CN107560543A - A kind of camera optical axis offset correction device and method based on binocular stereo vision - Google Patents

A kind of camera optical axis offset correction device and method based on binocular stereo vision Download PDF

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Publication number
CN107560543A
CN107560543A CN201710785948.6A CN201710785948A CN107560543A CN 107560543 A CN107560543 A CN 107560543A CN 201710785948 A CN201710785948 A CN 201710785948A CN 107560543 A CN107560543 A CN 107560543A
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optical axis
binocular
matrix
bottom plate
offset correction
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CN107560543B (en
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谢小鹏
彭泽林
王银安
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention discloses a kind of camera optical axis offset correction device and method based on binocular stereo vision, including bottom plate, detection square；One end of bottom plate is provided with support, and binocular image harvester is installed on support；The upper surface of the other end of bottom plate is stacked with a main body mechanism, and main body mechanism is connected by the multiple mounting holes of array distribution on main body mechanism, bolt through mounting hole with bottom plate；Position-adjustable main body mechanism by changing mounting hole stretches out the length of bottom plate；The afterbody of the main body mechanism has a stern notch, and detection square is arranged in stern notch by screw fixed form.It is engaged by the device with the CAD 3D model of the device, the detailed design parameter of camera lens need not be known, the actual coordinate and ideal coordinates of several groups of detection angle points are obtained by detection means, so as to efficiently and accurately realize the correction of the optical axis of binocular stereo vision video camera, operation is simple.

Description

A kind of camera optical axis offset correction device and method based on binocular stereo vision
Technical field
The present invention relates to field of optical detection, more particularly to a kind of camera light axle offset school based on binocular stereo vision Equipment and method.
Background technology
Binocular vision photogrammetry technology is the important non-contact 3-D to be got up based on computer vision base growth E measurement technology.With three-coordinates measuring machine, the laser scanner 3-D measuring apparatus traditional with laser tracker etc. compares, binocular Vision measurement technology has that measuring speed is fast, and real-time is good, simple in construction to wait remarkable advantage, has been obtained in production and living extensively Application.
Because the image capture device that binocular vision system uses is influenceed by design error and machining error, make Obtain the problem of camera lens in binocular vision system image capture device there may be optical axis deviation.When binocular vision system image is adopted When optical axis deviation occurs in camera lens in collection equipment, cause image capture device camera coordinate system to deflect, cause measurement space thing The problem of relatively large deviation occurs during body absolute-coordinate three-dimensional, it can not realize and the accurate absolute-coordinate three-dimensional of space object is obtained Take, so under the influence of single stepping, bring bad consequence.
The content of the invention
The shortcomings that it is an object of the invention to overcome above-mentioned prior art and deficiency, there is provided one kind is based on binocular stereo vision Camera optical axis offset correction device and method；To solve binocular vision system because camera light axle offset causes definitely to sit There is the problem of relatively large deviation in mapping amount.
The present invention is achieved through the following technical solutions：
A kind of camera optical axis offset correction device based on binocular stereo vision, including bottom plate 3, detection square 6；Bottom plate 3 one end is provided with support 2, and binocular image harvester 1 is installed on support 2；
The upper surface of the other end of bottom plate 3 is stacked with a main body mechanism 4, the multiple mounting holes of array distribution on main body mechanism 4, Main body mechanism 4 is connected by bolt through mounting hole with bottom plate 3；Stretched out by the position-adjustable main body mechanism 4 for changing mounting hole The length of bottom plate 3；
The afterbody of the main body mechanism 4 has a stern notch 5, and detection square 6 is arranged in stern notch 5 by screw fixed form, By adjusting detection square 6 relevant position in stern notch 5, and then detection square 6 can be adjusted according to different measurement distance needs The distance between binocular image harvester 1.
Distribution detection the distance between angle point, each two angle point is in 15mm~25mm on the detection square 6.The stern notch The distance between screw hole array, two row's adjacent screw holes is distributed with 5 and is maintained at 15~25mm.
