CN107564070A - The ranging of large scene binocular and its bearing calibration in the monitoring of overhead power transmission channel image - Google Patents
The ranging of large scene binocular and its bearing calibration in the monitoring of overhead power transmission channel image Download PDFInfo
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Abstract
This disclosure relates to the ranging of large scene binocular and its bearing calibration in a kind of overhead power transmission channel image monitoring, including：(1) binocular camera is demarcated in the condition of the remote large scene visual field using demarcate bar method；(2) the focal length parameter that zoomed image correction calibrates, reduces the focus difference between two cameras；(3) optimizing is carried out to the three-dimensional system of coordinate anglec of rotation using quasi-Newton method, camera coordinates system is overlapped as far as possible with earth axes.The disclosure can solve the problem that traditional binocular ranging technology demarcates the problem of difficult in the large scene of overhead transmission line passage；Reduce the focus difference of demarcation using the scaling of picture ratio, can solve the problem that because camera sets limitation and left tool precision to cause focal length to have the problem of gap in itself；The algorithm for carrying out optimizing to the coordinate system rotation anglec of rotation after three-dimensional reconstruction with quasi-Newton method is proposed, can solve the problem that the problem of object bottom border texture at ground is unclear or blocks.
Description
Technical field
The invention belongs to imaging field, in more particularly to a kind of overhead power transmission channel image monitoring the ranging of large scene binocular and
Its bearing calibration.
Background technology
Electric power has vital effect in the society of current rapid economic development, and high-tension overhead line is as electric power
An indispensable ring, its security are very important in production.In recent years, the running environment of transmission line of electricity is increasingly complicated, with
The external force such as the contradiction of the fast development of scale, overhead transmission line and economic activity, crane short, construction violating the regulations is broken
The bad accident for causing transmission line of electricity to be stopped transport is of common occurrence, it has also become influences the principal element of high-tension line safe and stable operation, sternly
The safe for operation of power network is threatened again, or even is caused casualties.In addition, the growth of trees, and the winding of artificial foreign matter
Wire short-circuiting may be caused.
To ensure the safe operation of circuit, power department needs tissue line data-logging, but the running environment of transmission line of electricity
Typically more severe, personnel's amount of labour is larger, and traditional manual inspection mode has been difficult in adapt to the circuit rule of high speed development
Mould.For the state of efficient, real-time monitoring transmission line of electricity, many units are mounted with picture control in Frequent Accidents section, substituted
Part manual inspection, raises labour efficiency.But increasing with monitoring devices such as video, images, it is completely dependent on artificial judgment
Judging by accident or failing to judge easily occur in the method for picture signal, and has been difficult to adapt to production needs, and can consume substantial amounts of manpower thing
Power.Therefore, based on the Study On Intelligent Monitoring Techniques of image recognition in power industry it is of great interest.
At present, the technology of camera or video probe is installed on electric power line pole tower has tended to be ripe, but due to tradition
Single camera shooting can not carry out space orientation to invader, thus easily cause erroneous judgement and situations such as fail to judge.Using binocular
The three-dimensional coordinate of object in the technology restoration scenario of stereoscopic vision, it becomes possible to measure the height and distance of object in passage.
In practical application, camera device is typically erected on shaft tower, and binocular camera antenna height is higher, and the distance between camera compared with
Far, in the lab or open air is difficult to carry out staking-out work.
The content of the invention
The deficiency for more than, the present invention provide the ranging of large scene binocular and its school in a kind of overhead power transmission channel image monitoring
Correction method, by the way that focal length parameter is demarcated, corrected to binocular camera and carries out optimizing to the three-dimensional system of coordinate anglec of rotation, can directly it survey
Measure the height of the space length and intrusion object in line channel between object.
