CN106918300A - A kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices - Google Patents
A kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices Download PDFInfo
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- CN106918300A CN106918300A CN201710019187.3A CN201710019187A CN106918300A CN 106918300 A CN106918300 A CN 106918300A CN 201710019187 A CN201710019187 A CN 201710019187A CN 106918300 A CN106918300 A CN 106918300A
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- spatial digitizer
- dimensional tracking
- tracking device
- led
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The invention discloses a kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices, using multiple three-dimensional tracking devices, a spatial digitizer；Multiple LED marks are respectively mounted on every three-dimensional tracking device and spatial digitizer；Gridiron pattern standardization is used, LED marks are demarcated；Marked using the LED on three-dimensional tracking device, calculate the attitude of three-dimensional tracking device；The local data of object is measured using spatial digitizer；According to the LED marks installed on spatial digitizer, the attitude of spatial digitizer is calculated；According to three-dimensional tracking device and the attitude of spatial digitizer, the local data of splicing spatial digitizer measurement.Present invention offer one kind does not contact large-sized object surface, the method that three-dimensional measurement splicing can automatic, in time, conveniently, be accurately carried out to large-sized object.
Description
Technical field
The invention belongs to three-dimensional measurement technology, it is related to a kind of large-sized object three-dimensional measurement joining method, especially a kind of base
In the large-sized object three-dimensional Measured data connection method of many three-dimensional tracking devices.
Technical background
The bending of large ship workpiece is the important step of shipbuilding.Because workpiece peculiar to vessel is thicker, by it accurately
The shape for bending to design requirement is extremely difficult.Current shipbuilding enterprise is used after burning and beaten by hand mostly, Ran Houzai
The method for comparing object module.This method labour intensity is big, time-consuming and precision and efficiency are low, is that this need to research and develop large ship
Workpiece bows automation control system.In ship workpiece bows automation control system, three-dimensional measurement is the link of most critical, only
There is the 3D shape for accurately measuring workpiece, Automated condtrol could be realized.Because large ship workpiece surface can not install biography additional
Sensor, so noncontact measuring method can only be used.At present, conventional noncontact measuring method has two kinds：Laser optical method and vision
Mensuration.Because ship workpiece size is larger (8m × 3m), if using laser measurement, measuring speed is slower, it is impossible to meet work
The processing on real-time requirement of industry.Vision measuring method possesses measuring speed advantage high, therefore, it is relatively good using Videogrammetry
Selection.But general vision measurement technology can only measure less target, when large-scale ship workpiece is measured, it is necessary to
Repeatedly measurement, is then spliced again.Therefore in the three-dimensional measurement of large-scale workpiece, splicing is quite crucial, will have influence on
Overall certainty of measurement.
It is currently, there are various Measured data connection methods.Document one " is based on structure light three-dimensional imaging in three-dimensional point cloud alignment
Reference mark detection (Three-dimensional point cloud alignment detecting fiducial
markers by structured light stereo imaging)”【Barone,S.,Paoli,A.,Razionale,
A.V.:Three-dimensional point cloud alignment detecting fiducial markers by
structured light stereo imaging.Mach.Vis.Appl.23(2),217–229(2012)】, disclose one kind
The method for measuring large-sized object, first in tested large-sized object surface mount aid mark, then basis is to auxiliary for the method
The measurement of mark, realizes the splicing of data.But method is very cumbersome, required time is more long, in-convenience in use, and splice knot
Fruit can be influenceed by testee shape.Document two " three-dimensional measurement of large-scale curved plate "【Bai,Suqin,et al."
Three-dimensional measurement of large-scale texture-less bending plates."
Journal of Electronic Imaging 24.1(2015):013001-013001.】, the joining method utilizes projecting apparatus
Special texture is projected to testee surface, projected textural characteristics are then shot and analyzed using camera, and then realize spelling
Connect, but the method is influenceed larger by ambient, it is as a result easily unstable.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art part,：For problems of the prior art and not
A kind of foot, large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices, the method operation is simple, speed compared with
Hurry up, do not influenceed by ambient, also do not influenceed by testee geometry, can realize that stable and effective data are spelled
Connect.
In order to solve above-mentioned problem of the prior art, the present invention uses following technical scheme.
A kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices of the invention, what is used is
System includes：One includes that two industrial cameras and the spatial digitizer of projecting apparatus, a multiple include two industrial cameras respectively
Three-dimensional tracking device, GPU servers；The industrial camera and projecting apparatus are connected to GPU via gigabit network cable and USB interface respectively
Server；It is characterised in that it includes following specific steps：
(1) n three-dimensional tracking device T is usedi, a spatial digitizer；Swept in every described three-dimensional tracking device and three-dimensional
Retouch and be respectively mounted on instrument m LED mark；Then gridiron pattern standardization is used, LED marks is demarcated, i.e.,：Three-dimensional tracking is calculated respectively
Device TiLED be marked at three-dimensional tracking device TiThe LED of coordinate and spatial digitizer in coordinate system is marked at spatial digitizer coordinate
Coordinate in system；Assuming that three-dimensional tracking device TiLED coordinates after demarcation areSpatial digitizer is demarcated
LED coordinates afterwards areDescribed i ∈ { 1 ..., n }, j ∈ { 1 ..., m }；
(2) in n three-dimensional tracking device T being sequentially placediIn, it is to be ensured that TiOn LED mark can be by Ti-1See, by T1Make
It is global coordinate system；
(3) previous three-dimensional tracking device Ti-1Shoot next three-dimensional tracking device TiLED marks, and in Ti-1Coordinate system
In, calculate TiLED mark coordinate, be denoted as
(4) coordinate marked with LEDFor summit builds connected graph, the line between different summits is used as figure
Side, with a matrixRepresent connected graph；It is a matrix of m × m, dhkThe element of representing matrix h rows k row；dhkTable
Show h-th summitWith k-th summitBetween Euclidean distance；Similarly, the coordinate for being marked with LEDIt is summit,
Build connected graph
(5) connected graph is matchedWith
(6) according to corresponding relation, T is calculatedi-1And TiConversion between coordinate system；
(7) after obtaining the Coordinate Conversion between neighbor tracking device, the attitude of three-dimensional tracking device is estimated；It is three-dimensional for i-th
Tracker, if i=2, its attitude can be expressed asIf i >=3, its attitude can be expressed as：
(8) spatial digitizer is moved in the visual field of three-dimensional tracking device, measures the partial 3 d data of large-sized object, it is assumed that
In moment t, the point cloud data that spatial digitizer is measured is denoted asNow three-dimensional tracking device can be measured on spatial digitizer
LED mark, it is assumed that i-th three-dimensional tracking device TiThe LED marks on spatial digitizer are measured, is denoted as
(9) using the method for step (4), forWithConnected graph is built, G is denoted as respectivelySAnd Gt；
(10) using the method for step (5), matching connected graph GSAnd Gt, establish LED and be marked at spatial digitizer coordinate and Ti
Corresponding relation in coordinate system, it is assumed thatWithIt is corresponding；
(11) according to the result of matching, the attitude of spatial digitizer is calculated；
(12) according to spatial digitizer and the attitude of three-dimensional tracking device, the part that splicing spatial digitizer is measured in moment t
Data
In the step (5), described matching connected graphWithComprise the following steps that：
ForIn every row element, create a KD-tree；
ForY rows in either rank p elementUsing kd-tree trees,Xth row in, find fromNearest elementThen calculated using equation belowY rows withThe distance between xth row,
Record all of y rowsThen equation below is solved：
If dmin≤ δ, described δ are a setting values, then it is assumed that find connected graphWithIn matching summit；
It is assumed here thatWithMatch.
In the step (6), T is calculated using below equation (3)i-1And TiConversion between coordinate system：
Wherein, R ∈ Ξ3×3, and υ ∈ Ξ3。
In the step (11), it is assumed that now the attitude of spatial digitizer is3-D scanning can be calculated with following formula
The attitude of instrument：
In the step (12), using below equation, the local data that splicing spatial digitizer is measured in moment t
Setting value is 1 millimeter to described δ.
Compared with prior art, the present invention includes advantages below and beneficial effect：
1. the present invention is under multi-track device environment, using non-contact type splicing, be not only restricted to testee shape,
The features such as temperature, efficiency is higher；
2. splicing precision of the invention will not be affected by ambient light, increased the practicality of measuring system, is ship
Three-dimensional measurement in the manufactures such as outside plate manufacture, the manufacture of aircraft outside plate and large ocean engineer equipment provides a kind of effective number
According to splicing means.
Brief description of the drawings
The system schematic that Fig. 1 is used by one embodiment of the present of invention.
