CN107861113A - Scaling method and device - Google Patents
Scaling method and device Download PDFInfo
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- CN107861113A CN107861113A CN201711083126.XA CN201711083126A CN107861113A CN 107861113 A CN107861113 A CN 107861113A CN 201711083126 A CN201711083126 A CN 201711083126A CN 107861113 A CN107861113 A CN 107861113A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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Abstract
The invention provides a kind of scaling method and device, it is related to laser ranging field.The scaling method includes：Multiple sampled points are chosen in the range of preset calibrations, obtain each sampled point to the actual distance of point of observation；Fitting corresponding to each sampled point is obtained apart from multinomial by fitting of a polynomial, and is obtained based on the fitting apart from multinomial and is fitted distance corresponding to each sampled point；Fitting distance and the variance of actual distance corresponding to each sampled point are obtained, and therefrom filters out and is fitted corresponding to minimum variance apart from multinomial as best fit apart from multinomial.Method and device provided by the invention creates a plurality of polynomial fitting approached with actual value by fitting of a polynomial, again most accurate function is therefrom filtered out by comparing variance, the range radar of different performance parameter can be provided to have and targetedly demarcated, its easy to operate and reliable results, the measurement accuracy of laser triangulation can be effectively improved.
Description
Technical field
The present invention relates to laser ranging field, in particular to a kind of scaling method and device.
Background technology
Laser ranging (Laser Distance Measuring) is progress ranging using laser as light source.Laser ranging
Instrument is the instrument for carrying out Accurate Determining to the distance of target using laser.According to the mode of laser work be divided into continuous wave laser and
Pulse laser.The gas lasers such as He-Ne, argon ion, krypton cadmium work in continuous output state, for phase laser distance measurement；
Double heterogeneous gallium arsenide semiconductor lasers, for infrared distance measurement；The solid state lasers such as ruby, neodymium glass, swash for pulsed
Ligh-ranging.Laser range finder is integrated due to the features such as monochromaticjty of laser is good, high directivity plus electronic circuit semiconductor transformation
Change, compared with geodimeter, not only can day and night operation, and range accuracy can be improved, substantially reduce weight and power consumption, quilt
It is widely used in various fields of measurement.
As a kind of conventional laser distance measurement method, using the laser range finder of laser triangulation at work to target
A branch of very thin laser is projected, the laser beam of target reflection is received by photoelectric cell, the light beam reflected is in photodetector
One laser facula of upper formation, the offset by obtaining the laser facula can be calculated from observer's range-to-go.
However, in laser triangulation method, although the change of distance and the laser facula mobile position on CMOS
The change of shifting is approximate proportional relation, but the displacement is vulnerable to external environment and optical system, material, component performance etc.
Influence, error is comparatively still bigger, and the error of every ranging machine has inconsistency, so needing to swash to used
The nearly rower of optical radar is determined.
The content of the invention
It is an object of the invention to provide a kind of scaling method and device, and it can be effectively improved above mentioned problem.
What embodiments of the invention were realized in：
In a first aspect, the embodiments of the invention provide a kind of scaling method, methods described includes：In the range of preset calibrations
Multiple sampled points are chosen, obtain each sampled point to the actual distance of point of observation；Each sampled point is obtained by fitting of a polynomial
Corresponding fitting is obtained apart from multinomial based on the fitting apart from multinomial and is fitted distance corresponding to each sampled point；Obtain
Fitting distance and the variance of actual distance corresponding to each sampled point are taken, and therefrom filters out fitting distance corresponding to minimum variance
Multinomial is as best fit apart from multinomial.
Second aspect, the embodiment of the present invention additionally provide a kind of caliberating device, and it includes sampling module, for being marked with advance
Determine to choose multiple sampled points in scope, obtain each sampled point to the actual distance of point of observation；Fitting module, for by multinomial
Formula fitting obtains fitting corresponding to each sampled point apart from multinomial, and obtains each sampling apart from multinomial based on the fitting
Fitting distance corresponding to point；Screening module, distance and the variance of actual distance are fitted corresponding to each sampled point for obtaining, and
Therefrom filter out and be fitted corresponding to minimum variance apart from multinomial as best fit apart from multinomial.