The present invention be solve the technical scheme that uses of above-mentioned technical problem for：It is big in a kind of overhead power transmission channel image monitoring
The ranging of scene binocular and its bearing calibration, including：
S1：Binocular camera is demarcated in the condition of the remote large scene visual field using demarcate bar method；
S2：The focal length parameter that zoomed image ratio adjustment calibrates, reduce the focus difference between two cameras；
S3：Optimizing is carried out to the three-dimensional system of coordinate anglec of rotation using quasi-Newton method, makes camera coordinates system and earth axes
Overlap as far as possible；
Further, the S1 includes：
S11：By the use of a Sopwith staff in overhead transmission line passage as demarcate bar, Sopwith staff is elongated to 4 meters, every one meter of position
Put and make marks, as calibration point；
S12：In 75 meters immediately ahead of camera of opening position, transversely hung down with longitudinal direction every 5 meters of one group of shootings with ground
The image of straight demarcate bar, each direction clap five groups；
S13：25 putting positions numbering of demarcate bar is designated as a1~e5 successively, forms a spatially 1200m3Mark
Determine scope, 4 calibration points extracted in each demarcate bar form 6 demarcation planes；
Further, the S2 includes：
S21：Setting ratio factor ki, during i=1, because first demarcation does not zoom in and out to image, so k1It is not present, marks
Determine left camera focus f in resultL1More than right camera focus fR1, as i=2, the initial value of scale factor is：
k2=fL1/fR1
Wherein, fL1For left camera focus, fR1For right camera focus；
S22：On the basis of left camera image, to initial right image k in proportioniZoom in and out, camera is entered again afterwards
Rower is determined, as left camera focus f in calibration resultLiMore than right camera focus fRi, take
ki+1=2 (ki- 1)+1=2ki-1
As left camera focus fLiLess than right camera focus fRi, illustrate the focal length exaggerated correction of right image, take
ki+1=(ki+1)/2
Wherein, kiFor scale factor；
S23：Cycle-index is set, the cycle-index is identical with demarcation number, wherein the k calculated every timeiIt is worth for i-th
The scaling of picture before secondary demarcation；
Further, the S3 includes：
S31：Object function is constructed, during coordinate system transformation, with X, Y, the angle [alpha] rotated in Z-direction, beta, gamma conduct
Three variables, the matrix after being rotated are：
Wherein, (xnj, ynj, znj) sat for the reconstruction of j-th of calibration point is three-dimensional from top to bottom on the mark post in nth position
Mark, (xr nj, yr nj, zr nj) be its rotation after coordinate, R1, R2, R3Respectively X, Y, the spin matrix of Z-direction；
S32：Calculate n-th demarcate bar, 4 calibration points geometric mean error be：
Wherein, (xnj, ynj, znj) sat for the reconstruction of j-th of calibration point is three-dimensional from top to bottom on the mark post in nth position
Mark, (x 'nj, y 'nj, z 'nj) be corresponding earth axes ideal coordinates；
S33：Object function takes the maximum mean error in a1~e5 demarcate bars, and calculation formula is：
H=max (Hn) (n=1 ..., 25)
Wherein, HnFor geometric mean error；
S34：Coordinate system after rotation is overturn on the basis of X-Z plane, and moved in parallel along under Y-axis, makes coordinate
It is that origin is tried one's best ground proximity；
The binocular camera demarcation is based on the image information collected, passes through thing known to structure and the pass as between
System, calculate the process of the inside and outside parameter of binocular camera；
The intrinsic parameter includes lens distortion, principal point coordinate and focal length；Outer parameter includes between two cameras and and generation
Spin matrix and translation matrix between boundary's coordinate；
Five are that laterally, one is longitudinal direction in 6 demarcation plane.
Compared with prior art, the advantageous effects that the technical solution adopted by the present invention is brought are：
(1) scaling method of traditional black and white grid flat board is replaced using demarcate bar, traditional binocular ranging technology is solved and exists
The problem of difficult is demarcated in the large scene of overhead transmission line passage；
(2) reduce the focus difference of demarcation using the method for picture proportional zoom, solve because camera sets limitation in itself
Focal length is caused to have the problem of gap with mechanical precision；
(3) propose with quasi-Newton method to the method that the coordinate system rotation anglec of rotation carries out optimizing after three-dimensional reconstruction, cancel
The measurement of measured object lower extreme point, solve the problems, such as that object bottom border texture at ground is unclear or blocks.
Brief description of the drawings
Fig. 1 is the position view of demarcate bar；
Fig. 2 is the outer Parameter Map of demarcate bar method；
Fig. 3 is camera focus correcting process figure；
Fig. 4 (a)-Fig. 4 (b) is that camera focus corrects result schematic diagram；
Wherein, Fig. 4 (a) is left and right camera focus, and Fig. 4 (b) is focus difference and k values；
Fig. 5 (a)-Fig. 5 (b) is reconstruction error schematic diagram before and after camera focus correction；
Wherein, Fig. 5 (a) is error before focus correction, and Fig. 5 (b) is error after focus correction；
Fig. 6 is camera calibration point reconstructed results schematic diagram；
Fig. 7 is the object point reconstructed results schematic diagram after correction.
Embodiment
Now, with reference to the accompanying drawings to embodiments of the invention are described in detail.However, the present invention can be with many different shapes
Formula is implemented, and should not be construed as being limited to embodiments set forth here.On the contrary, these embodiments are provided so that the disclosure will
It is thorough and complete, and the scope of the present invention will be fully conveyed to those skilled in the art.
