes, be not required to consider the concrete model of imaging and distortion, so suitable sub- eye is more, it is multiple to distort
The demarcation of the big compound eye system in miscellaneous, visual field.
(2) caliberating device of the present invention uses high-precision servo motor, it is ensured that rotational angle position is accurate；It is luminous using LED
Point, it is to avoid the unsharp phenomenon of picture point, improves spot center extraction accuracy；Calibration process realizes that automation makes artificial disturbance few etc.
Reason causes that stated accuracy is higher.
(3) after system fading margin of the invention is completed, by the software write control that unattended automation can be realized
Demarcate, be easy to automatically obtain the now angle of the axle of turntable two on each position and calculate the hot spot that compound eye capture target is obtained
Point coordinates, so that calibration process is more convenient.
Brief description of the drawings
Fig. 1 is the novel bionic compound eye structural schematic diagram that the present invention needs to demarcate；
Fig. 2 is calibration system schematic diagram of the present invention；
Fig. 3 is scaling method schematic diagram of the present invention；
Fig. 4 is LED position relationship schematic diagrams in a coordinate system in the present invention；
Fig. 5 is Computer control flow chart of the present invention；
Fig. 6 positions schematic diagram for the present invention for objective；
Label in figure：1- eyelens, 2- meniscus lens, 3-CMOS imageing sensors, 4-PCB, 5- compound eye spherical shell, 6- meters
Calculation machine, 7- tops motor, 8- lower sections motor, 9- compound eye systems, 10- turntables fixed frame, 11- motor drivers, 12-LED (hairs
Optical diode), 13- Magnetic gauge stands support frame, the one-dimensional translation stages of 14-, the upper motor revolving shafts of 15- (transverse axis), motor revolution under 16-
The ball that spherical virtual target, the 18-LED that axle (vertical pivot), 17-LED are formed on first position are formed on second position
Shape virtual target.
Specific embodiment
Technical scheme is described in further detail below according to accompanying drawing and with reference to specific implementation step.
The compound eye system demarcated is needed as shown in figure 1, by sub- eyelens, meniscus lens, CMOS cameras, spherical shell and shell group
Into.Every sub- eyelens is responsible for about 20 ° of target imagings of field of view on hemispherical spherical shell, meniscus lens be in sub- eyelens with
Between CMOS cameras, for optimizing in visual field by the incident ray after sub- eyelens, CMOS cameras are by sub- eye and meniscus lens
The optical imagery of reception is converted to digital picture and exports, and spherical shell and shell are the mechanical support structures of whole compound eye system.
A kind of novel bionic compound eye system caliberating device that the present invention is provided, specifically forms with following portion of tissue：
As shown in Fig. 2 the present invention is mainly made up of dimensional turntable, LED lamp bead 12, compound eye system 9 and computer 6, two dimension
Turntable is mainly made up of two servomotors (7,8) and fixed frame 10, and two motors are each equipped with high accuracy driver 11, multiple
Eye system 9 is fixed on transverse axis end, can drive two-axle rotating table and transverse axis 15 with the synchronous axial system of transverse axis 15, the rotation of vertical pivot 16
Move in the horizontal direction, transverse axis 15 and vertical pivot 16 can be rotated in the range of 360 °.The compound eye system 9 being calibrated is arranged on transverse axis
On 15, the position up and down that compound eye is fixed on transverse axis 15 can be finely tuned by adjusting clamp nut around compound eye, so that just
Intersect with the compound eye spherical crown surface centre of sphere in regulation vertical pivot and transverse axis.LED lamp bead 12 is placed on Magnetic gauge stand support frame 13, support frame
13 are fixed on one-dimensional translation stage 14, and LED lamp bead 12 is located at the front of turntable origin position.
A kind of corresponding scaling method of novel bionic compound eye system caliberating device that the present invention is provided, the scaling method is specific
Comprise the following steps：
(1) dimensional turntable device is adjusted, as shown in figure 3, realizing that transverse axis 15 intersects at the ball of the spherical crown surface of compound eye 9 with vertical pivot 16
Heart position, and transverse axis 15 is mutually perpendicular to vertical pivot 16.
(2) two angle dead-center positions of motor rotation axis are set, as the starting point of angular turn in calibration process, and will
Transverse axis and vertical axis are to dead-center position.
(3) LED lamp bead 12 is placed at the about 500mm of compound eye front, the equiangularly spaced rotation transverse axis 15 in 360 °,
On each angle position, the capture LED of sub- eye 1 luminous points 12 of compound eye system are imaged on cmos image and sense by meniscus lens 2
On device 3, spot center coordinate will be calculated by USB interface in image transmitting to computer 6, constantly the position of adjustment LED lamp bead 12
Put the imaging facula center superposition for making transverse axis middle sub- eye under different angles.