Scaling method and device provided in an embodiment of the present invention, choose multiple sampled points in the range of preset calibrations first,
And each sampled point is obtained to the actual distance of point of observation, provide real reference data for whole calibration process；Pass through again
Fitting of a polynomial is obtained the corresponding fitting of each sampled point and obtained each apart from multinomial apart from multinomial, and based on the fitting
Fitting distance, can obtain sampled point to the theoretical calculation distance between point of observation by fitting of a polynomial corresponding to sampled point；Most
Fitting distance and the variance of actual distance corresponding to each sampled point are obtained afterwards, and are therefrom filtered out and be fitted corresponding to minimum variance
Apart from multinomial as best fit apart from multinomial, it can find out to calculate by way of seeking variance and most connect with actual distance
That near fitting function, and this is screened as best fit apart from multinomial closest to the fitting function of actual value
Formula, the best fit most can accurately show the true range performance of institute's demarcation machine apart from multinomial.Relative to existing
Technology, scaling method and device provided in an embodiment of the present invention create what a plurality of and actual value approached by fitting of a polynomial
Polynomial fitting, then most accurate fitting function is therefrom filtered out by comparing variance, can be to the ranging of different performance parameter
Radar is provided to have and targetedly demarcated, and its easy to operate and reliable results, can effectively improve the measurement of laser triangulation
Precision, lift the generalization ability of the scaling method.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of structured flowchart for the electronic equipment that can be applied in the embodiment of the present invention；
Fig. 2 is the FB(flow block) for the scaling method that first embodiment of the invention provides；
Fig. 3 is the sub-step FB(flow block) of step S210 in first embodiment of the invention；
Fig. 4 is the sub-step FB(flow block) of step S310 in first embodiment of the invention；
Fig. 5 is the sub-step FB(flow block) of step S220 in first embodiment of the invention；
Fig. 6 is step S600, step S610, the step S620 FB(flow block) that first embodiment of the invention provides；
Fig. 7 is the sub-step FB(flow block) of step S620 in first embodiment of the invention；
Fig. 8 is the structured flowchart for the caliberating device that second embodiment of the invention provides；
Fig. 9 is the structured flowchart for the fitting module that second embodiment of the invention provides；
Figure 10 is the structured flowchart for the fitting unit that second embodiment of the invention provides；
Figure 11 is the structured flowchart for the screening module that second embodiment of the invention provides.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Fig. 1 shows a kind of structured flowchart for the electronic equipment 100 that can be applied in the embodiment of the present application.As shown in figure 1,
Electronic equipment 100 can include memory 110, storage control 120, processor 130, display screen 140 and caliberating device.Example
Such as, the electronic equipment 100 can be PC (personal computer, PC), tablet personal computer, smart mobile phone, individual number
Word assistant (personal digital assistant, PDA) etc..
It is directly or indirectly electric between memory 110, storage control 120, processor 130,140 each element of display screen
Connection, to realize the transmission of data or interaction.For example, one or more communication bus or signal can be passed through between these elements
Bus realizes electrical connection.The scaling method can be deposited including at least one in the form of software or firmware (firmware) respectively
The software function module being stored in memory 110, such as the software function module or computer program that the caliberating device includes.
Memory 110 can store various software programs and module, as the embodiment of the present application provide scaling method and
Programmed instruction/module corresponding to device.Software program and module of the processor 130 by operation storage in the memory 110,
So as to perform various function application and data processing, that is, realize the scaling method in the embodiment of the present application.Memory 110 can be with
Including but not limited to random access memory (Random Access Memory, RAM), read-only storage (Read Only
Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM) is erasable read-only to deposit
Reservoir (Erasable Programmable Read-Only Memory, EPROM), electricallyerasable ROM (EEROM)
(Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Processor 130 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor can be general
Processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network
Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hardware components.It can
To realize or perform disclosed each method, step and the logic diagram in the embodiment of the present application.General processor can be micro-
Processor or the processor can also be any conventional processors etc..