Reference picture 1, binocular camera is demarcated in the condition of the remote large scene visual field using the method for demarcate bar.Institute
Meaning binocular camera demarcation is based on the image information collected, by thing known to structure and the relation as between, calculates binocular
The process of camera inside and outside parameter.Wherein, inner parameter includes the multiple parameters such as lens distortion, principal point coordinate and focal length；Outer parameter
Between predominantly two cameras and spin matrix and translation matrix between world coordinates.The present embodiment is using demarcate bar
Method is demarcated to binocular camera, i.e., in overhead transmission line passage, is placed by the use of a Sopwith staff as demarcate bar, Sopwith staff is elongated
To 4 meters, white marking is done every one meter of position, as calibration point.In 75 meters immediately ahead of camera of opening position, transversely
The image of one group of demarcate bar perpendicular to the ground is shot every 5 meters with longitudinal direction, each direction claps five groups.25 of demarcate bar put
Position Number is designated as a1~e5 successively, forms a spatially 1200m3Calibration range, 4 extracted on each position bar
Calibration point forms 6 demarcation planes, wherein five are that laterally, one is longitudinal direction, can be distributed calibration point in this way
Scope greatly increases.
Reference picture 2, biocular systems are demarcated according to the calibration point of extraction, outer parametric results are as shown in Figure 2.With Fig. 1
For reference, it can be seen that 6 demarcation the distance between plane and camera errors diminish in Fig. 2, close to the true distribution in Fig. 1.
Reference picture 3, it is the present embodiment camera focus correcting process figure.Although binocular camera is entered using the method for demarcate bar
Go and demarcated and increased the distribution of calibration point, but the focus difference problem of two cameras is still present.Camera it is interior
Portion's parameter only has focal length to be adjusted by setting, therefore the focal length by adjusting camera can improve calibration mass.
During camera adjustments, the setting of presetting bit is only able to display the focal length of integral multiple, there is certain limitation, and camera machine itself
Tool precision is not high, and two camera focus have certain gap when causing to be shot.Pass through the analysis of Three-dimension Reconstruction Model, it is known that two
The focus difference of individual camera is smaller, more preferable closer to preferably projection projection model, the result of least square method.Therefore, to phase
The correction of machine focal length, reconstruction can be made more accurate.Change directly, this implementation relevant with the size of image of camera focus
The focal length parameter that example is calibrated by zoomed image correction, reduces the focus difference between two cameras.
Demarcated according to first time, obtain the focal length parameter f of left and right cameraL1=5184.2, fR1=5088.2, unit is picture
The number of element.Left camera focus fL1More than right camera focus fR1, setting ratio factor ki, during i=1, because first demarcation is not right
Image zooms in and out, so k1It is not present, due to left camera focus f in calibration resultL1More than right camera focus fR1, work as i=2
When, the initial value of scale factor is：
k2=fL1/fR1 (1)
Wherein, fL1For left camera focus, fR1For right camera focus；
On the basis of left camera image, to initial right image k in proportioniZoom in and out, re-start mark to camera afterwards
It is fixed.If left camera focus f in calibration resultLiMore than right camera focus fRi, take
ki+1=2 (ki- 1)+1=2ki-1 (2)
If left camera focus fLiLess than right camera focus fRi, illustrate the focal length exaggerated correction of right image, take
ki+1=(ki+1)/2 (3)
The k calculated every timeiIt is worth the scaling of picture before being demarcated for ith.Because calibration process is estimated according to maximum likelihood
The optimal solution that meter method obtains, although the actual size of left camera image does not change, left camera focus that each computing is drawn
Calibration result has certain change, and this can make the calculating of focus difference produce numerical oscillation, and can not converge on single minimum value.
The present embodiment setting circulation 5 times, i.e., N takes 6.
(a)-Fig. 4 (b) of reference picture 4, it can be seen that during Focussing, zoomed in and out for the first time according to k values
When, right camera focus is significantly greater than left camera focus, and focal length difference becomes big.As k values gradually adjust, the 4th focal length is arrived the 2nd time
Difference taper into, when k values are gradually increasing, the focal length of right camera tends to be constant, and the difference of focal length does not also improve.It can be seen that
Numerical oscillation causes final result to be only capable of converging on certain scope.Wherein, one group of focus difference minimum is the 3rd group, difference
For 31.8 pixels (about 0.16mm), have been able to meet engine request, so the present embodiment takes the 3rd group as final demarcation
As a result.