(4) since two shaft angle degree dead-center positions, the control flow of computer is as shown in figure 5, drive transverse axis 15 and vertical pivot
16 drive compound eyes 9 are rotated, wherein rotational angle unequal interval, it is ensured that the distribution of the image light spot that eye passage 1 is obtained per height
Uniformity.The position for remembering now LED is Z1, on each angle position of setting, collection LED luminous points 12 are imaged on CMOS figures
As the light spot image on sensor 3, image spot center point coordinate is calculated, hot spot is matched with corresponding sub- eye passage, really
Determine sub- eye belonging to spot, and record sub- the eye now rotational angle of axle and corresponding hot spot point coordinates anyhow.
(5) Z1After position record is over, the distance of measurement LED lamp bead 12 to the spherical crown surface centre of sphere of compound eye 9.
(6) the movable LED lamp pearl 12 of one-dimensional translation stage 14 to new position Z is controlled2, the weight in the new position of LED lamp bead 12
Multiple step (4) and (5).
(7) when two axles are rotated, can be the rotation for being converted to LED lamp bead 12 of two axles, it can be considered that turning
Platform is static, and LED lamp bead 12 rotates around two axle intersection points in space.According to this relation, as shown in figure 3, can be in Z1And Z2
The virtual space pattern 17,18 of the spherical distribution in space of LED luminous points 12 is respectively obtained on two positions, two positions are recorded
Put the seat of LED lamp bead 12 and the distance of two axle intersection points, the angle that corresponding two machine shaft is rotated per height and picture point
Mark.
(8) for the sub- eye that numbering is m (1≤m≤141), image spot center point coordinate is P (u, v), while power-on and power-off
The angle that machine is rotated is (α, β), in can be hot spot-angle corresponding relation (α, β, P) for setting up this sub- eye.When target is by compound eye
After capture, by being calculated spot coordinate on image, it is necessary to obtain angle information now, and the spot coordinate for obtaining can not
Overlapped with given data completely, can according to known spot coordinate and existing spot-angular relationship using the method for discrete points interpolation
To obtain unknown angle information.Obtained in Z by the method for interpolation1And Z2Angle information on two positions, you can obtain image
Corresponding points of the hot spot on two spheres, the straight line of hot spot 2 points of compositions of correspondence is incident ray, has hence set up figure
As the relation between coordinate and incident ray vector, the calibration process of compound eye system is completed.
Said process gives a kind of novel bionic compound eye system caliberating device of present invention offer and corresponding demarcation
The implementation process of method, it is possible to achieve the high-precision automatic of bionic compound eyes system is demarcated.After the completion of demarcation, it is possible to use multiple
Eye device carries out the work such as Three dimensional Targets Detection location.
As shown in fig. 6, when an impact point in space is captured by compound eye, it is assumed that its three-dimensional coordinate is (x, y, z), figure
As upper each spot can obtain corresponding angle (α by the method for angle interpolation on two positions demarcated1,β1) and (α2,
β2), it is known that angle can obtain corresponding points on two spheres.As shown in figure 4, note first spherical surface position and coordinate origin
Distance be L1, second spherical surface position is L with the distance of origin2, then it is calculated two point coordinates on two spheres and is respectively
M1(x1,y1,z1) and M2(x2,y2,z2)。
The linear equation that then corresponding points of the same smooth spot on two spheres are constituted is incident ray, its linear equation
For：
When luminous point is captured by many height eye, a plurality of incident ray can be obtained, incident ray is all from impact point hair
Go out, therefore the intersection point of incident ray is measured target point, can be obtained with simultaneous equations：
Extraterrestrial target point can typically be captured by 4 to 8 sub- eyes under actual conditions, therefore (n represents spot for 4≤n≤8
Number), and need the coordinate parameters for solving there was only three, more than number of parameters is solved, this is an overdetermined equation to equation number,
The optimal solution of the three-dimensional coordinate (x, y, z) of spatial point can be solved by least square method.
On foregoing theoretical and working foundation, we can not only measure to three-dimensional large scale object, can also be right
One body surface carries out a cloud scanning so as to realize face shape reconstruct.Illustrate caliberating device and the scaling method realization of the invention
Function can be very good to be applied in the work such as space orientation, surface shape measurement, three-dimensionalreconstruction.
