CN107991665A - It is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring - Google Patents
It is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring Download PDFInfo
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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
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Abstract
The present invention disclose it is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, belong to monocular vision technique field.It includes：Dot matrixes target is arranged in advance in target location；Live video stream is read in by fixed-focus camera, adjusts camera, camera is directed at round dot target, the round dot in target is fully entered camera fields of view；Round dot in camera fields of view is calculated, detection mark round dot, calculates central coordinate of circle；Camera extrinsic matrix is calculated according to obtained central coordinate of circle.According to ginseng matrix computations three-dimensional coordinate inside and outside camera.The present invention passes through the application to image-forming principle, target is introduced in monocular vision as coordinates restriction, by setting the marker easy to identification and obtaining accurately required data to the accurate extraction for identifying object image using computer, high-precision range determination is simply and effectively realized.
Description
Technical field
It is especially a kind of continuous to target three-dimensional coordinate based on fixed-focus camera the invention belongs to monocular vision technique field
Measuring method.
Background technology
During monocular three-dimensional coordinate measurement, certain constraint in image sequence is usually utilized, is changed by coordinate system
Mode the three-dimensional coordinate under target-based coordinate system is converted to coordinate sequence under known coordinate system.
In terms of existing contactless ranging technology, the most theories and methods of application mainly have more range estimations away from swash
Ligh-ranging.More range estimations are passed through away from being shot using multiple structures and the identical camera apparatus of performance to same object
Clarification of objective is extracted in multiple series of images and determines restriction relation, then the object is calculated in camera coordinates system by the method for geometry
In coordinate, determine its relative position.More range estimations are smaller away from the relative position for being limited to multiple cameras, parameter in the calculation
It is and larger for high-definition image calculation amount, it is difficult to real time execution, and feature extraction difficulty is big, error is not easy to eliminate, and is only used for
Fuzzy measurement.Laser ranging is mainly carried out using laser range finder, it projects a branch of very thin laser to target at work,
The laser beam of target reflection is received by photoelectric cell, timer measures laser beam from the time for being transmitted to reception, calculates from sight
Survey person's range-to-go.Although laser ranging precision is high, its directionality is very strong, and divergence is very low, and cost phase
To higher.How to solve the problems, such as that more range estimation resource consumptions away from present in are big, precision is not high enough at the same time, and in laser ranging
The problem of the problem of Objective is too strong, divergence is too low is always those skilled in the art's primary study, but also there are no at present
Breakthrough progress is announced.
The content of the invention
To solve the problems, such as that more range estimation resource consumptions away from present in are big, precision is not high enough, and exist in laser ranging
Objective is too strong, the problem of divergence is too low, the present invention provides a kind of continuous to target three-dimensional coordinate based on fixed-focus camera
Measuring method.
To achieve the above object, the present invention uses following technical proposals：
It is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it comprises the following steps：
Step 1, dot matrixes target is arranged in target location in advance；
Step 2, reads in live video stream, the source of the video flowing is required to be equipped with tight shot by fixed-focus camera
Camera, i.e. camera focus is a fixed value, is not changed with the adjusting of other specification, camera there is no specific requirement that obtain image be
Single channel image；
Step 3, is directed at dot matrixes target by fixed-focus camera, suitably adjusts fixed-focus camera, make in dot matrixes target
Round dot fully enters the fixed-focus camera visual field；
Step 4, calculates the round dot in the fixed-focus camera visual field, and detection mark round dot, calculates central coordinate of circle；
Step 5, calculates according to obtained central coordinate of circle and joins matrix outside fixed-focus camera；
Step 6, according to ginseng matrix computations three-dimensional coordinate outside fixed-focus camera.
Further, the dot matrixes target shape of step 1 is for ease of the regular shape of identification, such as rectangle, square；
The dot matrixes target of step 1, should select the target of different sizes, material, wherein in size according to application scenarios
On requirement be target in all round dots step 3 to dot matrixes target carry out Image Acquisition output video field in,
The size more than 60% is occupied in video field at the same time；
The dot matrixes target of step 1, should select the target of different sizes, material, wherein in material according to application scenarios
On requirement to ensure that target and surrounding environment produce high contrast.
Further, the dot matrixes target of step 1, the requirement in material are under the weaker application scenarios of illumination
Carry out including polishing operation, ensure that target produces high contrast with surrounding environment, or the dot matrixes target of step 1 directly makes
With LED screen projected image, ensure that target produces high contrast with surrounding environment.
