CN107560543B - Binocular stereoscopic vision-based camera optical axis offset correction device and method - Google Patents
Binocular stereoscopic vision-based camera optical axis offset correction device and method Download PDFInfo
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Abstract
The invention discloses a binocular stereoscopic vision-based camera optical axis offset correction device and method, comprising a bottom plate and a detection block; one end of the bottom plate is provided with a bracket, and a binocular image acquisition device is arranged on the bracket; the upper surface of the other end of the bottom plate is overlapped with a main body mechanism, a plurality of mounting holes are distributed on the main body mechanism in an array manner, and bolts penetrate through the mounting holes to connect the main body mechanism with the bottom plate; the length of the main body mechanism extending out of the bottom plate can be adjusted by changing the position of the mounting hole; the tail part of the main body mechanism is provided with a tail groove, and the detection square block is arranged in the tail groove in a screw fixing mode. The device is matched with a CAD three-dimensional model of the device, detailed design parameters of a lens are not required to be known, and the detection device is used for obtaining actual coordinates and ideal coordinates of a few groups of detection angular points, so that the optical axis correction of the binocular stereoscopic vision camera is effectively and accurately realized, and the operation is simple and easy.
Description
Technical Field
The invention relates to the field of optical detection, in particular to a binocular stereoscopic vision-based camera optical axis offset correction device and method.
Background
Binocular vision measurement technology is an important non-contact three-dimensional measurement technology developed on the basis of computer vision. Compared with the traditional three-dimensional measuring equipment such as a three-coordinate measuring instrument, a laser scanner, a laser tracker and the like, the binocular vision measuring technology has the remarkable advantages of high measuring speed, good instantaneity, simple structure and the like, and is widely applied to production and life.
Because the image acquisition equipment adopted by the binocular vision system is affected by design errors and machining errors, the problem of optical axis deviation of lenses in the image acquisition equipment of the binocular vision system can exist. When the optical axis deviation occurs to the lens in the binocular vision system image acquisition equipment, the camera coordinate system of the image acquisition equipment is caused to deflect, so that the problem of larger deviation occurs when the three-dimensional absolute coordinates of the space object are measured, the accurate three-dimensional absolute coordinates of the space object cannot be obtained, further the next operation is affected, and adverse effects are brought.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art and provide a camera optical axis offset correction device and method based on binocular stereoscopic vision; the problem that the binocular vision system has larger deviation in absolute coordinate measurement due to the offset of the optical axes of the cameras is solved.
The invention is realized by the following technical scheme:
a camera optical axis offset correction device based on binocular stereo vision comprises a bottom plate 3 and a detection block 6; one end of the bottom plate 3 is provided with a bracket 2, and a binocular image acquisition device 1 is arranged on the bracket 2;
the upper surface of the other end of the bottom plate 3 is overlapped with a main body mechanism 4, a plurality of mounting holes are distributed on the main body mechanism 4 in an array manner, and bolts penetrate through the mounting holes to connect the main body mechanism 4 with the bottom plate 3; the length of the main body mechanism 4 extending out of the bottom plate 3 can be adjusted by changing the position of the mounting hole;
the tail of the main body mechanism 4 is provided with a tail groove 5, the detection block 6 is arranged in the tail groove 5 in a screw fixing mode, and the distance between the detection block 6 and the binocular image acquisition device 1 can be adjusted by adjusting the corresponding position of the detection block 6 in the tail groove 5 according to different measurement distance requirements.
The detection square 6 is provided with detection corner points, and the distance between every two corner points is 15 mm-25 mm. Screw hole arrays are distributed in the tail groove 5, and the distance between two rows of adjacent screw holes is kept between 15 and 25mm.
The bottom of the bottom plate 3 is provided with a supporting seat 7.