Electronic equipment 100 applied in the embodiment of the present invention is demarcated to realize, can also possess from display function, wherein
Display screen 140 can be provided between the electronic equipment 100 and user an interactive interface (such as user operate boundary
Face) or for display image data give user reference.For example, the actual distance of caliberating device collection can be shown and fitted
Function curve, the data such as result of calculation.
Firstly the need of explanation before the specific embodiment of the present invention is introduced, the present invention is computer technology in laser
A kind of application in ranging field.In the implementation process of the present invention, the application of multiple software function modules can be related to.Applicant
Think, such as after application documents, accurate understanding realization principle and goal of the invention of the invention is read over, combining existing public affairs
In the case of knowing technology, it is of the invention that those skilled in the art can use the software programming technical ability of its grasp to realize completely, all
The software function module that patent application file refers to belongs to this category, and applicant will not enumerate.
First embodiment
Fig. 2 is refer to, present embodiments provides a kind of scaling method, applied to caliberating device, methods described includes：
Step S200：Multiple sampled points are chosen in the range of preset calibrations, obtain each sampled point to the true of point of observation
Distance；
In the present embodiment, the scaling method can be used for the equipment such as laser radar or common laser rangefinder, particularly, may be used also
With applied to the Laser Distance Measuring Equipment installed on mobile robot.The preset calibrations scope can just be set before demarcation
Good investigative range, it is suitable to be selected according to performances such as the measurable ranges of specific demarcation environment and distance-measuring equipment
Calibration range (excludes the measurement error that environment is brought) as far as possible, and the preset calibrations scope can be determined by diversified forms.Example
Such as, by setting slide unit, the target position as sampled point is arranged on the slide unit, by by slide unit laser radar (or its
His Laser Distance Measuring Equipment) measurable range in it is mobile multiple, laser radar target position every time it is mobile stop when measurement it is once true
Actual distance is to form multiple sampled points and multiple actual distances；Or the slide unit of target position is carried with the uniform velocity or speed change is continuous
Motion, laser radar measures target position to the instant distance laser radar at a certain time interval, multiple to be formed
Actual distance, and record multiple sample point datas.Alternatively possible mode is a square-shaped frame to be set, by laser thunder
Up to being placed in the square-shaped frame, it should be noted that the maximum distance of the laser radar and the square-shaped frame is as far as possible at this
In the measurable range of laser radar, laser radar is then set to carry out multiple random point samplings in the square-shaped frame, and remember
Record the data such as actual distance corresponding to each sampled point.Applicant of the invention is used in the experimentation of this method
Square-shaped frame be the 4.5m length of sides, it is applied to the distance-measuring equipment installed in a robot.
It is understood that in the present embodiment, the distance-measuring equipment for demarcation can utilize time difference ranging, that is, pass through light
The beam turnaround time measures the distance of object；Can also be using pixel displacement come ranging (such as laser triangulation), i.e., it is logical
Cross and measure displacement of the light beam returned by object on the photodetectors such as CCD or CMOS to measure the distance of object.
Step S210：Fitting corresponding to each sampled point is obtained apart from multinomial by fitting of a polynomial, and based on described
Fitting obtains apart from multinomial and is fitted distance corresponding to each sampled point；
In the present embodiment, the actual distance that previous step obtains can be formed scatterplot number with corresponding sampled point parameter
According to, then found by fitting of a polynomial and most to connect the curve of scatterplot and be fitted apart from multinomial.To being set using time difference method ranging
For when being demarcated, the sampled point parameter of acquisition can be the sampling time, and the relation foundation of passage time and distance is fitted
Curve approaches the scatterplot data of sampled point；When being demarcated to the equipment using displacement method ranging, the sampled point of acquisition
Parameter can be pixel displacement, and the scatterplot data that matched curve approaches sampled point are established by the relation of pixel displacement and distance.