The bottom of the bottom plate 3 is provided with support base 7.
A kind of camera optical axis offset correction method based on binocular stereo vision, it comprises the following steps：
1) acquisition step of the actual three-dimensional coordinate of angle point and ideal three-dimensional coordinate is detected；
11) binocular vision system camera optical axis offset correction device is built, will need to carry out light shaft offset correction Binocular image harvester 1 is fixed on support 2；According to the apparent parameter of binocular image harvester 1 of use and installation Position, draw the accurate CAD 3D model of a whole set of light shaft offset means for correcting；
12) focal length of binocular image harvester 1 used by, adjustment joint bolt is in bottom plate (3) and main body mechanism 4 Fixed position, so as to change overall length, enable binocular image harvester 1 obtain clearly detect square 6 on detection Angle point image, measure actual three-dimensional coordinate；It is adjustable to detect position of the square in stern notch 5 to obtain actual the three of different distance Dimension coordinate；
13) the accurate CAD 3D model of a whole set of light shaft offset means for correcting and binocular image drawn according to step 11) are adopted Acquisition means 1 are dispatched from the factory parameter, and preferable photocentre position is determined on CAD 3D model, are established using preferable photocentre position as origin o preferable Camera coordinate system, measure ideal three-dimensional coordinate；Threedimensional model can be adjusted according to the fixed position of binocular image harvester 1, Make binocular image harvester 1 consistent with threedimensional model apparent parameter；
2) coordinate data is handled, corrects binocular stereo vision camera optical axis bias step：
21) using the actual three-dimensional coordinate and ideal three-dimensional coordinate of same measurement angle point as one group of data point, such as：A1 (x, y, z) and B1(x ', y ', z ') can be categorized as some to should be used as one group of data point, the data measured in the step 1) Group data point；
22) setting actual optical axis and being transformed into preferable optical axis needs the rotation by matrix R and matrix t translation, therefore actual Coordinate system three-dimensional coordinate passes through matrix R rotation and matrix t translation with regard to that can be converted into ideal coordinates system three-dimensional coordinate, i.e., (x ', Y ', z ')=(x, y, z) * R+t；
23) according to the coordinate transformation relation of some groups of data points and step 22) in step 21), square is determined using host computer Battle array R rotation and matrix t numerical value, realize that light shaft offset corrects.
In the step 12), using binocular image harvester 1, the three-dimensional seat of the detection angle point on measurement detection square Mark A1(x, y, z), A2(x, y, z), A3(x, y, z), A4(x, y, z) ..., record and store as actual three-dimensional coordinate.
In the step 13), according to the measuring sequence of angle point in step 12), CAD 3D model successively measurement model is utilized Coordinate B of the correspondence position angle point under threedimensional model ideal camera coordinate system1(x ', y ', z '), B2(x ', y ', z '), B3(x ', Y ', z '), B4(x ', y ', z ') ..., record and store as ideal three-dimensional coordinate.
In the step 23) when calculating the concrete numerical value of R rotation and matrix t, host computer randomly selects four groups first Data point calculation goes out matrix R rotation and matrix t initial value, sets a threshold value to substitute into the data point in step 21) Step 22) coordinate transformation relation；If exceeding threshold value, after being adjusted to matrix R and matrix t numerical value, data are substituted into again Point is calculated, until all data points can meet the coordinate transformation relation of step 22) in threshold range, is obtained final Spin matrix R and translation matrix t.
The present invention is had the following advantages and effect relative to prior art：
The binocular image harvester of the present apparatus is positioned on camera mounting bracket, and by camera mounting bracket with Bottom plate is mutually fixed.Main body mechanism and bottom plate are coupled by screw stacking pattern, by moving position of the main body mechanism on bottom plate, Reach the purpose of adjusting means total length.Detect square to be arranged on also by screw-type in the stern notch of main body mechanism, according to not Same measurement distance needs, regulation detection square relevant position in stern notch.