(a)-Fig. 5 (b) of reference picture 5, the effect for correcting front and rear is analyzed, to verify the effective of focus correction
Property.Data in figure have carried out coordinate upset and translation, thus are all on the basis of ground, and wherein Fig. 5 (a) is focal length school
Just preceding error, Fig. 5 (b) are error after focus correction.Using 25 groups of calibration points as measurement object, perpendicular to ground in every group of data
4 " ■ " be real calibration point position, "●" is measurement data.Obviously, it is overall by focus correction, every group of measurement data
On closer to actual value.Worst error (standard deviation) before focus correction is 1.6331；Worst error (mark after focus correction
It is accurate poor) it is 0.2668, it was demonstrated that the error of image measurement can be substantially reduced by focus correction.
Reference picture 6, point coordinates is demarcated corresponding to each bar, be inclination or distortion, this will cause to be difficult to sit from reconstruction
The locus of object point is observed in mark, this be due to optical axis and the ground of camera it is not parallel caused by.In order that binocular ranging
As a result the application of line channel monitoring is more applicable for, it is necessary to enter line translation to the world coordinates of camera.
Because world coordinates is an entirety, 3 axles in three dimensions can not generally be optimal simultaneously, the present embodiment
From quasi-Newton method, optimizing is carried out to the coordinate system anglec of rotation, so that camera coordinates system overlaps with earth axes as far as possible.Intend
Newton method is to solve for one of nonlinear optimal problem most efficient method, has the advantages of amount of calculation is small, superlinear convergence.First
Object function is constructed, during coordinate system transformation, with X, Y, the angle [alpha] rotated in Z-direction, beta, gamma is as three variables, R1,
R2, R3Respectively X, Y, the spin matrix of Z-direction.Matrix [x after being rotatedr nj yr nj zr nj 1]1Such as formula (4) institute
Show：
The geometric mean error of n-th demarcate bar, 4 calibration points can be expressed as the form shown in formula (5)：
Wherein, (xnj, ynj, znj) sat for the reconstruction of j-th of calibration point is three-dimensional from top to bottom on the mark post in nth position
Mark, (xr nj, yr nj, zr nj) be its rotation after coordinate, (x 'nj, y 'nj, z 'nj) be corresponding earth axes ideal
Coordinate.Object function takes the maximum mean error in 25 demarcate bars, as shown in formula (6)：
H=max (Hn) (n=1 ..., 25) (6)
By quasi-Newton method 3 anglec of rotation variables are carried out with optimizing needs to construct the direction of search, and the present embodiment utilizes formula (6)
The information structuring direction of search of object function and its first derivative makes the value of object function be reduced to as far as possible in given threshold, so as to
Obtain optimal solution.World coordinates is rotated by optimal solution, the coordinate system after rotating will be one using horizontal plane as mirror image
Coordinate system, thus also need to overturn whole coordinate system on the basis of X-Z plane, and move in parallel along under Y-axis, make coordinate
It is that origin is tried one's best ground proximity.Corrected, upset, translation just obtain the practical measuring coordinate system in the face on the basis of ground
System.
Reference picture 7, carry out elevation carrection experiment, to verify the practicality of practical measuring coordinate system.The present embodiment exists
Object point is extracted to the crown of people and sole in coordinate, the height as people measures characteristic point.According to the principle of binocular location algorithm,
If rotated without coordinate system, thing could be judged by the space length of point-to-point transmission by needing two end points of given measured object
Body height, but in overhead transmission line passage, ground environment is complicated, the shelters such as weeds, shrub, the minimum point texture of object be present
Obscuring or being blocked causes None- identified situation relatively common.After coordinate system rotation, the peak of object need to be only identified
And rebuild, the y values of three-dimensional coordinate are taken, the height with regard to object can be immediately arrived at.Moreover, the generally highest of invader
The situation that point is blocked is more rare, therefore can provide great convenience for the application of channel monitoring after coordinate rotation.This reality
Example is applied taking human as measurement object, the unobstructed personnel's height of whole body is measured, obtains 9 groups of images, the result after reconstruction altogether
As shown in Figure 7, it can be seen that the world coordinates of object point is substantially distributed consistent with the distribution of real geographical coordinates.
Data in result, calculate the height of tested personnel.Analysis of experimental data is divided into four groups, and first three groups use
Two-point method surveys height, and the 4th group is surveyed height using single-point method：First group, focus correction is not carried out and does not carry out coordinate rotation yet；The
Two groups have carried out focus correction, but have not carried out coordinate rotation；3rd group, the 4th group has carried out focus correction and coordinate rotation.