It is understood that the fitting is using distance as dependent variable apart from multinomial, the height of independent variable is used as using sampled point parameter
Rank function.
It should be noted that fitting can be by the way that all are adopted apart from multinomial corresponding to each sampled point
Sampling point is grouped, and each self-corresponding fitting of different groups of sampled points is obtained apart from multinomial, wherein each sampled point in every group
Corresponding fitting can be identical apart from multinomial.For example, m sampled point is have chosen altogether, now by by the m
Sampled point is divided into tri- 1~a, a~b, b~m groups, then carries out fitting of a polynomial to the sampled point in three groups respectively, fits
Each self-corresponding polynomial fitting, due to each self-corresponding sampled point of three set of samples polynomial fittings that are different, therefore obtaining
Be also likely to be with nuance (because measuring environment and distance-measuring equipment are constant, the difference between each polynomial fitting is not
Can be especially big)；The sampled point parameter (time or displacement) of 1~a sampled points is substituted into polynomial fitting corresponding to first group again, will
The sampled point parameter of a~b sampled points substitutes into polynomial fitting corresponding to second group, and the sampled point parameter of b~m sampled points is substituted into
Polynomial fitting corresponding to 3rd group, it is possible to obtain each each self-corresponding fitting distance of sampled point in all m sampled points.
Particularly, it is also an option that intersecting the method that substitutes into verify the universality of each polynomial fitting, such as by 1 above-mentioned~a
Point parameter is substituted into polynomial fitting corresponding to second group or the 3rd group, and a~b points parameter is substituted into first group or the 3rd group corresponds to
Polynomial fitting in, b~m points parameter is substituted into corresponding to first group or second group in polynomial fitting etc., finally
To obtain distance is fitted corresponding to all m sampled points.
Step S220：Fitting distance and the variance of actual distance corresponding to each sampled point are obtained, and is therefrom filtered out most
Fitting corresponding to small variance is apart from multinomial as best fit apart from multinomial.
In the present embodiment, by the fitting of each sampled point that obtains above-mentioned steps apart from corresponding actual distance
Variance is sought, then finds out the minimum corresponding fitting of fitting distance of variance apart from multinomial, you can thinks utilize the variance minimum
It is fitted the result obtained apart from multinomial and is closest to actual True Data, i.e., result is most accurate.Now, by the variance most
Small fitting is apart from multinomial as best fit apart from multinomial, you can thinks that the staking-out work of current distance-measuring equipment is completed.
Distance-measuring equipment by demarcation can carry out follow-up actual measurement apart from multinomial by the best fit, directly by actual measurement
The parameter of point substitutes into the best fit can obtain precise results apart from multinomial.
Specifically, when calculating fitting distance corresponding to each sampled point and the variance of actual distance, for example, sampled point is also
Tri- 1 above-mentioned~a, a~b, b~m groups are divided into, because these three groups are corresponding with three different fittings apart from multinomial,
The calculating for carrying out variance can be grouped when calculating, finally filters out from three variance results and is fitted corresponding to that group of minimum
Apart from multinomial as best fit apart from multinomial.It should be noted that when the fitting distance of 1~a groups is to pass through generation
Enter second group or the 3rd group of fitting apart from polynomial computation draw when, if finally screen the fitting distances of 1~a groups with
The variance of actual distance is minimum, then and best fit should be second group or the 3rd group of fitting apart from multinomial apart from multinomial,
Rather than first group of fitting that 1~a initial data fits is apart from multinomial.It is understood that what sampled point parameter substituted into
It is which fitting carrys out digital simulation distance apart from multinomial, corresponding to the variance that finally the fitting distance is tried to achieve which is exactly
Fitting is apart from multinomial.
It refer to Fig. 3, in the present embodiment, further, the step S210 can include following sub-step：
Step S300：Obtain pixel displacement corresponding to each sampled point；
In the present embodiment, for laser triangulation, the parameter of the sampled point of collection can be the flare of sampled point
Pixel displacement on photodetector.
