CN107966100A - Measuring method and measuring system based on camera array - Google Patents
Measuring method and measuring system based on camera array Download PDFInfo
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- CN107966100A CN107966100A CN201711285814.4A CN201711285814A CN107966100A CN 107966100 A CN107966100 A CN 107966100A CN 201711285814 A CN201711285814 A CN 201711285814A CN 107966100 A CN107966100 A CN 107966100A
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- camera
- scaling board
- array
- quick response
- response code
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The present invention provides a kind of measuring method and measuring system based on camera array, and the measuring method includes：Combined calibrating is carried out to each camera in camera array using scaling board, obtains the mapping relations of flat image between the two of scaling board real image and scaling board in camera array；The flat image of target object in camera array in each camera is obtained, and by the pixel coordinate information unification of acquisition into world coordinates；Its corresponding physical coordinates information is obtained according to the mapping relations, by data processing to realize the measurement to target object.Above-mentioned measuring method and measuring system, combined calibrating is carried out to obtain the mapping relations between image by using scaling board to camera array, and the pixel coordinate in image is unified into a coordinate system, to realize high-acruracy survey.
Description
Technical field
The present invention relates to field of measuring technique, more particularly to measuring method and measuring system based on camera array.
Background technology
Vision measurement is that image or video are handled using computer, realize to two dimension or three-dimensional scenic identification,
The functions such as measurement, perception and understanding.In automation processing technique field, the application of vision measurement is more and more extensive, and traditional zero
Part dimension measurement method can not meet the requirement of the efficient On-line sampling system measurement of product with equipment, especially for
It is particularly important that the accurately measuring of large scale product or part becomes.
In general, the visual field breadth of camera and its precision of images are closely related, the field range of one camera is limited, when product or
When accessory size exceedes the field range of one camera, if directly can not also meet the need of bigger visual field using the camera of more large format
Will, and camera resolution more big data collection and processing is also slower, price also higher.And carry out joint survey according to polyphaser
Amount, then need to carry out vision measurement again after splicing the multiple image of collection in advance.Due to traditional polyphaser image
Joining method, not only calculating process is cumbersome, computationally intensive, but also splicing efficiency and joining quality need to be further improved, unfavorable
In the application accurately measured online.
The content of the invention
Based on this, it is necessary to for the above-mentioned technical problem in the presence of large scale product or parts measurement, there is provided
A kind of scheme.
A kind of measuring method based on camera array, including：
Combined calibrating is carried out to each camera in camera array using scaling board, obtains scaling board real image and scaling board
The mapping relations of flat image between the two in camera array；
Target object is obtained in camera array in the flat image of each camera, and the pixel coordinate information unification of acquisition is arrived
In world coordinates；
Obtain the corresponding physical coordinates information of the pixel coordinate information according to the mapping relations, by data processing with
Realize the measurement to target object.
In wherein one embodiment, each matrix pattern of the scaling board includes its corresponding coordinate information.
In one of the embodiments, the array pattern of the scaling board includes Quick Response Code array.
In one of the embodiments, 3 Quick Response Code battle arrays are included at least in each viewing field of camera in the camera array
Row.
In one of the embodiments, any Quick Response Code center includes the center circle mark for being used for physical coordinates positioning.
In one of the embodiments, the Quick Response Code includes the interior of the different physical coordinates with characterization Quick Response Code center
Hold.
In one of the embodiments, the tool for carrying out combined calibrating to each camera in camera array using scaling board
Body step is：
Step S101, fixed all cameras；
Step S102, scaling board is positioned on datum plane, obtains flat image of the scaling board in each camera；
Step S103, all cameras are demarcated, and the pixel coordinate for the flat image that all cameras are obtained unitizes to complete
In office's coordinate.