Further, the dot matrixes target of step 1 is flat using plane where it using its most upper left corner round dot as origin
After world coordinate system is established in face, the coordinates of all round dots including measurement method by knowing, or the dot matrixes of step 1
Target is directly arranged using the dot matrix type round dot of regular distribution, is simplified target and is made.
Further, step 4 is detected round dot, refers to carry out a series of images processing to the image containing target
Operation, the coordinate of image each round dot under its coordinate system is obtained by geometric knowledge, it is comprised the following steps that：
Step 7, internal reference matrix K is calculated by fixed-focus camera camera lens relevant parameter；
Step 8, gray processing processing and binary conversion treatment are carried out to the image that fixed-focus camera obtains；
Step 9, carries out ellipses detection, the round dot in detection image to image；
Step 10, if failing to detect all round dots in step 9, adjusting fixed-focus camera camera lens relevant parameter includes phase
Machine aperture parameters detect again, until detecting all round dots；
Step 11, the corresponding central coordinate of circle collection of each round dot is calculated according to the round dot collection detected.
Further, the internal reference matrix K of step 7 includes fixed-focus camera focal length according to fixed-focus camera camera lens relevant parameter, passes
The size of sensor unit pixel and the resolution ratio of output image are directly calculated.To different fixed-focus cameras and camera mirror
Head, should have different internal reference matrixes, but for a fixed-focus camera and camera lens, its internal reference matrix is not with other specification
Change and change.
Further, the gray processing processing of step 8 is to obtain ash after carrying out gray processing by fixed-focus camera collection coloured image
Degree image directly gathers gray level image by fixed-focus camera.
Further, the ellipses detection of step 9 comprises the following steps that：
Step 12, carries out edge detection to image first, obtains the edge contour figure of binaryzation, stores on edge graph
Point coordinates collection；
Step 13, to the every bit on image, calculates the distance with step 12 gained point coordinates centrostigma, exports it
The maximum and minimum value of distance, are elliptical center (p, q), the maximum of the distance is transverse length a；
Step 14, by three elliptic parameter p, q, a generations obtained by the numerical value of point coordinates concentration every bit and step 13
Enter elliptic equation, its equation is：
Step 15, counts parameter b, θ on two-dimensional parameter space, obtains one group that peak value exceedes certain threshold value
Parameter, is ellipse.
Further, it is as follows to join matrix computational approach outside the fixed-focus camera of step 5：
Step 10 six, according to the coordinate correspondence under the coordinate and world coordinate system under image coordinate system, passes through solution
System of linear equations obtains the initial value of outer ginseng matrix [R T]；
Step 10 seven, optimal transform matrix [R T] is tried to achieve using nonlinear least square method iteration.
Further, the three-dimensional coordinate computational methods of step 6 are as follows：
Outer ginseng matrix according to obtained by step 5, by any known point under matrixing solution world coordinate system in phase
Relative coordinate under machine coordinate system, target three-dimensional coordinate point set is tried to achieve with this.
Beneficial effect：
The present invention introduces target as coordinates restriction in monocular vision, passes through setting by the application to image-forming principle
Easy to identification marker and using accurate extraction of the computer to mark object image obtain accurately needed for data, it is easy and effective
Ground realizes high-precision range determination.
Brief description of the drawings
Fig. 1 is the flow chart of one embodiment of the invention；
Fig. 2 is the outer ginseng matrix computations block flow diagram of one embodiment of the invention.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
The present embodiment propose it is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it includes following
Step：
Step 1, dot matrixes target is arranged in target location in advance.
Specifically, the size of the target should be according to practical application scenes such as the focal length of selected fixed-focus camera, measurement distances
Carry out specifically chosen, must ensure that in measurement range all round dots are in video field in the target, while also should ensure that
The size more than 60% is occupied in video field, i.e., the target in video field can neither it is excessive can not be too small.If answering
It is weaker with scene ambient light, it light filling measure can be used to illuminate the target, to cause the sharp contrast of the target and environment,
LED display can be used directly and show target content on it, by adjusting the strong contrast of brightness manufacture.The target is using white
Background black dot matrixes or black background white dot matrixes, by taking white background black dot matrixes as an example and are tied below
Fig. 1 is closed to illustrate.
S101, after target selection is completed, the round dot coordinate initialization coordinate system in the target, coordinate system is built
Vertical requirement is as follows：Using the round dot center in the target most upper left corner as origin, horizontal direction is y-axis, and vertical direction establishes generation for x-axis
Boundary's coordinate system, unit length mm, and by all round dot coordinate input coordinate systems, obtain the round dot coordinate under world coordinate system
Collection.
Step 2, live video stream is read in by fixed-focus camera.