A camera optical axis offset correction method based on binocular stereo vision comprises the following steps:
1) Detecting the actual three-dimensional coordinates and the ideal three-dimensional coordinates of the angular points;
11 Setting up a binocular vision system camera optical axis offset correction device, namely installing and fixing a binocular image acquisition device 1 needing optical axis offset correction on a bracket 2; drawing an accurate CAD three-dimensional model of the whole optical axis offset correction device according to the appearance parameters and the installation positions of the adopted binocular image acquisition device 1;
12 According to the focal length of the binocular image acquisition device 1, adjusting the fixed positions of the connecting screws on the bottom plate (3) and the main body mechanism 4, so as to change the overall length, and enabling the binocular image acquisition device 1 to obtain a clear detection angular point image on the detection square 6 and measure the actual three-dimensional coordinates; the position of the detection square in the tail groove 5 can be adjusted to obtain actual three-dimensional coordinates of different distances;
13 Determining an ideal optical center position on the CAD three-dimensional model according to the accurate CAD three-dimensional model of the whole set of optical axis offset correction device and factory parameters of the binocular image acquisition device 1 drawn in the step 11), establishing an ideal camera coordinate system by taking the ideal optical center position as an origin o, and measuring ideal three-dimensional coordinates; the three-dimensional model can be adjusted according to the fixed position of the binocular image acquisition device 1, so that the appearance parameters of the binocular image acquisition device 1 and the three-dimensional model are consistent;
2) Processing the coordinate data, and correcting the optical axis offset of the binocular stereoscopic vision camera:
21 Using the actual three-dimensional coordinates and the ideal three-dimensional coordinates of the same measured corner point as a group of data points, such as: a is that 1 (x, y, z) and B 1 (x ', y ', z ') corresponds as a set of data points, said data measured in step 1) can be classified into several sets of data points;
22 If the actual optical axis is converted to the ideal optical axis, the rotation of the matrix R and the translation of the matrix t are needed, so that the three-dimensional coordinate of the actual coordinate system can be converted to the three-dimensional coordinate of the ideal coordinate system through the rotation of the matrix R and the translation of the matrix t, namely (x ', y ', z ')= (x, y, z) ×r+t;
23 According to the coordinate conversion relation between the data points in the step 21) and the step 22), the upper computer is used for determining the rotation of the matrix R and the numerical value of the matrix t, so that the optical axis offset correction is realized.
In the step 12), the binocular image acquisition apparatus 1 is used to measure the three-dimensional coordinates a of the detection corner points on the detection square 1 (x，y，z)，A 2 (x，y，z)，A 3 (x，y，z)，A 4 (x, y, z) … …, recorded and stored as actual three-dimensional coordinates.
In the step 13), according to the measurement sequence of the corner points in the step 12), the CAD three-dimensional model is utilized to sequentially measure the corner points of the corresponding positions of the model in an ideal camera coordinate system of the three-dimensional modelLower coordinate B 1 (x′，y′，z′)，B 2 (x′，y′，z′)，B 3 (x′，y′，z′)，B 4 (x ', y ', z ') … …) are recorded and stored as ideal three-dimensional coordinates.
In the step 23), when calculating the specific value of the rotation of the matrix R and the matrix t, the upper computer firstly randomly extracts four groups of data points to calculate the initial value of the rotation of the matrix R and the matrix t, and sets a threshold value to substitute the data points in the step 21) into the coordinate conversion relation of the step 22); if the threshold value is exceeded, the values of the matrix R and the matrix t are adjusted and then are substituted into the data points again for calculation until all the data points can meet the coordinate conversion relation of the step 22) within the threshold value range, and the final rotation matrix R and the translation matrix t are obtained.
Compared with the prior art, the invention has the following advantages and effects:
the binocular image acquisition unit of the device is placed on a camera mounting bracket and is fixed with a bottom plate through the camera mounting bracket. The main body mechanism is connected with the bottom plate in a superposition mode by screws, and the aim of adjusting the total length of the device is achieved by moving the position of the main body mechanism on the bottom plate. The detection square block is also arranged in the tail groove of the main body mechanism in a screw mode, and the corresponding position of the detection square block in the tail groove is adjusted according to different measurement distance requirements.