The present invention also provides a kind of measuring system based on camera array, including：
Image collecting device, the plan of scaling board and target object is gathered by the camera array in image collecting device
Picture；
Scaling board, comprising array pattern, to each camera in combined calibrating camera array；
Memory, to store the plan of institute's scaling board real image and scaling board in camera array after combined calibrating
As mapping relations between the two；
Processor, to according to the internal reference of acquired camera after combined calibrating and outer ginseng and scaling board real image and mark
The mapping relations of flat image of the fixed board in camera array between the two, the pixel coordinate of the target object image of acquisition is believed
Breath is unified to obtain the corresponding physical coordinates information of the pixel coordinate information into same world coordinates according to the mapping relations, passes through
Data processing is crossed to realize the measurement to target object.
In one of the embodiments, the array pattern of the scaling board includes Quick Response Code array.
In one of the embodiments, 3 Quick Response Code battle arrays are included at least in each viewing field of camera in the camera array
Row.
In one of the embodiments, any Quick Response Code center includes the center circle mark for being used for physical coordinates positioning,
And the Quick Response Code includes the content with characterization Quick Response Code center circle target difference physical coordinates.
Above-mentioned measuring method and measuring system, carry out combined calibrating to obtain image by using scaling board to camera array
Between mapping relations, it is and the pixel coordinate in image is unified into a coordinate system, to realize high-acruracy survey.Due to adopting
By the use of Quick Response Code array pattern as scaling board, the coded string that Quick Response Code has the physical coordinates comprising Quick Response Code center is believed
Breath, so can be by scanning the two-dimensional code the pixel coordinate and physical coordinates of the central point that directly acquires the single pattern in 2 D code
One-to-one relationship.In calibration process, compared to the calculation amount that can simplify calibration process using traditional scaling board, optimization mark
Determine result.
Brief description of the drawings
Fig. 1 is the flow chart of the measuring method based on camera array of the present invention.
The structure diagram of the scaling board of the Quick Response Code array pattern of Fig. 2 positions present invention.
Fig. 3 is the flow chart of the specific steps that combined calibrating is carried out to each camera in camera array of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the application one
Section Example, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Go out all other embodiments obtained under the premise of creative work, shall fall in the protection scope of this application.
It is shown in Figure 1, the present invention provides a kind of measuring method based on camera array, including：
S100, using scaling board in camera array each camera carry out combined calibrating, obtain scaling board real image and
The mapping relations of flat image of the scaling board in camera array between the two；
Camera calibration technology is a more mature technology, it is mainly by finding object in image and real world
Conversion math matrix relation, its quantitative contact is found out, so as to fulfill the purpose of real data is measured from image.At present
Camera calibration is to build the geometrical model of camera imaging by gathering a series of scaling board images.The purpose one of calibration be in order to
Camera distortion coefficient is asked for, the second is space coordinates and the mapping relations of image coordinate system in order to obtain.
It can be used during camera calibration and arrive scaling board, scaling board is typically with certain pitch arrays pattern array
Tablet, general array pattern are equidistant filled circles array pattern and chessboard pattern.In the present embodiment, it is described
Each matrix pattern of scaling board includes its corresponding coordinate information.In the present embodiment, used array pattern is two dimension
Code array pattern, the size of the pattern in 2 D code ensure in each viewing field of camera at least depending on the field range of camera
3 pattern in 2 D code of matrix arrangement.Adjacent Quick Response Code can be equidistantly arrangement or non-equidistantly row in Quick Response Code array pattern
Cloth, it is preferred that adjacent Quick Response Code is equidistantly arrangement.
Quick Response Code be distributed according to certain rules in plane i.e. two-dimensional directional with certain specific geometric figure it is black
White alternate figure is to record data symbol information, it is with memory capacity is big, information category is more, error correcting capability is strong, to difference
The advantages that capable information automatic identification function and rotationally-varying of processing figure.In the present embodiment, all Quick Response Code figures
Case can differ, and each Quick Response Code includes the content of the different physical coordinates with characterization Quick Response Code center, which can be by two
The character string of dimension code coding provides.