Step S310：Based on the pixel displacement and the actual distance, each sampled point is obtained by fitting of a polynomial
Corresponding fitting is obtained apart from multinomial based on the fitting apart from multinomial and is fitted distance corresponding to each sampled point.
It is that dependent variable establishes polynomial fitting by independent variable, the actual distance of the pixel displacement in the present embodiment,
Multiple fitting of a polynomial is carried out especially by the scatterplot changed to actual distance with pixel displacement, you can obtains a high order fitting
Multinomial.It is understood that fitting number is more, obtained matched curve and true scatterplot closer to.
It refer to Fig. 4, in the present embodiment, further, the step S310 can include following sub-step：
Step S400：Based on the pixel displacement and the actual distance, n sampling is chosen from m sampled point and is clicked through
Row fitting of a polynomial, fitting corresponding to the n sampled point is obtained apart from multinomial；
In the present embodiment, the m sampled point can be all sampled point or be used to calculate after screening
Fractional-sample point.It is used for polynomial fitting by choosing n sampled point in the m sampled point, then by remaining (m-n)
Individual sampled point is used for the stability for verifying polynomial fitting, can obtain more accurate polynomial fitting.
It is fitted specifically, carrying out a~(n-1) order polynomial to n sampled point in the m sampled point, calculation formula
It is as follows：
F (x)=Aaxa+Aa-1xa-1+...+A1x+A0
Wherein, x is pixel displacement, and F (x) is fitting distance.Each rank multinomial coefficient A is calculated according to the formula0...Aa, i.e.,
It can determine that the fitting apart from multinomial F (x).In the present embodiment, it is preferred that fitting minimum number a >=6, can now ensure to obtain
Result it is accurate enough, and computational efficiency is high.
Step S410：Pixel displacement corresponding to remaining (m-n) individual sampled point in the m sampled point is substituted into institute respectively
Fitting corresponding to n sampled point is stated apart from multinomial, fitting distance corresponding to (m-n) individual sampled point described in acquisition.
In the present embodiment, specifically, by pixel displacement corresponding to remaining (m-n) individual sampled point in the m sampled point
The fitting of previous step acquisition is substituted into respectively in multinomial F (x), you can calculates each self-corresponding fitting distance.
It is understood that in the present embodiment, in the case where the m sampled point is constant, from the m sampled point
N sampled point of selection can be various, you can to obtain multiple plans by the way that step S400 is repeated several times to step S410
Close apart from multinomial.For example, when m is 10, the pixel displacement of 1~No. 6 sampled point can be selected to be fitted acquisition for the first time
Fitting is apart from multinomial, then the pixel displacement of 7~No. 10 sampled points is substituted into the fitting and obtains 7~No. 10 samplings apart from multinomial
Fitting distance corresponding to point；The pixel displacement of 2~No. 7 sampled points can be selected to be fitted acquisition fitting apart from multinomial for the second time
Formula, then the pixel displacement of No. 1,8~No. 10 sampled point is substituted into the fitting and obtains No. 1,8~No. 10 sampled points pair apart from multinomial
The fitting distance answered, by that analogy.During practical operation, all meters of fitting distance corresponding to all m sampled points can be repeated to
Calculate, only can also randomly select partial dot from m point and be calculated, such as the pixel displacement of 2~No. 5 sampled points of selection
It is fitted, but 7~10 points of pixel displacement is only substituted into multinomial and calculated.Specific selection rule, tool can be regarded
Depending on body demand.
It refer to Fig. 5, in the present embodiment, further, the step S220 can include following sub-step：
Step S500：Obtain fitting distance corresponding to (m-n) the individual sampled point in the m sampled point with truly away from
From (m-n) put variance；
In the present embodiment, will by above-mentioned steps obtain m sampled point in (m-n) individual sampled point corresponding to be fitted away from
From seeking variance with the actual distance of (m-n) the individual sampled point.Specifically, variance calculation formula is as follows：
Wherein, S2For variance, DiFor actual distance, F corresponding to i pointsiTo be fitted distance corresponding to i points；I=(m-n), 1~
I is respectively the numbering of (m-n) individual sampled point.