The present apparatus measures the angle point on detection square by being engaged with CAD 3D model, using binocular vision system and obtained The coordinate under actual optical axis is obtained, and the ideal three-dimensional coordinate of angle point corresponding under CAD 3D model uploads host computer in the lump.Utilize The data point that host computer comes up to transmission is analyzed and processed, and optical axis spin matrix and translation square are calculated by coordinate transformation relation Battle array, so as to efficiently and accurately be provided accurately with reference to numerical value for camera optical axis offset correction.The present invention need not know camera lens Detailed design parameter, several groups of detection angular coordinates are obtained by detection means, can realize that optical axis corrects, it is simple easily OK.
Brief description of the drawings
Fig. 1 is binocular (solid) vision camera light shaft offset correction principle figure of the present invention；
Fig. 2 is the binocular vision camera optical axis offset correction device structure chart of the present invention；
Fig. 3 is the angle point distribution of detection square；
Fig. 4 is the flow diagram that host computer of the present invention carries out data processing.
Embodiment
The present invention is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Figures 1 to 4.The invention discloses a kind of camera optical axis offset correction dress based on binocular stereo vision Put, including bottom plate 3, detection square 6；One end of bottom plate 3 is provided with support 2, and binocular image harvester 1 is installed on support 2；
The upper surface of the other end of bottom plate 3 is stacked with a main body mechanism 4, the multiple mounting holes of array distribution on main body mechanism 4, Main body mechanism 4 is connected by bolt through mounting hole with bottom plate 3；Stretched out by the position-adjustable main body mechanism 4 for changing mounting hole The length of bottom plate 3；
The afterbody of the main body mechanism 4 has a stern notch 5, and detection square 6 is arranged in stern notch 5 by screw fixed form, By adjusting detection square 6 relevant position in stern notch 5, and then detection square 6 can be adjusted according to different measurement distance needs The distance between binocular image harvester 1.
Distribution detection the distance between angle point, each two angle point is in 15mm~25mm on the detection square 6, preferably 20mm。
The distance between screw hole array, two row's adjacent screw holes is distributed with the stern notch 5 and is maintained at 15~25mm, most It is 20mm well.
The bottom of the bottom plate 3 is provided with support base 7.
A kind of camera optical axis offset correction method based on binocular stereo vision, it comprises the following steps：
1) acquisition step of the actual three-dimensional coordinate of angle point and ideal three-dimensional coordinate is detected；
11) binocular vision system camera optical axis offset correction device is built, will need to carry out light shaft offset correction Binocular image harvester 1 is fixed on support 2；According to the apparent parameter of binocular image harvester 1 of use and installation Position, draw the accurate CAD 3D model of a whole set of light shaft offset means for correcting；
12) focal length of binocular image harvester 1 used by, adjustment joint bolt is in bottom plate (3) and main body mechanism 4 Fixed position, so as to change overall length, enable binocular image harvester 1 obtain clearly detect square 6 on detection Angle point image, measure actual three-dimensional coordinate；It is adjustable to detect position of the square in stern notch 5 to obtain actual the three of different distance Dimension coordinate；
13) the accurate CAD 3D model of a whole set of light shaft offset means for correcting and binocular image drawn according to step 11) are adopted Acquisition means 1 are dispatched from the factory parameter, and preferable photocentre position is determined on CAD 3D model, are established using preferable photocentre position as origin o preferable Camera coordinate system, measure ideal three-dimensional coordinate；Threedimensional model can be adjusted according to the fixed position of binocular image harvester 1, Make binocular image harvester 1 consistent with threedimensional model apparent parameter；
2) coordinate data is handled, corrects binocular stereo vision camera optical axis bias step：
21) using the actual three-dimensional coordinate and ideal three-dimensional coordinate of same measurement angle point as one group of data point, such as：A1 (x, y, z) and B1(x ', y ', z ') can be categorized as some to should be used as one group of data point, the data measured in the step 1) Group data point；
22) setting actual optical axis and being transformed into preferable optical axis needs the rotation by matrix R and matrix t translation, therefore actual Coordinate system three-dimensional coordinate passes through matrix R rotation and matrix t translation with regard to that can be converted into ideal coordinates system three-dimensional coordinate, i.e., (x ', Y ', z ')=(x, y, z) * R+t；
23) according to the coordinate transformation relation of some groups of data points and step 22) in step 21), square is determined using host computer Battle array R rotation and matrix t numerical value, realize that light shaft offset corrects.