Above Quick Response Code array calibrating plate is described in detail in conjunction with attached drawing 2, the Quick Response Code in the definable upper left corner
Content is (0,0), then the content of the Quick Response Code of its right end is (50,0), and the content of the Quick Response Code of its lower end is (0,50), successively
Analogize, the content of all Quick Response Codes, these contents and corresponding Quick Response Code center in whole Quick Response Code array calibrating plate of definable
Physical coordinates are corresponding.In this way, then the distance of horizontal upper 2 Quick Response Codes is 50mm, the distance of 2 Quick Response Codes in vertical direction
For 50mm.
In order to increase positioning accurate parasexuality, center circle mark (as shown in Figure 2) can be had additional at each Quick Response Code center, in this
Heart circle target pixel coordinate corresponds to the physical coordinates of a reality.So Quick Response Code center can be being obtained by scanning the two-dimensional code
, so can be further on the basis of position, then by being captured to center circle mark to obtain the exact position at Quick Response Code center
The accuracy of the positioning of pixel coordinate and actual physics coordinate is improved, improves the precision actually measured.
In the present embodiment, camera array can be the polyphaser array of at least 1*2 or 2*1.Above-mentioned camera can be general
Any device with collection image function such as logical camera, industrial CCD camera, industrial camera.In order to simplify measurement process, phase
The model of image collecting device used in machine array is consistent as far as possible, and installation site, angle in image collecting device
And the parameter such as its focal length is also consistent as far as possible.
In the present embodiment, using Quick Response Code array pattern as scaling board, using similar to gridiron pattern standardization,
In each camera image, the corner feature point pixel coordinate in image in 2 D code clearly can be accurately extracted, so as to fulfill
The combined calibrating of camera array.
Specific reference to shown in Fig. 3, it is described using Quick Response Code array calibrating plate scaling board to each camera in camera array
Carry out concretely comprising the following steps for combined calibrating：
Step S101, fixed all cameras；
Pass through all camera positions of fixation, it can be ensured that the reliability of calibration result.The shooting angle of the camera can be kept
Unanimously, also can arbitrarily adjust, there is intersection in the region that scaling board can be collected by only needing each camera, so can conveniently be based on
Same scaling method carries out combined calibrating to each camera.
Step S102, scaling board is positioned on datum plane, obtains flat image of the scaling board in each camera；
Plane on the basis of face where workbench or scaling board initial position can be set, scaling board can be Quick Response Code array mark
Fixed board, each Quick Response Code can include the content of the different physical coordinates with characterization Quick Response Code center, in addition, the scaling board is containing use
In the center circle target Quick Response Code array calibrating plate of physical coordinates positioning.
In the present embodiment, the spacing of Quick Response Code can be 50mm × 50mm in scaling board, and the number of Quick Response Code array can be
10 × 10, its camera array can be 2 × 2 arrays, and 3 Quick Response Codes are included at least in each viewing field of camera in the camera array
Array.Scaling board is placed on datum plane, is gathered by 2 × 2 array cameras, plane of the scaling board in each camera can be obtained
Image.
Step S103, all cameras are demarcated, and the pixel coordinate for the flat image that all cameras are obtained unitizes to complete
In office's coordinate.
By camera calibration technology, each camera is demarcated.Specifically, fixed calibration Board position, is gathered by camera
To scaling board at least three image in 2 D code, since the different physics that each Quick Response Code includes characterization Quick Response Code center are sat
Target content, therefore can obtain each magazine at least three image in 2 D code corresponding physical coordinates in world coordinate system.
Due to containing a center in each Quick Response Code, which can include the center circle mark for being used for physical coordinates positioning, by this
Heart circle target physical points can correspond to the origin center in the location of pixels in image in 2 D code, by data above, can calculate
Obtain the mapping relations of the camera and physical world.