The device is matched with the CAD three-dimensional model, the coordinates under the actual optical axis are obtained by measuring the angular points on the detection square by using the binocular vision system, and the coordinates are uploaded to the upper computer together with the ideal three-dimensional coordinates of the corresponding angular points under the CAD three-dimensional model. And analyzing and processing the transmitted data points by using an upper computer, and calculating an optical axis rotation matrix and a translation matrix by using a coordinate conversion relation, so that an accurate reference value is effectively and accurately provided for the optical axis offset correction of the camera. The invention can realize optical axis correction without knowing detailed design parameters of the lens and obtaining few groups of detection angular point coordinates through the detection device, and is simple and easy to implement.
Drawings
FIG. 1 is a schematic diagram of the optical axis offset correction of a binocular (stereo) vision camera of the present invention;
FIG. 2 is a block diagram of a binocular vision camera optical axis deviation correcting apparatus of the present invention;
FIG. 3 shows corner distribution of detection blocks;
fig. 4 is a block diagram of a flow chart of data processing performed by the upper computer according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
Examples
As shown in fig. 1 to 4. The invention discloses a binocular stereoscopic vision-based camera optical axis offset correction device, which comprises a bottom plate 3 and a detection block 6; one end of the bottom plate 3 is provided with a bracket 2, and a binocular image acquisition device 1 is arranged on the bracket 2;
the upper surface of the other end of the bottom plate 3 is overlapped with a main body mechanism 4, a plurality of mounting holes are distributed on the main body mechanism 4 in an array manner, and bolts penetrate through the mounting holes to connect the main body mechanism 4 with the bottom plate 3; the length of the main body mechanism 4 extending out of the bottom plate 3 can be adjusted by changing the position of the mounting hole;
the tail of the main body mechanism 4 is provided with a tail groove 5, the detection block 6 is arranged in the tail groove 5 in a screw fixing mode, and the distance between the detection block 6 and the binocular image acquisition device 1 can be adjusted by adjusting the corresponding position of the detection block 6 in the tail groove 5 according to different measurement distance requirements.
The detection square 6 is provided with detection angular points, and the distance between every two angular points is 15 mm-25 mm, preferably 20mm.
The tail groove 5 is internally provided with an array of screw holes, and the distance between two rows of adjacent screw holes is kept between 15 and 25mm, preferably 20mm.
The bottom of the bottom plate 3 is provided with a supporting seat 7.
A camera optical axis offset correction method based on binocular stereo vision comprises the following steps:
1) Detecting the actual three-dimensional coordinates and the ideal three-dimensional coordinates of the angular points;
11 Setting up a binocular vision system camera optical axis offset correction device, namely installing and fixing a binocular image acquisition device 1 needing optical axis offset correction on a bracket 2; drawing an accurate CAD three-dimensional model of the whole optical axis offset correction device according to the appearance parameters and the installation positions of the adopted binocular image acquisition device 1;
12 According to the focal length of the binocular image acquisition device 1, adjusting the fixed positions of the connecting screws on the bottom plate (3) and the main body mechanism 4, so as to change the overall length, and enabling the binocular image acquisition device 1 to obtain a clear detection angular point image on the detection square 6 and measure the actual three-dimensional coordinates; the position of the detection square in the tail groove 5 can be adjusted to obtain actual three-dimensional coordinates of different distances;
13 Determining an ideal optical center position on the CAD three-dimensional model according to the accurate CAD three-dimensional model of the whole set of optical axis offset correction device and factory parameters of the binocular image acquisition device 1 drawn in the step 11), establishing an ideal camera coordinate system by taking the ideal optical center position as an origin o, and measuring ideal three-dimensional coordinates; the three-dimensional model can be adjusted according to the fixed position of the binocular image acquisition device 1, so that the appearance parameters of the binocular image acquisition device 1 and the three-dimensional model are consistent;
2) Processing the coordinate data, and correcting the optical axis offset of the binocular stereoscopic vision camera:
21 Using the actual three-dimensional coordinates and the ideal three-dimensional coordinates of the same measured corner point as a group of data points, such as: a is that 1 (x, y, z) and B 1 (x ', y ', z ') corresponds as a set of data points, said data measured in step 1) can be classified into several sets of data points;
22 If the actual optical axis is converted to the ideal optical axis, the rotation of the matrix R and the translation of the matrix t are needed, so that the three-dimensional coordinate of the actual coordinate system can be converted to the three-dimensional coordinate of the ideal coordinate system through the rotation of the matrix R and the translation of the matrix t, namely (x ', y ', z ')= (x, y, z) ×r+t;
23 According to the coordinate conversion relation between the data points in the step 21) and the step 22), the upper computer is used for determining the rotation of the matrix R and the numerical value of the matrix t, so that the optical axis offset correction is realized.