Specifically, after fixed-focus camera is connected with computer, in the image by computer access fixed-focus camera acquisition
Hold, video transmission rate can reach more than 24fps.
Step 3, is directed at dot matrixes target by fixed-focus camera, suitably adjusts fixed-focus camera, make the target and circle therein
Point fully enters the fixed-focus camera visual field.
S102, specifically, mobile fixed-focus camera or the mobile target, make the target and round dot therein in video field
It is interior, while also should ensure that the size occupied in video field more than 60%, i.e., the target can neither be excessive in video field
Can not be too small.Adjusting to fixed-focus camera includes the adjustment to parameters such as camera aperture sizes, and the present invention is for the clear of image
Clear degree has no excessive demand, and it is in image and fuzzy not too much to only require round dot, so as to accurately detecting own
On the basis of central coordinate of circle.
S103, step 4, calculates the round dot in the fixed-focus camera visual field, and detection mark round dot, calculates central coordinate of circle.
S104, specifically, to used fixed-focus camera, calculates fixed-focus camera internal reference matrix K first.
Wherein,The normalization focal length being referred to as on u axis and v axis；F is Jiao of fixed-focus camera
Represent the size of sensor u axis and the unit pixel on v axis respectively away from, dX and dY.u0And v0Represent optical centre, i.e., it is fixed
The intersection point of burnt camera optical axis and the plane of delineation, is usually located at picture centre, therefore its value often takes the half of resolution ratio.
For above-mentioned required numerical value, directly inquiry obtains Ying Junke from fixed-focus camera or camera lens specification,
Substitute into and calculate.
After internal reference matrix K is calculated, the image obtained to fixed-focus camera is handled.As shown in Fig. 2, concrete operations
It is as follows：
S201, gray processing processing and binary conversion treatment are carried out to the image that fixed-focus camera obtains.Additional description herein, for
If source images directly collect the step of being single channel gray level image, gray processing processing can be omitted, if triple channel image,
Gray processing operation must then be carried out.
S202, carries out binary conversion treatment, according to equation below by gray level image：
Threshold value can be directly passed to using 127 as parameter used in it.
S203, adjusts fixed-focus camera parameter, carries out ellipses detection to image, the round dot in detection image, specific steps are such as
Under：
If elliptic equation is
Edge detection is carried out to original image first, obtains the edge contour figure of binaryzation, stores the point coordinates on edge graph
Collection.
To the every bit on image, the distance with previous step gained point coordinates centrostigma is calculated, exports the maximum of its distance
Value and minimum value, are elliptical center (p, q), which is transverse length a.
The numerical value of every bit and three elliptic parameters p, q, a obtained in the previous step is concentrated to substitute into above-mentioned ellipse side point coordinates
Journey.
Parameter b, θ is counted on two-dimensional parameter space, obtains one group of parameter that peak value exceedes certain threshold value, is
Ellipse set.
S204, the corresponding central coordinate of circle collection of each round dot is calculated according to the round dot collection detected.
S105, step 5, calculates Camera extrinsic matrix, computational methods are as follows according to obtained central coordinate of circle：
According to the coordinate correspondence under the coordinate and world coordinate system under image coordinate system, by solving system of linear equations
Obtain the initial value of [RT].
Optimal transform matrix [RT] is tried to achieve using nonlinear least square method iteration.
S106, step 6, according to ginseng matrix computations three-dimensional coordinate outside fixed-focus camera.
According to any known point in the obtained outer ginseng matrix of step 5, can be solved under world coordinate system in camera coordinates system
Under relative coordinate.To any point under world coordinatesThere is point under camera coordinates systemMeet
Wherein K is required internal reference matrix, and [R T] is required outer ginseng matrix, can complete to calculate according to above formula.Acquiescently,
Coordinate can be directly inputtedThe D coordinates value then exported represents the round dot in the target most upper left corner with respect to camera coordinates system
Three-dimensional coordinate.
Limiting the scope of the invention, those skilled in the art should understand that, in technical scheme
On the basis of, the various modifications or variations that can be made by those skilled in the art with little creative work is still the present invention's
Within protection domain.
Claims (10)
1. it is a kind of based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that it comprises the following steps：
Step 1, dot matrixes target is arranged in target location in advance；
Step 2, live video stream is read in by fixed-focus camera；
Step 3, is directed at dot matrixes target by fixed-focus camera, suitably adjusts fixed-focus camera, make the round dot in dot matrixes target
Fully enter the fixed-focus camera visual field；
Step 4, calculates the round dot in the fixed-focus camera visual field, and detection mark round dot, calculates central coordinate of circle；
Step 5, calculates according to obtained central coordinate of circle and joins matrix outside fixed-focus camera；
Step 6, according to ginseng matrix computations three-dimensional coordinate outside fixed-focus camera.