Using the true height 1.68m of tested person as benchmark, the mean error of matching measurement data, as shown in table 1.
The elevation carrection of table 1
Analysis is carried out to error as can be seen that when using two-point method, after focus correction, mean error reduces, and enters
After row coordinate transform, the distance of point-to-point transmission keeps constant, and precision does not decline.After coordinates correction, calculated using single-point method
It object height, increased when mean error is compared to two-point method, but be still less than the result of calculation before focus correction.Coordinate
After system's rotation, biocular systems only need some height that can calculate object point, are brought to engineer applied compared with convenience.It is although flat
Equal error increase is 3.62%, about 0.0608 meter, but remains able to reach the monitoring of overhead transmission line passway for transmitting electricity after taking certain nargin
Application demand.
Although the present invention has shown and described in conjunction with the embodiments, for those skilled in the art, do not departing from
In the case of the spirit and scope of the present invention, various modifications and variations can be carried out.
Claims (7)
1. the ranging of large scene binocular and its bearing calibration in a kind of overhead power transmission channel image monitoring, including：
S1：Binocular camera is demarcated in the condition of the remote large scene visual field using demarcate bar method；
S2：The focal length parameter that zoomed image ratio adjustment calibrates, reduce the focus difference between two cameras；
S3：Optimizing is carried out to the three-dimensional system of coordinate anglec of rotation using quasi-Newton method, camera coordinates system is tried one's best with earth axes
Overlap.
2. according to the method for claim 1, it is characterised in that preferable, the S1 includes：
S11：By the use of a Sopwith staff in overhead transmission line passage as demarcate bar, Sopwith staff is elongated to 4 meters, done every one meter of position
Mark, as calibration point；
S12：It is transversely every 5 meters of one group of shootings perpendicular to the ground with longitudinal direction in 75 meters immediately ahead of camera of opening position
The image of demarcate bar, each direction clap five groups；
S13：25 putting positions numbering of demarcate bar is designated as a1~e5 successively, forms a spatially 1200m3Demarcation model
Enclose, 4 extracted in each demarcate bar calibration point forms 6 demarcation planes.
3. according to the method for claim 1, it is characterised in that the S2 includes：
S21：Setting ratio factor ki, during i=1, because first demarcation does not zoom in and out to image, so k1It is not present, first deutero-albumose
Determine left camera focus f in resultL1More than right camera focus fR1；As i=2, the initial value of scale factor is：
k2=fL1/fR1
Wherein, fL1For left camera focus, fR1For right camera focus；
S22：On the basis of left camera image, to initial right image k in proportioniZoom in and out, re-start mark to camera afterwards
It is fixed, as left camera focus f in calibration resultLiMore than right camera focus fRi, take
ki+1=2 (ki- 1)+1=2ki-1
As left camera focus fLiLess than right camera focus fRi, illustrate the focal length exaggerated correction of right image, take
ki+1=(ki+1)/2
Wherein, kiFor scale factor；
S23：Cycle-index is set, the cycle-index is identical with demarcation number, wherein the k calculated every timeiIt is worth and is used for ith mark
The scaling of picture before fixed.
4. according to the method for claim 1, it is characterised in that the S3 includes：
S31：Object function is constructed, during coordinate system transformation, with X, Y, the angle [alpha] rotated in Z-direction, beta, gamma is as three
Variable, the matrix after being rotated are：
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(xr nj, yr nj, zr nj) be its rotation after coordinate, R1, R2, R3Respectively X, Y, the spin matrix of Z-direction；
S32：Calculate n-th demarcate bar, 4 calibration points geometric mean error be：
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(x’nj, y 'nj, z 'nj) be corresponding earth axes ideal coordinates；
S33：Object function takes the maximum mean error in a1~e5 demarcate bars, and calculation formula is：
H=max (Hn) (n=1 ..., 25)
Wherein, HnFor geometric mean error；
S34：Coordinate system after rotation is overturn on the basis of X-Z plane, and moved in parallel along under Y-axis, makes coordinate system former
Put ground proximity of trying one's best.
5. according to the method for claim 1, it is characterised in that the binocular camera demarcation is based on the image letter collected
Breath, pass through thing known to structure and the relation as between, the process of the calculating inside and outside parameter of binocular camera.
6. according to the method for claim 5, it is characterised in that the intrinsic parameter includes lens distortion, principal point coordinate and Jiao
Away from；Outer parameter includes between two cameras and spin matrix and translation matrix between world coordinates.
7. according to the method for claim 2, it is characterised in that five are that laterally one is vertical in 6 demarcation plane
To.
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