In the step 12), three detection corner points on the detection square are measured by the binocular image acquisition device 1Dimensional coordinates A 1 (x，y，z)，A 2 (x，y，z)，A 3 (x，y，z)，A 4 (x, y, z) … …, recorded and stored as actual three-dimensional coordinates.
In the step 13), according to the measurement sequence of the corner points in the step 12), the coordinates B of the corner points of the corresponding positions of the model under the ideal camera coordinate system of the three-dimensional model are sequentially measured by using the CAD three-dimensional model 1 (x′，y′，z′)，B 2 (x′，y′，z′)，B 3 (x′，y′，z′)，B 4 (x ', y ', z ') … …) are recorded and stored as ideal three-dimensional coordinates.
In the step 23), when calculating the specific value of the rotation of the matrix R and the matrix t, the upper computer firstly randomly extracts four groups of data points to calculate the initial value of the rotation of the matrix R and the matrix t, and sets a threshold value to substitute the data points in the step 21) into the coordinate conversion relation of the step 22); if the threshold value is exceeded, the values of the matrix R and the matrix t are adjusted and then are substituted into the data points again for calculation until all the data points can meet the coordinate conversion relation of the step 22) within the threshold value range, and the final rotation matrix R and the translation matrix t are obtained.
As described above, the present invention can be preferably realized.
The embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention should be made and equivalents should be construed as falling within the scope of the invention.
Claims (7)
1. A camera optical axis offset correcting unit based on binocular stereoscopic vision, its characterized in that: comprises a bottom plate (3) and a detection block (6); one end of the bottom plate (3) is provided with a bracket (2), and a binocular image acquisition device (1) is arranged on the bracket (2);
the upper surface of the other end of the bottom plate (3) is overlapped with a main body mechanism (4), a plurality of mounting holes are distributed on the main body mechanism (4) in an array manner, and bolts penetrate through the mounting holes to connect the main body mechanism (4) with the bottom plate (3); the length of the main body mechanism (4) extending out of the bottom plate (3) can be adjusted by changing the position of the mounting hole;
the tail part of the main body mechanism (4) is provided with a tail groove (5), the detection block (6) is arranged in the tail groove (5) in a screw fixing mode, and the distance between the detection block (6) and the binocular image acquisition device (1) can be adjusted by adjusting the corresponding position of the detection block (6) in the tail groove (5) according to different measurement distance requirements;
the correcting method of the camera optical axis offset correcting device based on binocular stereoscopic vision comprises the following steps:
1) Detecting the actual three-dimensional coordinates and the ideal three-dimensional coordinates of the angular points;
11 Setting up a binocular vision system camera optical axis offset correction device, namely installing and fixing a binocular image acquisition device (1) needing optical axis offset correction on a bracket (2); drawing an accurate CAD three-dimensional model of the whole optical axis offset correction device according to the appearance parameters and the installation positions of the adopted binocular image acquisition device (1);
12 According to the focal length of the adopted binocular image acquisition device (1), the fixed positions of the connecting screws on the bottom plate (3) and the main body mechanism (4) are adjusted, so that the overall length is changed, the binocular image acquisition device (1) can obtain a clear detection angular point image on the detection square block (6), and the actual three-dimensional coordinates are measured; the position of the detection square in the tail groove (5) can be adjusted to obtain actual three-dimensional coordinates of different distances;
13 The ideal optical center position is determined on the CAD three-dimensional model according to the accurate CAD three-dimensional model of the whole set of optical axis offset correction device and the factory parameters of the binocular image acquisition device (1) drawn in the step 11), an ideal camera coordinate system is established by taking the ideal optical center position as an origin o, and ideal three-dimensional coordinates are measured; the three-dimensional model can be adjusted according to the fixed position of the binocular image acquisition device (1), so that the appearance parameters of the binocular image acquisition device (1) and the three-dimensional model are consistent;
