CN106918300B - A kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices - Google Patents
A kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices Download PDFInfo
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- CN106918300B CN106918300B CN201710019187.3A CN201710019187A CN106918300B CN 106918300 B CN106918300 B CN 106918300B CN 201710019187 A CN201710019187 A CN 201710019187A CN 106918300 B CN106918300 B CN 106918300B
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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 transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from 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
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Abstract
The invention discloses a kind of large-sized object three-dimensional Measured data connection methods based on more three-dimensional tracking devices, using multiple three-dimensional tracking devices, a spatial digitizer；Multiple LED labels are installed respectively on every three-dimensional tracking device and spatial digitizer；With gridiron pattern standardization, LED label is demarcated；It is marked using the LED being mounted on three-dimensional tracking device, calculates the posture of three-dimensional tracking device；Utilize the local data of spatial digitizer measurement object；According to the LED label installed on spatial digitizer, the posture of spatial digitizer is calculated；According to the posture of three-dimensional tracking device and spatial digitizer, splice the local data of spatial digitizer measurement.The present invention provides a kind of method for not contacting large-sized object surface, automatically, in time, conveniently, accurately capable of carrying out three-dimensional measurement splicing to large-sized object.
Description
Technical field
The invention belongs to three-dimensional measurement technologies, are 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 more three-dimensional tracking devices.
Technical background
The bending of large ship workpiece is the important link of shipbuilding.Since workpiece peculiar to vessel is thicker, accurately by it
It is very difficult for bending to the shape of design requirement.Shipbuilding enterprise beats by hand after mostly using baked wheaten cake greatly at present, then again
The method for comparing object module.This method large labor intensity, time-consuming and precision and low efficiency need research and development large ship thus
Workpiece bows automatic control system.In ship workpiece bows automatic control system, three-dimensional measurement is the link of most critical, only
There is the 3D shape for accurately measuring workpiece, is just able to achieve automation control.Since large ship workpiece surface cannot install biography additional
Sensor, so noncontact measuring method can only be used.Currently, there are two types of common noncontact measuring methods: laser optical method and vision
Mensuration.Since ship workpiece size larger (8m × 3m) is unable to satisfy work if measuring speed is slower using laser measurement
The processing on real-time requirement of industry.Vision measuring method has the high advantage of measuring speed, is relatively good using Videogrammetry therefore
Selection.But general vision measurement technology can only measure lesser target, in the large-scale ship workpiece of measurement, 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 affect
Whole measurement accuracy.
It is currently, there are a variety of Measured data connection methods.Document one " is based on structure light three-dimensional imaging in three-dimensional point cloud alignment
Reference mark detect (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, this method is first in tested large-sized object surface mount aid mark, then according to auxiliary
The splicing of data is realized in the measurement of label.But method is very cumbersome, and required time is longer, and it is inconvenient to use, and splice knot
Fruit will receive the influence of 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.], which utilizes projector
Special texture is projected to testee surface, then shoots and analyze projected textural characteristics using camera, and then realize and spell
It connects, but this method is affected by ambient, it is as a result easily unstable.
Summary of the invention
It is an object of the invention to provide a kind of large size based on more three-dimensional tracking devices in place of overcome the deficiencies in the prior art
Three-dimensional measurement of objects data joining method, this method operation is simple, and fast speed is not influenced by ambient, also not by quilt
The influence for surveying geometry of objects is able to achieve and stablizes and effective data splicing.
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 more three-dimensional tracking devices of the invention, used system
System include: one include the spatial digitizer of two industrial cameras and a projector, multiple respectively include two industrial cameras
Three-dimensional tracking device, GPU server；The industrial camera and projector 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；It is swept in every three-dimensional tracking device and three-dimensional
It retouches and m LED label is installed respectively on instrument；Then gridiron pattern standardization, calibration LED label, it may be assumed that calculate separately three-dimensional tracking are used
Device TiLED mark in three-dimensional tracking device TiThe LED of coordinate and spatial digitizer in coordinate system is marked in spatial digitizer coordinate
Coordinate in system；Assuming that three-dimensional tracking device TiLED coordinate after calibration isSpatial digitizer calibration
LED coordinate later isThe 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 label can be by Ti-1See, by T1Make
For global coordinate system；
(3) previous three-dimensional tracking device Ti-1Shoot next three-dimensional tracking device TiLED label, and in Ti-1Coordinate system
In, calculate TiLED label coordinate, be denoted as
(4) coordinate marked with LEDConnected graph is constructed for vertex, the line between different vertex is as figure
Side, with a matrixIndicate connected graph；It is the matrix of a m × m, dhkThe element of representing matrix h row k column；dhkTable
Show h-th of vertexWith k-th of vertexBetween Euclidean distance；Similarly, the coordinate marked with LEDFor vertex,
Construct connected graph
(5) connected graph is matchedWith
(6) according to corresponding relationship, T is calculatedi-1And TiConversion between coordinate system；
(7) after obtaining the coordinate conversion between adjacent cube tracker, estimate the posture of three-dimensional tracking device；For i-th
Three-dimensional tracking device, if i=2, its posture can be expressed asIf i >=3, its posture can be indicated are as follows:
(8) spatial digitizer moves 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 measures is denoted asThree-dimensional tracking device can measure on spatial digitizer at this time
LED label, it is assumed that i-th of three-dimensional tracking device TiThe LED label on spatial digitizer is measured, is denoted as
(9) method for utilizing step (4), forWithConnected graph is constructed, is denoted as G respectivelySAnd Gt；
(10) method for utilizing step (5), matches connected graph GSAnd Gt, LED label is established in spatial digitizer coordinate and Ti
Corresponding relationship in coordinate system, it is assumed thatWithIt is corresponding；
(11) according to matched as a result, calculating the posture of spatial digitizer；
(12) according to the posture of spatial digitizer and three-dimensional tracking device, splice spatial digitizer in the part that moment t is measured
Data
In the step (5), the matching connected graphWithSpecific step is as follows:
ForIn every row element, create a KD-tree；
ForY row in either rank p elementUsing kd-tree tree,Xth row in, find
FromNearest elementThen it is calculated using following formulaY row withThe distance between xth row,
Record all of y rowThen following formula is solved:
If dmin≤ δ, the δ are a setting values, then it is assumed that find connected graphWithIn matching top
Point；It is assumed thatWithMatch.