Step S510：(m-n), which is put, described in all filters out fitting corresponding to minimum variance apart from multinomial in variance
As best fit apart from multinomial；
In the present embodiment, often by once calculating, it becomes possible to obtain a S2, each S2A corresponding F (x).Through excessive
Secondary selection n incomplete same samplings click through shape and calculated, you can obtain S corresponding to multiple incomplete same (m-n) points2,
Finally filter out S2Fitting corresponding to that minimum group (m-n) point is apart from multinomial F (x) as best fit apart from multinomial.
By way of this intersection substitutes into, a stable fitting can be finally obtained apart from multinomial.
It refer to Fig. 6, in the present embodiment, further, after the step S220, can also comprise the following steps：
Step S600：The pixel displacement of current measurement point is obtained, and is calculated by similar triangles and obtains the current survey
Preliminary distance of the amount point to the point of observation；
In the present embodiment, after best fit is obtained apart from multinomial by above-mentioned steps, you can utilize the optimal plan
Close and carry out actual measurement apart from multinomial.First, current measurement point can be calculated by carrying out geometry reckoning by similar triangles
To the preliminary distance of point of observation.Specifically, the pixel displacement of actual spot of measurement is substituted into following formula：
Wherein, Q is preliminary distance, FsFor the focal length of photodetector, X is the pixel displacement of current measurement point.
Step S610：The pixel displacement of the current measurement point is substituted into the best fit apart from multinomial, obtains institute
State the best fit distance of current measurement point；
In the present embodiment, the pixel displacement of current measurement point is substituted into the best fit of above-mentioned steps acquisition apart from multinomial
Formula, it is possible to calculate the best fit distance of current measurement point.
Step S620：Based on the preliminary distance and the best fit distance, final distance is obtained.
In the present embodiment, the preliminary distance and the best fit distance are compared, can be come by certain rule
Choose measurement distance of the preferable distance value as final output.In most cases, through over-fitting obtain best fit away from
From will be closer to actual distance value.
It refer to Fig. 7, in the present embodiment, further, the step S620 can include following sub-step：
Step S700：Judge whether the deviation of the preliminary distance and the best fit distance is more than predetermined threshold value；
When the judged result of the step S700 is is, step S710 is performed；
When the judged result of the step S700 is no, step S720 is performed.
Step S710：Choose the best fit distance and be used as final distance；
Step S720：The average of the preliminary distance and the best fit distance is chosen as final distance.
In the present embodiment, as a kind of rule of judgement, a threshold value can be set as tolerable deviation range.When
When the deviation of the preliminary distance and the best fit distance is more than the threshold value, the best fit distance is selected as final
Distance is more reliable；And when the deviation of the preliminary distance and the best fit distance is less than the threshold value, due to it is described most
Good fitting distance and actual distance now select to take both averages as finally distance more may be used there is also minimum deviation
Lean on.
It is more that the scaling method that the present embodiment provides creates a plurality of fitting approached with actual value by fitting of a polynomial
Item formula, then most accurate fitting function is therefrom filtered out by comparing variance, the range radar of different performance parameter can be carried
For with targetedly demarcating, its easy to operate and reliable results, can effectively improve laser away from measurement accuracy, lift the mark
Determine the generalization ability of method；Similar triangles are calculated to the fitting distance that the preliminary distance obtained obtains with the Fitting Calculation and make ratio
Compared with, and setting the determination methods that rule carries out final output value selection so that its measurement result is more convincing.
Second embodiment
Fig. 8 is refer to, present embodiments provides a kind of caliberating device 800, it includes：
Sampling module 810, for choosing multiple sampled points in the range of preset calibrations, each sampled point is obtained to point of observation
Actual distance；
Fitting module 820, it is fitted for being obtained by fitting of a polynomial corresponding to each sampled point apart from multinomial, and base
Obtained in the fitting apart from multinomial and be fitted distance corresponding to each sampled point；
Screening module 830, distance and the variance of actual distance are fitted corresponding to each sampled point for obtaining, and therefrom sieved
Select and be fitted corresponding to minimum variance apart from multinomial as best fit apart from multinomial.
