CN107401976B - A kind of large scale vision measurement system and its scaling method based on monocular camera - Google Patents
A kind of large scale vision measurement system and its scaling method based on monocular camera Download PDFInfo
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- CN107401976B CN107401976B CN201710445417.2A CN201710445417A CN107401976B CN 107401976 B CN107401976 B CN 107401976B CN 201710445417 A CN201710445417 A CN 201710445417A CN 107401976 B CN107401976 B CN 107401976B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The present invention relates to a kind of large scale vision measurement system and its scaling method based on monocular camera, belong to computer vision measurement technical field.Measuring system of the invention includes the monocular camera that can artificially adjust camera focus and fixation, tripod, structural acessory, special scaling board, laser tracking measurement device, subscriber computer, camera is mounted on tripod, structural acessory installs above camera, and the scaling method includes designing and producing structural acessory that one can be linked together with camera.The present invention on design one special scaling board and camera by installing near visible marking's point and the scaling method of integrated use this patent and Zhang Zhengyou realizes a kind of calibration of distance between camera lens optical center when arbitrary monocular camera in spatial position continuously measures to the measurement to large-scale measured object entirety and feature dimensions.
Description
Technical field
The present invention relates to a kind of large scale vision measurement system and its scaling method based on monocular camera, belong to computer
Technical field of visual measurement.
Background technique
Measuring device can be very good to measure for small-sized measured details measurement currently on the market, but for large-scale object
Measurement can only all realize mostly with geometry obvious characteristic external dimensions measurement (laser tracker) or measurement process to mark
Remember that a large amount of visible marking's point makes workload very huge, can not also be marked or mark on some measured objects and extremely endanger
Danger, therefore a kind of large scale vision measurement system and scaling method based on monocular camera of the present invention；It can be suitable for large-scale quilt
Surveying the whole measurement with feature dimensions of object has the very wide market space.
Summary of the invention
The large scale vision measurement system that the technical problem to be solved in the present invention is to provide a kind of based on monocular camera and
Scaling method, by being installed on design one special scaling board and camera with simultaneously integrated use near visible marking's point
The scaling method of this patent and Zhang Zhengyou realize camera lens optical center spacing when a kind of arbitrary monocular camera in spatial position continuously measures
From calibration to measurement to large-scale measured object entirety and feature dimensions.
The technical solution adopted by the present invention is that: a kind of large scale vision measurement system based on monocular camera, including can people
For adjustment camera focus and the monocular camera of fixation, tripod, structural acessory, special scaling board, laser tracking measurement device, use
Family computer, camera are mounted on tripod, and structural acessory is installed above camera, and structural acessory is equipped at least three height
Different small column, small column and camera upper surface are vertical, and the top of cylinder is separately installed with small reflective target mirror, small reflective
For target mirror as obvious calibration point, special scaling board plate body is designed as rectangular plate, and the top half of rectangular plate is a plane
Mirror, the left surface of rectangular plate lower half portion are equipped with the gridiron pattern grid of a standard, and special scaling board is placed on camera
Front, laser tracking measurement device are placed on world coordinate system origin, and subscriber computer is calculated for image procossing.
Specifically, the laser tracking measurement device is laser tracker.
A kind of scaling method of large scale vision measurement system based on monocular camera, includes the following steps:
Step1, the structural acessory that can be linked together with camera is designed and produced；
Step2, one piece of special scaling board is designed and produced；
Step3, camera is taken to measured object scene, find N(N >=3) a measuring point, adjust between each measuring point and measured object
Distance mixes up camera focus and fixes a focal length；
Step4, structural acessory and camera are installed together；
Step5, calibration of camera internal parameters；
Step6, calibration visible marking's point and the relative tertiary location of camera lens optical center and the relative attitude of optical axis；
Step7, existed using three visible marking's points P1, M1, N1 on laser tracking measurement device meter calculating camera
The absolute spatial position of each measuring point；
Step8, it is calculated using the absolute spatial position in the space pose and step Step7 of step Step6 calibration
Obtain the absolute spatial position of camera lens optical center and the absolute pose of optical axis；
Step9, the European relative distance that camera photocentre between repeatedly measurement is calculated according to the result of step Step8；
Step10, the data according to obtained in step Step5 to Step9 and camera are in the collected measured object of each measuring point
Image can calculate its entirety and feature dimensions, realize that it measures purpose.
In the step Step5, calibration of camera internal parameters method are as follows: utilize the lower half portion of the scaling board of Step2 design
Or common standard calibration plate using Zhang Zhengyou scaling method shooting m(m >=7) photo calibrates intrinsic parameter.
The adjustable exchange of sequence of the step Step3 and step Step4.