Claims (3)
1. a kind of compound eye system caliberating device based on single LED luminous points and dimensional turntable, it is characterised in that：Turn including two dimension
Platform, motor driver, LED, Magnetic gauge stand support frame, one-dimensional translation stage, computer and compound eye system, wherein dimensional turntable include
High-precision servo motor and fixed frame, compound eye system are arranged on the horizontal the tip of the axis of turntable, and compound eye follows vertical pivot and transverse axis to rotate,
LED is placed in Magnetic gauge stand support frame top, and its riding position can be adjusted, and support frame is fixed on one-dimensional translation stage, and LED can
One-dimensional translational motion is realized along turntable X direction on translation stage, in calibration process, controls driver to drive vertical pivot and horizontal stroke
Axle is rotated, and realizes that LED location is moved by controlling one-dimensional translation stage, and compound eye system capture Three dimensional Targets point obtains hot spot figure
Picture, image is transferred in computer by USB interface, calculates image spot dot center coordinate, record vertical pivot, transverse axis angle value and
Spot center coordinate, so as to the mapping that the coordinate-angle of eye per height is set up on two positions under unified coordinate system is closed
System.
2. a kind of compound eye system scaling method based on single LED luminous points and dimensional turntable, using the claims 1 based on
The compound eye system caliberating device of single LED luminous points and dimensional turntable, it is characterised in that：Comprise the following steps：
Step (1) adjusts dimensional turntable device, realizes that vertical pivot intersects at the sphere center position of compound eye spherical crown surface with transverse axis, and make vertical pivot
It is mutually perpendicular to transverse axis；
Step (2) sets two angle dead-center positions of motor rotation axis, as the starting point of angular turn in calibration process, and will
Two motors turn to dead-center position；
Be placed on LED at the about 500mm of compound eye front by step (3), the equiangularly spaced rotation transverse axis in 360 °, in each position
The spot image of collection compound eye capture, will calculate spot center coordinate, along guide rail by USB interface in image transmitting to computer
Direction adjusts LED location, when transverse axis is rotated, makes the imaging facula center of middle center eye constant；
Since angle dead-center position, the control flow of computer realizes the automatic operating of calibration process to step (4), in driving
Lower motor drives compound eye to rotate, and the position for remembering now LED is Z1, on a series of angle positions of setting, collection LED is imaged on
Light spot image on CMOS, calculates image spot center point coordinate, and hot spot is matched with corresponding sub- eye passage, determines spot
Affiliated sub- eye, and record sub- eye the passage now rotational angle of upper and lower motor and hot spot point coordinates；
After (5) first position records of step are over, the distance of measurement LED to the compound eye spherical crown surface centre of sphere；
Step (6) controls one-dimensional translation stage movement LED to new position Z2, in Z2Repeat step (4) and (5) on position；
Step (7) when two axles are rotated, can the rotation for being converted to LED of two axles, it can be considered that turntable is static,
And LED rotates around two axle intersection points in space, unified coordinate system is set up, can be in Z1And Z2Respectively obtained on two positions
The virtual space pattern of LED spherical distributions in space, records Z1And Z2It is the distance of LED and two axle intersection points on two positions, every
Angle and the coordinate of picture point that corresponding two machine shaft of height eye is rotated；
Step (8) can obtain spot empty at each according to the coordinate and angular relationship of record by the method for discrete points interpolation
Intend the correspondence position on sphere, can further obtain the mapping relations of each Image Speckle and incident ray vector, you can
Complete calibration process.
3. a kind of compound eye system scaling method based on single LED luminous points and dimensional turntable according to claim 2, it is special
Levy and be：Mathematical Modeling in the demarcating steps includes：Vertical pivot is designated as α, transverse axis phase relative to its angle zero point rotational angle
β is designated as its angle zero point rotational angle, image glazing spot coordinate is designated as P (u, v), then for every height eye in Z1Position
The angle and facula position that two motors are rotated can be designated as (α11,β11,P11), (α12,β12,P12) ..., (α1n,β1n, P1n), in Z2
The angle and facula position that the motor of position two is rotated are designated as (α21,β21,P21),(α22,β22,P22) ..., (α2n,β2n,P2n), build
Stand and put and corresponding Z on the image of eye per height1And Z2The relation P of point and turntable coordinate system angle on two spheres of positionWith
OXYZ world coordinate systems are set up, coordinate origin is located at two axle intersection points, and Y-axis overlaps with vertical pivot, and positive direction is away from lower electricity
The direction of machine, Z axis overlap in transverse axis, and positive direction is the direction away from upper motor, and coordinate system is right-handed coordinate system, apart from origin
For on the position of R, the angle of upper and lower motor is (α, β), and the three-dimensional coordinate (x, y, z) of its virtual target point is：
The corresponding relation of spot-angle is set up on two such positions, for a known angle, by interpolation, can
To obtain corresponding angle, so that the corresponding points on virtual spherical surface on two positions of Z1 and Z2 are obtained respectively, corresponding points line
Linear equation is incident ray, if incident ray is with coordinate system angleTherefore spot and incident ray can be set up
The relation of vectorRealize demarcating.
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