In the step (6), T is calculated using following formula (3)i-1And TiConversion between coordinate system:
Wherein, R ∈ Ξ3×3, and υ ∈ Ξ3。R∈Ξ3×3Indicate that R is the matrix of 3 rows 3 column, υ ∈ Ξ3Indicate that υ is 3 rows
The vector of 1 column.
In the step (11), it is assumed that the posture of spatial digitizer is at this time3-D scanning can be calculated with following formula
The posture of instrument:
In the step (12), using following formula, splice the local data that spatial digitizer is measured in moment t
Setting value is 1 millimeter to the δ.
Compared with prior art, the present invention includes the following advantages and the utility model has the advantages that
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 are higher；
2. splicing precision of the invention will not be affected by ambient light, the practicability of measuring system is increased, 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.
Detailed description of the invention
Fig. 1 is system schematic 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 more three-dimensional tracking devices of the invention, used system
Unite as shown in Figure 1, including: one include the spatial digitizer of two industrial cameras and a projector, multiple respectively include
Three-dimensional tracking device, the GPU server of two industrial cameras；The industrial camera and projector are respectively via gigabit network cable and USB
Interface is connected to GPU server.
Fig. 2 is the method flow diagram of one embodiment of the present of invention.As shown in Figure 2.Specific step is as follows for the present embodiment:
A. assume to use n three-dimensional tracking device Ti(i ∈ { 1 ..., n }), a spatial digitizer, it is each it is three-dimensional with
Need to install m LED label on track device and spatial digitizer.Then gridiron pattern standardization is used, calibration LED label (calculates
Three-dimensional tracking device TiLED mark in three-dimensional tracking device TiThe LED of coordinate and spatial digitizer in coordinate system is marked three
Tie up the coordinate in scanner coordinate system), it is assumed that three-dimensional tracking device TiLED coordinate after calibration is
Spatial digitizer calibration after LED coordinate be
B. in installation system, it is sequentially placed three-dimensional tracking device, it is to be ensured that TiOn LED label 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 label, and in Ti-1Coordinate system
In, calculate TiLED label coordinate, be denoted as
D. the coordinate marked with LEDConnected graph is constructed for vertex, side of the line as figure between different vertex.
With a matrixIndicate this connected graph.It is the matrix of a m × m,The element of representing matrix h row k column.Table
Show h-th of vertexWith k-th of vertexBetween Euclidean distance；Similarly, the coordinate marked with LEDFor top
Point constructs connected graph
E. connected graph is matchedWithMethod is as follows: forXth row, using kd-tree algorithm create set, it is right
InY row in either rank p elementUsing kd-tree tree,Xth row in, find fromNearest
ElementThen it is calculated using following formulaY row withThe distance between xth row,
Record all of y rowThen following formula is solved:
If dmin≤ δ (δ is the value set, such as 1 millimeter), then it is assumed that find connected graphWithIn
With vertex.It is assumed thatWithMatch；
F. according to corresponding relationship, i.e., T is calculated using formula (3)i-1And TiConversion between coordinate system
Here
Wherein, R ∈ Ξ3×3, and υ ∈ Ξ3。R∈Ξ3×3Indicate that R is the matrix of 3 rows 3 column, υ ∈ Ξ3Indicate that υ is 3 rows
The vector of 1 column.