It refer to Fig. 9, in the present embodiment, further, the fitting module 820 can also include such as lower unit：
Pixel cell 821, for obtaining pixel displacement corresponding to each sampled point；
Fitting unit 822, for based on the pixel displacement and the actual distance, being obtained by fitting of a polynomial each
Fitting corresponding to sampled point apart from multinomial, and based on the fitting apart from multinomial obtain fitting corresponding to each sampled point away from
From.
It refer to Figure 10, in the present embodiment, further, the fitting unit 812 can also include following subelement：
First fitting subelement 910, for based on the pixel displacement and the actual distance, being selected from m sampled point
Take n sampled point to carry out fitting of a polynomial, obtain fitting corresponding to the n sampled point apart from multinomial；
Second fitting subelement 920, for by pixel corresponding to remaining (m-n) individual sampled point in the m sampled point
Displacement substitutes into fitting corresponding to the n sampled point apart from multinomial respectively, is fitted corresponding to (m-n) individual sampled point described in acquisition
Distance.
It refer to Figure 11, in the present embodiment, further, the screening module 830 can also include such as lower unit：
Variance unit 831, for fitting distance corresponding to (m-n) individual sampled point described in obtaining in the m sampled point
Variance is put with (m-n) of actual distance；
Screening unit 832, for filtering out fitting distance corresponding to minimum variance in (m-n) point variances described in all
Multinomial is as best fit apart from multinomial.
In summary, scaling method and device provided in an embodiment of the present invention, chosen first in the range of preset calibrations more
Individual sampled point, and each sampled point is obtained to the actual distance of point of observation, provide real reference number for whole calibration process
According to；Fitting corresponding to each sampled point is obtained apart from multinomial by fitting of a polynomial again, and based on the fitting apart from multinomial
Formula obtains fitting distance corresponding to each sampled point, and sampled point can be obtained by fitting of a polynomial to the theory meter between point of observation
Calculate distance；Fitting distance and the variance of actual distance corresponding to each sampled point are finally obtained, and therefrom filters out minimum variance
Corresponding fitting apart from multinomial as best fit apart from multinomial, can be found out and calculated and very by way of seeking variance
Actual distance is screened as best fit from that immediate fitting function, and using this closest to the fitting function of actual value
Apart from multinomial, the best fit most can accurately show the true range performance of institute's demarcation machine apart from multinomial.Phase
For prior art, scaling method and device provided in an embodiment of the present invention createed by fitting of a polynomial it is a plurality of with it is true
The polynomial fitting that value is approached, then most accurate fitting function is therefrom filtered out by comparing variance, different performance can be joined
Several range radars is provided to have and targetedly demarcated, its easy to operate and reliable results, can effectively improve laser triangulation survey
Away from measurement accuracy, lift the generalization ability of the scaling method.The preferred embodiments of the present invention are the foregoing is only, not
For limiting the present invention, for those skilled in the art, the present invention can have various modifications and variations.It is all in the present invention
Spirit and principle within, any modification, equivalent substitution and improvements made etc., should be included in protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of scaling method, it is characterised in that methods described includes：
Multiple sampled points are chosen in the range of preset calibrations, obtain each sampled point to the actual distance of point of observation；
Fitting corresponding to each sampled point is obtained apart from multinomial by fitting of a polynomial, and based on the fitting apart from multinomial
Obtain fitting distance corresponding to each sampled point；
Fitting distance and the variance of actual distance corresponding to each sampled point are obtained, and therefrom filters out and intends corresponding to minimum variance
Close apart from multinomial as best fit apart from multinomial.
2. according to the method for claim 1, it is characterised in that plan corresponding to each sampled point is obtained by fitting of a polynomial
Close apart from multinomial, and obtained based on the fitting apart from multinomial and be fitted distance corresponding to each sampled point, including：
Obtain pixel displacement corresponding to each sampled point；
Based on the pixel displacement and the actual distance, obtained by fitting of a polynomial and be fitted distance corresponding to each sampled point
Multinomial, and obtained based on the fitting apart from multinomial and be fitted distance corresponding to each sampled point.