In the step 12), using binocular image harvester 1, the three-dimensional seat of the detection angle point on measurement detection square Mark A1(x, y, z), A2(x, y, z), A3(x, y, z), A4(x, y, z) ..., record and store as actual three-dimensional coordinate.
In the step 13), according to the measuring sequence of angle point in step 12), CAD 3D model successively measurement model is utilized Coordinate B of the correspondence position angle point under threedimensional model ideal camera coordinate system1(x ', y ', z '), B2(x ', y ', z '), B3(x ', Y ', z '), B4(x ', y ', z ') ..., record and store as ideal three-dimensional coordinate.
In the step 23) when calculating the concrete numerical value of R rotation and matrix t, host computer randomly selects four groups first Data point calculation goes out matrix R rotation and matrix t initial value, sets a threshold value to substitute into the data point in step 21) Step 22) coordinate transformation relation；If exceeding threshold value, after being adjusted to matrix R and matrix t numerical value, data are substituted into again Point is calculated, until all data points can meet the coordinate transformation relation of step 22) in threshold range, is obtained final Spin matrix R and translation matrix t.
As described above, the present invention can be better realized.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, other any Spirit Essences without departing from the present invention With made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in the present invention's Within protection domain.

Claims (8)

  1. A kind of 1. camera optical axis offset correction device based on binocular stereo vision, it is characterised in that：Including bottom plate (3), inspection Survey square (6)；One end of bottom plate (3) is provided with support (2), and binocular image harvester (1) is installed on support (2)；
    The upper surface of the other end of bottom plate (3) is stacked with a main body mechanism (4), the multiple installations of array distribution on main body mechanism (4) Main body mechanism (4) is connected by hole, bolt through mounting hole with bottom plate (3)；By the position-adjustable main body machine for changing mounting hole Structure (4) stretches out the length of bottom plate (3)；
    The afterbody of the main body mechanism (4) has a stern notch (5), and detection square (6) is arranged on stern notch (5) by screw fixed form In, square (6) relevant position in stern notch (5) can be detected by adjusting, and then adjust inspection according to different measurement distance needs Survey the distance between square (6) and binocular image harvester (1).
  2. 2. the camera optical axis offset correction device based on binocular stereo vision according to claim 1, it is characterised in that：Institute State distribution on detection square (6) and detect the distance between angle point, each two angle point in 15mm~25mm.
  3. 3. the camera optical axis offset correction device based on binocular stereo vision according to claim 2, it is characterised in that：Institute State and the distance between screw hole array, two row's adjacent screw holes is distributed with stern notch (5) is maintained at 15~25mm.
  4. 4. the camera optical axis offset correction device based on binocular stereo vision according to claim 3, it is characterised in that：Institute The bottom for stating bottom plate (3) is provided with support base (7).