2) Processing the coordinate data, and correcting the optical axis offset of the binocular stereoscopic vision camera:
21 Using the actual three-dimensional coordinates and the ideal three-dimensional coordinates of the same measured corner point as a group of data points, such as: a is that 1 (x, y, z) and B 1 (x ', y ', z ') corresponds as a groupData points, the data measured in step 1) can be classified into several groups of data points;
22 If the actual optical axis is converted to the ideal optical axis, the rotation of the matrix R and the translation of the matrix t are needed, so that the three-dimensional coordinate of the actual coordinate system can be converted to the three-dimensional coordinate of the ideal coordinate system through the rotation of the matrix R and the translation of the matrix t, namely (x ', y ', z ')= (x, y, z) ×r+t;
23 According to the coordinate conversion relation between the data points in the step 21) and the step 22), the upper computer is used for determining the rotation of the matrix R and the numerical value of the matrix t, so that the optical axis offset correction is realized.
2. The binocular stereoscopic vision-based camera optical axis deviation correcting apparatus according to claim 1, wherein: the detection square blocks (6) are distributed with detection corner points, and the distance between every two corner points is 15 mm-25 mm.
3. The binocular stereoscopic vision-based camera optical axis deviation correcting apparatus according to claim 2, wherein: screw hole arrays are distributed in the tail groove (5), and the distance between two rows of adjacent screw holes is kept between 15 and 25mm.
4. A binocular stereoscopic vision-based camera optical axis deviation correcting apparatus according to claim 3, wherein: the bottom of the bottom plate (3) is provided with a supporting seat (7).
5. The binocular stereoscopic vision-based camera optical axis deviation correcting apparatus according to claim 4, wherein in the step 12), the three-dimensional coordinates a of the detection corner points on the detection block are measured using the binocular image capturing apparatus (1) 1 (x，y，z)，A 2 (x，y，z)，A 3 (x，y，z)，A 4 (x, y, z) … …, recorded and stored as actual three-dimensional coordinates.
6. The binocular stereoscopic vision-based camera optical axis deviation correcting apparatus of claim 5, wherein theIn step 13), according to the measurement sequence of the corner points in step 12), sequentially measuring the coordinates B of the corner points of the corresponding positions of the model under the ideal camera coordinate system of the three-dimensional model by using the CAD three-dimensional model 1 (x′，y′，z′)，B 2 (x′，y′，z′)，B 3 (x′，y′，z′)，B 4 (x ', y ', z ') … …) are recorded and stored as ideal three-dimensional coordinates.
7. The binocular stereo vision-based camera optical axis deviation correcting device according to claim 5, wherein in the step 23), when calculating the rotation of R and the specific value of the matrix t, firstly, the upper computer randomly extracts four groups of data points to calculate the rotation of the matrix R and the initial value of the matrix t, and sets a threshold value to substitute the data points in the step 21) into the coordinate conversion relation of the step 22); if the threshold value is exceeded, the values of the matrix R and the matrix t are adjusted and then are substituted into the data points again for calculation until all the data points can meet the coordinate conversion relation of the step 22) within the threshold value range, and the final rotation matrix R and the translation matrix t are obtained.
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| CN109084959B (en) * | 2018-06-05 | 2020-10-02 | 南京理工大学 | Optical axis parallelism correction method based on binocular distance measurement algorithm |
| CN111256953B (en) * | 2018-12-03 | 2022-03-29 | 宁波舜宇光电信息有限公司 | Array module optical axis detection system and method thereof |
| CN112560867B (en) * | 2020-12-09 | 2023-11-21 | 上海肇观电子科技有限公司 | Text image correction method, device, equipment and medium |
| CN116718108A (en) * | 2023-02-10 | 2023-09-08 | 深圳市中图仪器股份有限公司 | Binocular camera |
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