3. according to the method for claim 2, it is characterised in that based on the pixel displacement and the actual distance, pass through
Fitting of a polynomial is obtained the corresponding fitting of each sampled point and obtained each apart from multinomial apart from multinomial, and based on the fitting
Fitting distance corresponding to sampled point, including：
Based on the pixel displacement and the actual distance, n sampled point progress fitting of a polynomial is chosen from m sampled point,
Fitting corresponding to the n sampled point is obtained apart from multinomial；
Pixel displacement corresponding to remaining (m-n) individual sampled point in the m sampled point is substituted into the n sampled point pair respectively
The fitting answered is apart from multinomial, fitting distance corresponding to (m-n) individual sampled point described in acquisition.
4. according to the method for claim 3, it is characterised in that obtain fitting distance corresponding to each sampled point with truly away from
From variance, and therefrom filter out fitting corresponding to minimum variance apart from multinomial as best fit apart from multinomial, including：
Obtain fitting distance and (m-n) point side of actual distance corresponding to (m-n) the individual sampled point in the m sampled point
Difference；
Described in all (m-n) put filtered out in variance fitting corresponding to minimum variance apart from multinomial as best fit away from
From multinomial.
5. according to the method for claim 1, it is characterised in that methods described also includes：
The pixel displacement of current measurement point is obtained, and is calculated by similar triangles and obtains the current measurement point to the observation
The preliminary distance of point；
The pixel displacement of the current measurement point is substituted into the best fit apart from multinomial, obtains the current measurement point
Best fit distance；
Based on the preliminary distance and the best fit distance, final distance is obtained.
6. according to the method for claim 5, it is characterised in that based on the preliminary distance and the best fit distance,
Final distance is obtained, including：
Judge whether the deviation of the preliminary distance and the best fit distance is more than predetermined threshold value；
When to be, choose the best fit distance and be used as final distance；
For it is no when, choose the average of the preliminary distance and the best fit distance as final distance.
7. a kind of caliberating device, it is characterised in that described device includes：
Sampling module, for choosing multiple sampled points in the range of preset calibrations, each sampled point is obtained to the true of point of observation
Distance；
Fitting module, for obtaining fitting corresponding to each sampled point apart from multinomial by fitting of a polynomial, and based on described
Fitting obtains apart from multinomial and is fitted distance corresponding to each sampled point；
Screening module, distance and the variance of actual distance are fitted corresponding to each sampled point for obtaining, and therefrom filtered out most
Fitting corresponding to small variance is apart from multinomial as best fit apart from multinomial.
8. device according to claim 7, it is characterised in that the fitting module includes：
Pixel cell, for obtaining pixel displacement corresponding to each sampled point；
Fitting unit, for based on the pixel displacement and the actual distance, each sampled point to be obtained by fitting of a polynomial
Corresponding fitting is obtained apart from multinomial based on the fitting apart from multinomial and is fitted distance corresponding to each sampled point.
9. device according to claim 8, it is characterised in that the fitting unit includes：
First fitting subelement, for based on the pixel displacement and the actual distance, selection n is individual from m sampled point to adopt
Sampling point carries out fitting of a polynomial, obtains fitting corresponding to the n sampled point apart from multinomial；
Second fitting subelement, for pixel displacement corresponding to remaining (m-n) individual sampled point in the m sampled point to be distinguished
Fitting corresponding to the n sampled point is substituted into apart from multinomial, fitting distance corresponding to (m-n) individual sampled point described in acquisition.
10. device according to claim 9, it is characterised in that the screening module includes：
Variance unit, for fitting distance corresponding to (m-n) individual sampled point described in obtaining in the m sampled point with truly away from
From (m-n) put variance；
Screening unit, for filtering out fitting corresponding to minimum variance apart from multinomial in (m-n) point variances described in all
As best fit apart from multinomial.
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