Camera on the basis of a certain camera in camera array can be set, since all cameras have respective coordinate system and calibration
The mapping relations of same physical world coordinates system where plate, based on the mapping relations, the image pixel in different cameral is sat
Mark may switch in same world coordinates, which can be physical world coordinates；The world coordinates is also with benchmark phase
Pixel coordinate where machine, specifically can be used as transfer by physical world coordinates, the pixel coordinate of all cameras is corresponded to
The magazine pixel coordinate of benchmark.
Combined calibrating technology be based on same set of caliberating device and scaling method come and meanwhile determine the parameter of multiple cameras
Technology, the camera parameter obtained by combined calibrating, can not only obtain scaling board real image and scaling board in camera array
Flat image mapping relations between the two, and can in same camera array each camera space reference, easy to big ruler
Very little product or part are accurately measured.After above combined calibrating, scaling board real image and scaling board can be obtained in phase
The mapping relations of flat image between the two in machine array, and each camera reference space can be unified, it is ensured that measurement accuracy.
Since there are the physical coordinates comprising Quick Response Code center as scaling board, Quick Response Code using Quick Response Code array pattern
Coded string information, so can be by scanning the two-dimensional code the pixel coordinate of the central point for directly acquiring the single pattern in 2 D code
With the one-to-one relationship of physical coordinates.In addition, Quick Response Code contains specific pattern, its be different from traditional circular array pattern and
Chessboard pattern, the algorithm of the calibration for Quick Response Code and distortion correction is more at present.In calibration process, compared to adopting
The calculation amount of calibration process can be simplified with traditional scaling board, optimize calibration result.
S200, obtain the flat image of target object in camera array in each camera, and by the pixel coordinate information of acquisition
Unification is into world coordinates；
World coordinate system where sets target object is O-XYZ, the flat image that n camera in camera array is gathered
Local coordinate system be respectively W1、W2.....Wn, by step S100 to the combined calibrating of each camera as a result, by local coordinate system
In each pixel coordinate it is unified into global coordinate system.
S300, obtain the corresponding physical coordinates information of the pixel coordinate information according to the mapping relations, by data
Handle to realize the measurement to target object.
Due to including the content of the different physical coordinates with characterization Quick Response Code center, each Quick Response Code center in Quick Response Code
All corresponding different physical coordinates.Pass through the plane of scaling board real image achieved above and scaling board in camera array
The mapping relations of image between the two, each pixel in image coordinate system can correspond to a physical coordinates, then pass through
At least two coordinate pair target objects measure.
Specifically, in practical applications, can be by clicking on the figure in different cameral field range if target object is square
Any two point as in can obtain the distance of two points, and be believed by the area equidimension of the target object at calculating
Breath., can be by clicking on any three points in the border in the image in different cameral field range if target object is circle, then lead to
Cross mathematical formulae and diameter of a circle or radius is calculated, and the information such as round area or girth are calculated according to the data.Target
Object can also be the image of other shapes, not be limited herein.Can be according to mathematical formulae meter for the measurement result of target object
The selection for carrying out individual features point is calculated, and the number of camera array can do corresponding adjustment according to the size of target object.
Present invention also offers a kind of measuring system based on camera array, including：
Image collecting device, the plan of scaling board and target object is gathered by the camera array in image collecting device
Picture；
Scaling board, comprising array pattern, to each camera in combined calibrating camera array；
Memory, to store the plan of institute's scaling board real image and scaling board in camera array after combined calibrating
As mapping relations between the two；
Processor, to according to the internal reference of acquired camera after combined calibrating and outer ginseng and scaling board real image and mark
The mapping relations of flat image of the fixed board in camera array between the two, the pixel coordinate of the target object image of acquisition is believed
Breath is unified to obtain the corresponding physical coordinates information of the pixel coordinate information into same world coordinates according to the mapping relations, passes through
Data processing is crossed to realize the measurement to target object.