In the step Step6, the specific calibration of the relative tertiary location of calibration visible marking's point and camera lens optical center
Process is as follows:
Step6.1: the measurement position determined according to step Step3 will be set after installation fixes camera in step Step2
The special scaling board (4) of meter, which is placed in camera coverage, is acquired image, and acquired image requires to include monolith calibration
Plate (4), two parts up and down of special scaling board all in the acquired images, while guarantee three visible marking's point P1, M1,
The virtual image of the N1 in mirror all in the acquired images, mobile special scaling board (4) to N(N >=7) a position, acquire N web
There are calibration grid and the mirror image of picture point P1, M1, N1；
Step6.2: by the mirror image calibrated and calculated that N web collected in step Step6.1 has calibration go out mirror with
The relative space position of camera.
Step6.3: from the mirror image that N subband collected in step Step6.1 has mark point picture point P1, M1, N1,
Extract the pixel coordinate of N group P1, M1, N1；
Step6.4: by the pixel coordinate combination step of this N group three obvious calibration point P1, M1, N1 in Step6.3
The mirror relative space position value that camera intrinsic parameter obtained in Step5 and step Step6.2 are calculated, can calculate obvious mark
Remember the position of point P, M, N.
The beneficial effects of the present invention are: the large scale vision measurement system that the present invention provides a kind of based on monocular camera and
Scaling method, by being installed on design one special scaling board and camera with simultaneously integrated use near visible marking's point
The scaling method of this patent and Zhang Zhengyou realize camera lens optical center spacing when a kind of arbitrary monocular camera in spatial position continuously measures
From calibration to measurement to large-scale measured object entirety and feature dimensions, solve the prior art and equipment for large-scale object
Measurement can only all be realized mostly will mark with geometry obvious characteristic external dimensions measurement (laser tracker) or measurement process
A large amount of visible marking's point makes workload very huge, can not also be marked or mark on some measured objects and is extremely dangerous
The problems such as, there is extensive market value and application value.
Detailed description of the invention
The measurement of the tested large scale object designed in Fig. 1 the method for the invention and demarcation flow figure；
Special scaling board schematic diagram in Fig. 2 the method for the invention；
Visible marking's point and camera are concerned about orientation schematic diagram during demarcating in Fig. 3 the method for the invention；
The measurement process figure of large scale object is tested in Fig. 4 the method for the invention.
Specific embodiment
The present invention is further elaborated with attached drawing with reference to embodiments, but protection content of the invention be not limited to it is described
Range.
Embodiment 1: as shown in Figs 1-4, a kind of large scale vision measurement system based on monocular camera, including can artificially adjust
Whole camera focus and the monocular camera of fixation, tripod, structural acessory, special scaling board, laser tracking measurement device, Yong Huji
Calculation machine, camera are mounted on tripod, and structural acessory is installed above camera, and it is each not that structural acessory is equipped at least three height
Identical small column, small column and camera upper surface are vertical, and the top of cylinder is separately installed with small reflective target mirror, small reflective target mirror
As obvious calibration point, special scaling board plate body is designed as rectangular plate, and the top half of rectangular plate is a plane mirror,
The left surface of rectangular plate lower half portion is equipped with the gridiron pattern grid of a standard, and special scaling board is placed in front of camera,
Laser tracking measurement device is placed on world coordinate system origin, and subscriber computer is calculated for image procossing.
The height of small column is not identical, and installation site requires so that 3 points not conllinear, and is not in mutually to block.Design
Structural acessory require to guarantee and camera installation after do not influence the shooting function of camera, while 3 small columns and camera upper surface
Vertically, while also to guarantee to be mountable to when camera is taken pictures on camera shooting tripod, prevent camera from trembling during camera shooting
It is dynamic, while convenient for calibration and laser tracker survey calculation.
Specifically, the laser tracking measurement device is laser tracker, robust performance.
A kind of scaling method of large scale vision measurement system based on monocular camera, includes the following steps:
Step1, the structural acessory that can be linked together with camera is designed and produced；
Step2, one piece of special scaling board is designed and produced；
Step3, camera is taken to measured object scene, find N(N >=3) a measuring point, adjust between each measuring point and measured object
Distance mixes up camera focus and fixes a focal length, it is ensured that the every image taken is relatively clear；
Step4, structural acessory and camera are installed together；
Step5, calibration of camera internal parameters；
Step6, calibration visible marking's point and the relative tertiary location of camera lens optical center and the relative attitude of optical axis；
Step7, existed using three visible marking's points P1, M1, N1 on laser tracking measurement device meter calculating camera
The absolute spatial position of each measuring point；
Step8, it is calculated using the absolute spatial position in the space pose and step Step7 of step Step6 calibration
Obtain the absolute spatial position of camera lens optical center and the absolute pose of optical axis；
Step9, the European relative distance that camera photocentre between repeatedly measurement is calculated according to the result of step Step8；
Step10, the data according to obtained in step Step5 to Step9 and camera are in the collected measured object of each measuring point
Image can calculate its entirety and feature dimensions, realize that it measures purpose.