  5. 5. a kind of camera optical axis offset correction method based on binocular stereo vision, it is characterised in that using claim 4 institute State the camera optical axis offset correction device based on binocular stereo vision and realize that it comprises the following steps：
    1) acquisition step of the actual three-dimensional coordinate of angle point and ideal three-dimensional coordinate is detected；
    11) binocular vision system camera optical axis offset correction device is built, will need to carry out the binocular of light shaft offset correction Image collecting device (1) is fixed on support (2)；According to binocular image harvester (1) apparent parameter and peace of use Holding position, draw the accurate CAD 3D model of a whole set of light shaft offset means for correcting；
    12) binocular image harvester (1) focal length used by, adjustment joint bolt is in bottom plate (3) and main body mechanism (4) Fixed position, so as to change overall length, binocular image harvester (1) is obtained and clearly detect on square (6) Angle point image is detected, measures actual three-dimensional coordinate；It is adjustable to detect position of the square in stern notch (5) to obtain different distance Actual three-dimensional coordinate；
    13) the accurate CAD 3D model of a whole set of light shaft offset means for correcting and binocular image the collection dress drawn according to step 11) Put (1) to dispatch from the factory parameter, preferable photocentre position is determined on CAD 3D model, established using preferable photocentre position as origin o preferable Camera coordinate system, measure ideal three-dimensional coordinate；Threedimensional model can be adjusted according to binocular image harvester (1) fixed position, Make binocular image harvester (1) consistent with threedimensional model apparent parameter；
    2) coordinate data is handled, corrects binocular stereo vision camera optical axis bias step：
    21) using the actual three-dimensional coordinate and ideal three-dimensional coordinate of same measurement angle point as one group of data point, such as：A1(x, y, z) And B1(x ', y ', z ') can be categorized as some groups of data to should be used as one group of data point, the data measured in the step 1) Point；
    22) setting actual optical axis and being transformed into preferable optical axis needs the rotation by matrix R and matrix t translation, therefore actual coordinate Be that three-dimensional coordinate passes through matrix R rotation and matrix t translation with regard to that can be converted into ideal coordinates system three-dimensional coordinate, i.e., (x ', y ', Z ')=(x, y, z) * R+t；
    23) according to the coordinate transformation relation of some groups of data points and step 22) in step 21), determine matrix R's using host computer Rotation and matrix t numerical value, realize that light shaft offset corrects.
  6. 6. the camera optical axis offset correction method based on binocular stereo vision according to claim 5, it is characterised in that institute State in step 12), using binocular image harvester (1), measurement detects the three-dimensional coordinate A of the detection angle point on square1(x, y, Z), A2(x, y, z), A3(x, y, z), A4(x, y, z) ..., record and store as actual three-dimensional coordinate.
  7. 7. the camera optical axis offset correction method based on binocular stereo vision according to claim 5, it is characterised in that institute State in step 13), according to the measuring sequence of angle point in step 12), utilize CAD 3D model successively measurement model correspondence position angle Coordinate B of the point under threedimensional model ideal camera coordinate system1(x ', y ', z '), B2(x ', y ', z '), B3(x ', y ', z '), B4 (x ', y ', z ') ..., record and store as ideal three-dimensional coordinate.
  8. 8. the camera optical axis offset correction method based on binocular stereo vision according to claim 5, it is characterised in that institute State in step 23) when calculating the concrete numerical value of R rotation and matrix t, host computer randomly selects four groups of data point calculations first Go out matrix R rotation and matrix t initial value, set a threshold value that the data point in step 21) is substituted into step 22) coordinate Transformational relation；If exceeding threshold value, after being adjusted to matrix R and matrix t numerical value, data point is substituted into again and is calculated, Until all data points can meet the coordinate transformation relation of step 22) in threshold range, obtain final spin matrix R and Translation matrix t.
CN201710785948.6A 2017-09-04 2017-09-04 Binocular stereoscopic vision-based camera optical axis offset correction device and method Active CN107560543B (en)

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CN109084959A (en) * 2018-06-05 2018-12-25 南京理工大学 A kind of parallelism of optical axis bearing calibration based on binocular location algorithm
CN111256953A (en) * 2018-12-03 2020-06-09 宁波舜宇光电信息有限公司 Array module optical axis detection system and method thereof
CN112560867A (en) * 2020-12-09 2021-03-26 上海肇观电子科技有限公司 Method, device, equipment and medium for correcting text image
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