Further, the array pattern of the scaling board includes Quick Response Code array.
Further, 3 Quick Response Code arrays are included at least in each viewing field of camera in the camera array.
Further, any Quick Response Code center includes the center circle mark for being used for physical coordinates positioning, and the two dimension
Code includes the content with characterization Quick Response Code center circle target difference physical coordinates.
By above measuring system, combined calibrating can be carried out to camera array by Quick Response Code array calibrating plate, obtain connection
Close the plan of the internal reference of acquired camera and outer ginseng and scaling board real image and scaling board in camera array after demarcating
As between the two mapping relations and be stored in memory, image collecting device by cross its camera array gather scaling board and
The flat image of target object, and by the pixel coordinate information unification of acquisition into the same coordinate system, afterwards according in memory
The mapping relations of storage obtain its corresponding physical coordinates information, by data processing to realize to the accurate of target object
Measurement.
Embodiment described above only expresses the several embodiments of the application, its description is more specific and detailed, but simultaneously
Cannot therefore it be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
Say, on the premise of the application design is not departed from, various modifications and improvements can be made, these belong to the protection of the application
Scope.Therefore, the protection domain of the application patent should be determined by the appended claims.
Claims (10)
- A kind of 1. measuring method based on camera array, it is characterised in that including：Combined calibrating is carried out to each camera in camera array using scaling board, obtains scaling board real image and scaling board in phase The mapping relations of flat image between the two in machine array；Obtain the flat image of target object in camera array in each camera, and by the pixel coordinate information unification of acquisition to global In coordinate；The corresponding physical coordinates information of the pixel coordinate information is obtained according to the mapping relations, by data processing to realize Measurement to target object.
- 2. measuring method according to claim 1, it is characterised in that the array pattern of the scaling board includes Quick Response Code battle array Row.
- 3. measuring method according to claim 2, it is characterised in that in each viewing field of camera in the camera array extremely 3 Quick Response Code arrays are included less.
- 4. the measuring method according to Claims 2 or 3, it is characterised in that the Quick Response Code, which includes, has characterization Quick Response Code The content of the different physical coordinates at center.
- 5. measuring method according to claim 4, it is characterised in that any Quick Response Code center, which includes, is used for physics seat Demarcate the center circle mark of position.
- 6. measuring method according to claim 5, it is characterised in that it is described using scaling board to each phase in camera array Machine carries out concretely comprising the following steps for combined calibrating：Step S101, fixed all cameras；Step S102, scaling board is positioned on datum plane, obtains flat image of the scaling board in each camera；Step S103, all cameras are demarcated, and the pixel coordinate for the flat image that all cameras are obtained unitizes to the overall situation and sits In mark.
- A kind of 7. measuring system based on camera array, it is characterised in that including：Image collecting device, the flat image of scaling board and target object is gathered by the camera array in image collecting device；Scaling board, comprising array pattern, to each camera in combined calibrating camera array；Memory, to store the plan of acquired scaling board real image and scaling board in camera array after combined calibrating As mapping relations between the two；Processor, to according to the plan of acquired scaling board real image and scaling board in camera array after combined calibrating The mapping relations of picture between the two, by the pixel coordinate information unification of the target object image of acquisition into same world coordinates, The corresponding physical coordinates information of the pixel coordinate information is obtained according to the mapping relations, by data processing to realize to object The measurement of body.
- 8. measuring system according to claim 7, it is characterised in that the array pattern of the scaling board includes Quick Response Code battle array Row.
- 9. measuring system according to claim 8, it is characterised in that in each viewing field of camera in the camera array extremely 3 Quick Response Code arrays are included less.
- 10. measuring system according to claim 8, it is characterised in that any Quick Response Code center, which includes, is used for physics The center circle mark of coordinate setting, and the Quick Response Code is included with the interior of characterization Quick Response Code center circle target difference physical coordinates Hold.
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Application publication date: 20180427 |