2. it is according to claim 1 based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that
The dot matrixes target shape of the step 1 for ease of identification regular shape；
All round dots carry out Image Acquisition output in step 3 to dot matrixes target in the dot matrixes target of step 1
In video field, while occupy in video field the size more than 60%；
The dot matrixes target of step 1 produces high contrast with surrounding environment.
3. it is according to claim 2 based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that
The dot matrixes target of the step 1 carries out including polishing operation under the weaker application scenarios of illumination, is produced with surrounding environment
Height contrast, or the dot matrixes target of step 1 directly use LED screen projected image, and high contrast is produced with surrounding environment.
4. it is according to claim 2 based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that
The dot matrixes target of the step 1 establishes world coordinates using its most upper left corner round dot as origin, using plane where it as plane
After system, the coordinates of all round dots by knowing including measurement method, or step 1 dot matrixes target directly using rule
The dot matrix type round dot arrangement being then distributed.
5. it is according to claim 1 based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that
What the step 4 was detected round dot comprises the following steps that：
Step 7, internal reference matrix K is calculated by fixed-focus camera camera lens relevant parameter；
Step 8, gray processing processing and binary conversion treatment are carried out to the image that fixed-focus camera obtains；
Step 9, carries out ellipses detection, the round dot in detection image to image；
Step 10, if failing to detect all round dots in step 9, adjusting fixed-focus camera camera lens relevant parameter includes camera light
Circle parameter detects again, until detecting all round dots；
Step 11, the corresponding central coordinate of circle collection of each round dot is calculated according to the round dot collection detected.
6. it is according to claim 5 based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that
The internal reference matrix K of the step 7 includes fixed-focus camera focal length, sensor units pixel according to fixed-focus camera camera lens relevant parameter
Size and the resolution ratio of output image directly calculated.
7. it is according to claim 5 based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that
The step 8 gray processing processing be by fixed-focus camera collection coloured image carry out gray processing after obtain gray level image or by
Fixed-focus camera directly gathers gray level image.
8. it is according to claim 5 based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that
The ellipses detection of the step 9 comprises the following steps that：
Step 12, carries out edge detection to image first, obtains the edge contour figure of binaryzation, and the point stored on edge graph is sat
Mark collection；
Step 13, to the every bit on image, calculates the distance with step 12 gained point coordinates centrostigma, exports its distance
Maximum and minimum value, be elliptical center (p, q), the maximum of the distance is transverse length a；
Step 14, three elliptic parameters p, q, a obtained by the numerical value of point coordinates concentration every bit and step 13 is substituted into ellipse
Equation of a circle, its equation are：
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Step 15, counts parameter b, θ on two-dimensional parameter space, obtains one group of ginseng that peak value exceedes certain threshold value
Number, is ellipse.
9. it is according to claim 1 based on fixed-focus camera to target three-dimensional coordinate method for continuous measuring, it is characterised in that
It is as follows to join matrix computational approach outside the fixed-focus camera of the step 5：
Step 10 six, it is linear by solving according to the coordinate correspondence under the coordinate and world coordinate system under image coordinate system
Equation group obtains the initial value of outer ginseng matrix [R T]；
Step 10 seven, optimal transform matrix [R T] is tried to achieve using nonlinear least square method iteration.
10. according to claim 1 exist target three-dimensional coordinate method for continuous measuring, its feature based on fixed-focus camera
In the three-dimensional coordinate computational methods of the step 6 are as follows：
Outer ginseng matrix according to obtained by step 5, solves any known point under world coordinate system by matrixing and is sat in camera
Relative coordinate under mark system, target three-dimensional coordinate point set is tried to achieve with this.
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| CN111641812B (en) * | 2020-05-29 | 2021-09-10 | 西安应用光学研究所 | Multi-camera array arrangement method suitable for airborne wide-area reconnaissance and monitoring |
| CN114087989A (en) * | 2021-11-19 | 2022-02-25 | 江苏理工学院 | Method and system for measuring three-dimensional coordinates of circle center of workpiece positioning hole of automobile cylinder |
| CN114087989B (en) * | 2021-11-19 | 2023-09-22 | 江苏理工学院 | Method and system for measuring three-dimensional coordinates of circle center of positioning hole of automobile cylinder workpiece |
| CN117190875A (en) * | 2023-09-08 | 2023-12-08 | 重庆交通大学 | Bridge tower displacement measuring device and method based on computer intelligent vision |
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