G. after obtaining the coordinate conversion between adjacent cube tracker, so that it may estimate the posture of three-dimensional tracking device.For
I-th of three-dimensional tracking device, if i=2, its posture can be expressed asIf i >=3, its posture can be indicated are as follows:
H. spatial digitizer moves 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 measures is denoted asThree-dimensional tracking device can measure on spatial digitizer at this time
LED label, it is assumed that i-th of three-dimensional tracking device TiThe LED label on spatial digitizer is measured, is denoted as
I. the method for utilizing step d., forWithConnected graph is constructed, is denoted as G respectivelySAnd Gt；
J. the method for utilizing step e., matches connected graph GSAnd Gt, LED label is established in spatial digitizer coordinate and TiIt sits
Corresponding relationship in mark system, it is assumed thatWithIt is corresponding；
K. according to matched as a result, calculating the posture of spatial digitizer, it is assumed that the posture of spatial digitizer is Γ at this timeTiS
(t), it formula can calculate as follows:
L. according to the posture of spatial digitizer and three-dimensional tracking device, splice the local number that spatial digitizer is measured in moment t
According toFollowing formula
Claims (6)
1. a kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices, used system includes: one
Platform includes the spatial digitizer of two industrial cameras and a projector, multiple three-dimensional trackings for respectively including two industrial cameras
Device, GPU server；The industrial camera and projector are connected to GPU server via gigabit network cable and USB interface respectively；Its
It is characterized in that, comprises the following specific steps that:
(1) n three-dimensional tracking device T is usedi, a spatial digitizer；On every three-dimensional tracking device and spatial digitizer
M LED label is installed respectively；Then gridiron pattern standardization, calibration LED label, it may be assumed that calculate separately three-dimensional tracking device T are usedi's
LED is marked in 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 coordinate after calibration isAfter spatial digitizer calibration
LED coordinate beThe 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 label 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 label, and in Ti-1Coordinate system in, meter
Calculate TiLED label coordinate, be denoted as
(4) coordinate marked with LEDConnected graph is constructed for vertex, side of the line as figure between different vertex is used
One matrixIndicate connected graph；It is the matrix of a m × m, dhkThe element of representing matrix h row k column；dhkIndicate h
A vertexWith k-th of vertexBetween Euclidean distance；Similarly, the coordinate marked with LEDFor vertex, building
Connected graph
(5) connected graph is matchedWith
(6) according to corresponding relationship, T is calculatedi-1And TiConversion between coordinate system；
(7) after obtaining the coordinate conversion between adjacent cube tracker, estimate the posture of three-dimensional tracking device；For i-th of solid
Tracker, if i=2, its posture can be expressed asIf i >=3, its posture can be indicated are as follows:
(8) spatial digitizer moves in the visual field of three-dimensional tracking device, measures the partial 3 d data of large-sized object, it is assumed that when
T is carved, the point cloud data that spatial digitizer measures is denoted asThree-dimensional tracking device can measure the LED on spatial digitizer at this time
Label, it is assumed that i-th of three-dimensional tracking device TiThe LED label on spatial digitizer is measured, is denoted as
(9) method for utilizing step (4), forWithConnected graph is constructed, is denoted as G respectivelySAnd Gt；
(10) method for utilizing step (5), matches connected graph GSAnd Gt, LED label is established in spatial digitizer coordinate and TiCoordinate
Corresponding relationship in system, it is assumed thatWithIt is corresponding；
(11) according to matched as a result, calculating the posture of spatial digitizer；
(12) according to the posture of spatial digitizer and three-dimensional tracking device, splice the local data that spatial digitizer is measured in moment t
2. a kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices according to claim 1,
It is characterized in that, in the step (5), the matching connected graphWithSpecific step is as follows:
ForIn every row element, create a KD-tree；
ForY row in either rank p elementUsing kd-tree tree,Xth row in, find from
Nearest elementThen it is calculated using following formulaY row withThe distance between xth row,
Record all of y rowThen following formula is solved:
If dmin≤ δ, the δ are a setting values, then it is assumed that find connected graphWithIn matching vertex；Here
Assuming thatWithMatch.
3. a kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices according to claim 1,
It is characterized in that, calculating T using following formula (3) in the step (6)i-1And TiConversion between coordinate system:
Wherein, R ∈ Ξ3×3, and υ ∈ Ξ3；R∈Ξ3×3Indicate that R is the matrix of 3 rows 3 column, υ ∈ Ξ3Indicate that υ is 3 rows 1 column
Vector.
4. a kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices according to claim 1,
It is characterized in that, in the step (11), it is assumed that the posture of spatial digitizer is at this timeIt can be calculated with following formula three-dimensional
The posture of scanner:
5. a kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices according to claim 1,
It is characterized in that, using following formula, splicing the local data that spatial digitizer is measured in moment t in the step (12)
6. a kind of large-sized object three-dimensional Measured data connection method based on more three-dimensional tracking devices according to claim 2,
It is characterized in that, setting value is 1 millimeter to the δ.
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| US11493326B2 (en) | 2021-02-05 | 2022-11-08 | Scantech (Hangzhou) Co., Ltd. | Object surface data detection method and system, electronic apparatus, and storage medium |
| CN112964196B (en) * | 2021-02-05 | 2023-01-03 | 杭州思锐迪科技有限公司 | Three-dimensional scanning method, system, electronic device and computer equipment |
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