Fig. 2 is the method flow diagram of one embodiment of the present of invention.
Specific embodiment
A kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices of the invention, what is used is
System is as shown in figure 1, include：One includes that two industrial cameras and the spatial digitizer of projecting apparatus, a multiple include respectively
Two the three-dimensional tracking devices of industrial camera, GPU servers；The industrial camera and projecting apparatus are respectively via gigabit network cable and USB
Interface is connected to GPU servers.
Fig. 2 is the method flow diagram of one embodiment of the present of invention.As shown in Figure 2.The present embodiment is comprised the following steps that：
A. assume to use n three-dimensional tracking device Ti(i ∈ { 1 ..., n }), a spatial digitizer, each solid with
Need that m LED mark is installed on track device and spatial digitizer.Then gridiron pattern standardization is used, LED marks is demarcated and (is calculated
Three-dimensional tracking device TiLED be marked at three-dimensional tracking device TiCoordinate in coordinate system, and the LED of spatial digitizer is marked at three
Coordinate in dimension scanner coordinate system), it is assumed that three-dimensional tracking device TiLED coordinates after demarcation are
Spatial digitizer demarcate after LED coordinates be
B. in installation system, it is sequentially placed three-dimensional tracking device, it is to be ensured that TiOn LED mark can be by Ti-1See, and
By T1As global coordinate system；
C. previous three-dimensional tracking device Ti-1Shoot next three-dimensional tracking device TiLED marks, and in Ti-1Coordinate system
In, calculate TiLED mark coordinate, be denoted as
D. the coordinate for being marked with LEDBe that summit builds connected graph, line between different summits as figure side.
With a matrixRepresent this connected graph.It is a matrix of m × m,The element of representing matrix h rows k row.Table
Show h-th summitWith k-th summitBetween Euclidean distance；Similarly, the coordinate for being marked with LEDIt is summit,
Build connected graph
E. connected graph is matchedWithMethod is as follows：ForXth row, using kd-tree algorithms create set, it is right
InY rows in either rank p elementUsing kd-tree trees,Xth row in, find fromNearest
ElementThen calculated using equation belowY rows withThe distance between xth row,
Record all of y rowsThen equation below is solved：
If dmin≤ δ (δ is a value for setting, such as 1 millimeter), then it is assumed that find connected graphWithIn
With summit.It is assumed here thatWithMatch；
F. according to corresponding relation, you can calculate T using formula (3)i-1And TiConversion between coordinate system
Here
Wherein, R ∈ Ξ3×3, and υ ∈ Ξ3。
G. after obtaining the Coordinate Conversion between neighbor tracking device, it is possible to estimate the attitude of three-dimensional tracking device.For i-th
Three-dimensional tracking device, if i=2, its attitude can be expressed asIf i >=3, its attitude can be expressed as：
H. spatial digitizer is moved in the visual field of three-dimensional tracking device, measures the partial 3 d data of large-sized object, it is assumed that
In moment t, the point cloud data that spatial digitizer is measured is denoted asNow three-dimensional tracking device can be measured on spatial digitizer
LED mark, it is assumed that i-th three-dimensional tracking device TiThe LED marks on spatial digitizer are measured, is denoted as
I. using the method for step d., forWithConnected graph is built, G is denoted as respectivelySAnd Gt；
J. using the method for step e., matching connected graph GSAnd Gt, establish LED and be marked at spatial digitizer coordinate and TiSit
Corresponding relation in mark system, it is assumed thatWithIt is corresponding；
K. according to the result of matching, the attitude of spatial digitizer is calculated, it is assumed that now the attitude of spatial digitizer isCan be calculated with equation below：
L. according to spatial digitizer and the attitude of three-dimensional tracking device, the local number that splicing spatial digitizer is measured in moment t
According toEquation below
。
Claims (6)
1. a kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices, the system for being used includes：One
Platform includes that two industrial cameras and the spatial digitizer of projecting apparatus, a multiple include two three-dimensional trackings of industrial camera respectively
Device, GPU servers；The industrial camera and projecting apparatus are connected to GPU servers via gigabit network cable and USB interface respectively；Its
It is characterised by, comprises the following specific steps that：
(1) n three-dimensional tracking device T is usedi, a spatial digitizer；On every described three-dimensional tracking device and spatial digitizer