It to the processing calculating of image is realized by subscriber computer in above-mentioned steps 6,8,9,10.
In the step Step5, calibration of camera internal parameters method are as follows: utilize the lower half portion of the scaling board of Step2 design
Or common standard calibration plate using Zhang Zhengyou scaling method shooting m(m >=7) photo calibrates intrinsic parameter.
The adjustable exchange of sequence of the step Step3 and step Step4.
In the step Step6, the specific calibration of the relative tertiary location of calibration visible marking's point and camera lens optical center
Process is as follows:
Step6.1: the measurement position determined according to step Step3 will be set after installation fixes camera in step Step2
The special scaling board (4) of meter, which is placed in camera coverage, is acquired image, and acquired image requires to include monolith calibration
Plate (4), two parts up and down of special scaling board all in the acquired images, while guarantee three visible marking's point P1, M1,
The virtual image of the N1 in mirror all in the acquired images, mobile special scaling board (4) to N(N >=7) a position, acquire N web
There are calibration grid and the mirror image of picture point P1, M1, N1；
Step6.2: by the mirror image calibrated and calculated that N web collected in step Step6.1 has calibration go out mirror with
The relative space position of camera.
Step6.3: from the mirror image that N subband collected in step Step6.1 has mark point picture point P1, M1, N1,
Extract the pixel coordinate of N group P1, M1, N1；
Step6.4: by the pixel coordinate combination step of this N group three obvious calibration point P1, M1, N1 in Step6.3
The mirror relative space position value that camera intrinsic parameter obtained in Step5 and step Step6.2 are calculated, can calculate obvious mark
Remember the position of point P, M, N.
Executed in accordance with the following steps when actual experiment: first, camera is taken into measured object scene, find N(N >=3) a conjunction
Suitable measuring point, guarantee every photo have certain clarity and will measure information all shoot (this time picture do not have to guarantor
Stay), it mixes up camera focus and fixes；Second, structural acessory and camera are installed together；Third, by assembled camera and attached
Part is installed along on tripod；4th, utilize the intrinsic parameter of the calibration of Zhang Zhengyou method acquisition 7 or more image calibration cameras
(can directly be demarcated using the lower half portion of special scaling board, or be demarcated using calibration scaling board herein)；5th,
Demarcate visible marking's point and the relative tertiary location of camera lens optical center and the relative attitude of optical axis；Special has calibration grid
Mirror scaling board can calibrate the relative space position of mirror and camera, using of calibration for cameras intrinsic parameter in step 4
The method of positive friend is acquired image, and (acquired image is required two parts up and down of monolith scaling board, while guaranteeing three
The virtual image in mirror of a obvious calibration point P1, M1, N1 are all in the acquired images), mobile mirror to N(N >=7) a position
It sets, acquisition N web has calibration grid and the mirror image of picture point P1, M1, N1, by calculating available calibration visible marking
Point and the relative tertiary location of camera lens optical center and the relative attitude of optical axis；6th, using being placed on world coordinate system origin
Laser tracking measurement device meter calculate camera on three visible marking's points each measuring point absolute spatial position；The
Seven, camera lens optical center is calculated using the absolute spatial position in the space pose and step 6 of step 5 calibration
The absolute pose of absolute spatial position and optical axis；8th, camera photocentre between repeatedly measuring is calculated according to the result of step 7
European relative distance；9th, according to data obtained in step 4 to eight and camera the collected measured object of each measuring point figure
As its entirety and feature dimensions can be calculated, realize that it measures purpose.
Circular in above-mentioned steps belongs to the no longer specific explanation herein of existing principle art.
The present invention is illustrated by specific implementation process, without departing from the present invention, can also be right
The invention patent carries out various transformation and equivalent replacement, and therefore, the invention patent is not limited to disclosed specific implementation process,
And it should include the whole embodiments fallen into the invention patent scope of the claims.