It is respectively mounted m LED mark；Then gridiron pattern standardization is used, LED marks is demarcated, i.e.,：Three-dimensional tracking device T is calculated respectivelyi's
LED is marked at three-dimensional tracking device TiThe LED of coordinate and spatial digitizer in coordinate system is marked in spatial digitizer coordinate system
Coordinate；Assuming that three-dimensional tracking device TiLED coordinates after demarcation areAfter spatial digitizer is demarcated
LED coordinates beDescribed i ∈ { 1 ..., n }, j ∈ { 1 ..., m }；
(2) in n three-dimensional tracking device T being sequentially placediIn, it is to be ensured that TiOn LED mark can be by Ti-1See, by T1As complete
Office's coordinate system；
(3) previous three-dimensional tracking device Ti-1Shoot next three-dimensional tracking device TiLED marks, and in Ti-1Coordinate system in, meter
Calculate TiLED mark coordinate, be denoted as
(4) coordinate marked with LEDFor summit builds connected graph, the line between different summits is used as the side of figure
One matrixRepresent connected graph；It is a matrix of m × m, dhkThe element of representing matrix h rows k row；dhkRepresent h-th
SummitWith k-th summitBetween Euclidean distance；Similarly, the coordinate for being marked with LEDIt is summit, the company of structure
Logical figure
(5) connected graph is matchedWith
(6) according to corresponding relation, T is calculatedi-1And TiConversion between coordinate system；
(7) after obtaining the Coordinate Conversion between neighbor tracking device, the attitude of three-dimensional tracking device is estimated；For i-th three-dimensional tracking
Device, if i=2, its attitude can be expressed asIf i >=3, its attitude can be expressed as：
(8) spatial digitizer is moved in the visual field of three-dimensional tracking device, measure large-sized object partial 3 d data, it is assumed that when
T is carved, the point cloud data that spatial digitizer is measured is denoted asNow three-dimensional tracking device can measure the LED on spatial digitizer
Mark, it is assumed that i-th three-dimensional tracking device TiThe LED marks on spatial digitizer are measured, is denoted as
(9) using the method for step (4), forWithConnected graph is built, G is denoted as respectivelySAnd Gt；
(10) using the method for step (5), matching connected graph GSAnd Gt, establish LED and be marked at spatial digitizer coordinate and TiCoordinate
Corresponding relation in system, it is assumed thatWithIt is corresponding；
(11) according to the result of matching, the attitude of spatial digitizer is calculated；
(12) according to spatial digitizer and the attitude of three-dimensional tracking device, the local data that splicing spatial digitizer is measured in moment t
2. a kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices according to claim 1,
Characterized in that, in the step (5), described matching connected graphWithComprise the following steps that：
ForIn every row element, create a KD-tree；
ForY rows in either rank p elementUsing kd-tree trees,Xth row in, find from
Nearest elementThen calculated using equation belowY rows withThe distance between xth row,
Record all of y rowsThen equation below is solved：
If dmin≤ δ, described δ are a setting values, then it is assumed that find connected graphWithIn matching summit；Here
Assuming thatWithMatch.
3. a kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices according to claim 1,
Characterized in that, in the step (6), T is calculated using below equation (3)i-1And TiConversion between coordinate system：
Wherein, R ∈ Ξ3×3, and υ ∈ Ξ3。
4. a kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices according to claim 1,
Characterized in that, in the step (11), it is assumed that now the attitude of spatial digitizer isCan calculate three-dimensional with following formula
The attitude of scanner：
5. a kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices according to claim 1,
Characterized in that, in the step (12), using below equation, the local data that splicing spatial digitizer is measured in moment t
6. a kind of large-sized object three-dimensional Measured data connection method based on many three-dimensional tracking devices according to claim 2,
Characterized in that, described δ setting value be 1 millimeter.
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| CN112802002A (en) * | 2021-02-05 | 2021-05-14 | 杭州思锐迪科技有限公司 | Object surface data detection method and system, electronic device and storage medium |
| CN112880557A (en) * | 2021-01-08 | 2021-06-01 | 武汉中观自动化科技有限公司 | Multi-mode tracker system |
| CN112964196A (en) * | 2021-02-05 | 2021-06-15 | 杭州思锐迪科技有限公司 | Three-dimensional scanning method, system, electronic device and computer equipment |
| US11493326B2 (en) | 2021-02-05 | 2022-11-08 | Scantech (Hangzhou) Co., Ltd. | Object surface data detection method and system, electronic apparatus, and storage medium |
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