Claims (5)
1. a kind of large scale vision measurement system based on monocular camera, it is characterised in that: including can artificially adjust camera focus
And monocular camera, the tripod, structural acessory, special scaling board, laser tracking measurement device, subscriber computer fixed, camera
It is mounted on tripod, structural acessory is installed above camera, and structural acessory is equipped with the different roundlet of at least three height
Column, small column and camera upper surface are vertical, and the top of small column is separately installed with small reflective target mirror, and small reflective target mirror is as obvious
Mark point, special scaling board plate body are designed as rectangular plate, and the top half of rectangular plate is a plane mirror, rectangular plate with
The ipsilateral lower half portion of plane mirror is equipped with the gridiron pattern grid of a standard, and special scaling board is placed in front of camera, laser
Tracking measurement device is placed on world coordinate system origin, and subscriber computer is calculated for image procossing；
A kind of scaling method of large scale vision measurement system based on monocular camera, includes the following steps:
Step1, the structural acessory that can be linked together with camera is designed and produced；
Step2, one piece of special scaling board is designed and produced；
Step3, camera is taken to measured object scene, finds N number of measuring point, N >=3, the distance between each measuring point and measured object are adjusted,
It mixes up camera focus and fixes a focal length；
Step4, structural acessory and camera are installed together；
Step5, calibration of camera internal parameters；
Step6, calibration visible marking's point and the relative tertiary location of camera lens optical center and the relative attitude of optical axis；
Step7, three visible marking's points P1, M1, N1 on camera are calculated each using laser tracking measurement device meter
The absolute spatial position of measuring point；
Step8, it is calculated using the absolute spatial position in the space pose and step Step7 of step Step6 calibration
The absolute spatial position of camera lens optical center and the absolute pose of optical axis；
Step9, the European relative distance that camera photocentre between repeatedly measurement is calculated according to the result of step Step8；
The image of Step10, the data according to obtained in step Step5 to Step9 and camera in the collected measured object of each measuring point
Its entirety and feature dimensions can be calculated, realize that it measures purpose.
2. a kind of large scale vision measurement system based on monocular camera according to claim 1, it is characterised in that: described
Laser tracking measurement device be laser tracker.
3. a kind of large scale vision measurement system based on monocular camera according to claim 1, it is characterised in that: described
In step Step5, calibration of camera internal parameters method are as follows: utilize the lower half portion of the special scaling board of Step2 design or common
Standard calibration plate calibrates intrinsic parameter using the scaling method shooting m photos of Zhang Zhengyou, and m >=7.
4. a kind of large scale vision measurement system based on monocular camera according to claim 1, it is characterised in that: described
The adjustable exchange of the sequence of step Step3 and step Step4.
5. a kind of large scale vision measurement system based on monocular camera according to claim 1, it is characterised in that: described
In step Step6, demarcates visible marking's point and the specific calibration process of the relative tertiary location of camera lens optical center is as follows:
Step6.1: the measurement position determined according to step Step3, after installation fixes camera, by what is designed in step Step2
Special scaling board, which is placed in camera coverage, is acquired image, and acquired image requires to include the special scaling board of monolith,
Two parts up and down of special scaling board all in the acquired images, while guaranteeing three visible marking's points P1, M1, N1 in mirror
All in the acquired images, mobile special scaling board arrives N number of position for the virtual image in son, and N >=7, acquiring N web has calibration grid
And the mirror image of picture point P1, M1, N1；
Step6.2: the mirror image calibrated and calculated of calibration goes out mirror and camera by N web collected in step Step6.1
Relative space position；
Step6.3: it from the mirror image that N subband collected in step Step6.1 has mark point picture point P1, M1, N1, extracts
N group P1 out, M1, the pixel coordinate of N1；
Step6.4: in the pixel coordinate combination step Step5 by this N group three visible marking's points P1, M1, N1 in Step6.3
The mirror relative space position value that obtained camera intrinsic parameter and step Step6.2 calculate, can calculate visible marking's point P,
M, the position of N.
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| CN108675142B (en) * | 2018-03-18 | 2020-01-14 | 武汉理工大学 | Multi-height calibration measurement method and anti-diagonal-pulling and accurate positioning method for crane |
| CN109360245B (en) * | 2018-10-26 | 2021-07-06 | 魔视智能科技(上海)有限公司 | External parameter calibration method for multi-camera system of unmanned vehicle |
| CN109636859B (en) * | 2018-12-24 | 2022-05-10 | 武汉大音科技有限责任公司 | Single-camera-based calibration method for three-dimensional visual inspection |
| CN110672039B (en) * | 2019-09-18 | 2021-03-26 | 南京理工大学 | Object omnibearing three-dimensional measurement method based on plane reflector |
| CN111896032B (en) * | 2020-09-29 | 2021-09-03 | 北京清微智能科技有限公司 | Calibration system and method for monocular speckle projector position |
| CN113391298B (en) * | 2021-04-30 | 2023-09-22 | 深圳市安思疆科技有限公司 | Parameter calibration method and device for laser radar |
| CN113567434A (en) * | 2021-06-15 | 2021-10-29 | 成都新锐科技发展有限责任公司 | Calibration method of battery piece detection equipment based on machine vision |
| CN113124819B (en) * | 2021-06-17 | 2021-09-10 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measuring method based on plane mirror |
| CN114935316B (en) * | 2022-05-20 | 2024-03-12 | 长春理工大学 | Standard depth image generation method based on optical tracking and monocular vision |
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