CN108198224A - A kind of line-scan digital camera caliberating device and scaling method for stereo-visiuon measurement - Google Patents
A kind of line-scan digital camera caliberating device and scaling method for stereo-visiuon measurement Download PDFInfo
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Abstract
The invention discloses a kind of line-scan digital camera caliberating devices and scaling method for stereo-visiuon measurement, with X, Y, Z axis is in the rectangular coordinate system in space of reference axis, the line-scan digital camera caliberating device for stereo-visiuon measurement includes optics guide rail (1) and calibration frame component (3), the length direction of optics guide rail (1) is parallel with X-axis, calibration frame component (3) contains sequentially connected fixed straight-bar (31), slide straight-bar (32) and calibration vertical bar (33), fixed straight-bar (31) is parallel with Z axis, optics guide rail (1) is equipped with multiple camera mounting bases (2) for being used to install line-scan digital camera (21), the working face for demarcating vertical bar (33) is equipped with feature point for calibration array.The line-scan digital camera caliberating device and scaling method for stereo-visiuon measurement realizes the quick of multiple line-scan digital cameras to being used for stereo-visiuon measurement, high-precision global calibration, improves the measurement accuracy of Stereo Vision Measurement System.
Description
Technical field
The present invention relates to machine vision metrology technical field, a kind of particularly line-scan digital camera for stereo-visiuon measurement
Caliberating device or a kind of line-scan digital camera scaling method for stereo-visiuon measurement.
Background technology
Vision measurement is adopted using computer vision as theoretical foundation, using advanced imaging sensor by high speed realtime graphic
Collection and high-performance image processing are analyzed and calculate the accurate technology measured and position for realizing space geometry size, have non-
Contact, high certainty of measurement, fast response time, wide range, high efficiency, it is full-automatic the advantages that, it is more and more extensive at present to be applied to
The numerous areas such as aerospace, military equipment, biologic medical, target identification, equipment manufacturing, commercial measurement and automation control.
Vision measurement technology is mainly including the structure light vision measuring technique based on area array cameras and structure light and based on two or more
The stereo vision measuring technology of line-scan digital camera.
Stereo-visiuon measurement is the digital picture for obtaining object from different perspectives using multiple cameras, extensive based on principle of parallax
It appears again object dimensional geological information.Different from the two dimensional image of area array cameras output, the one-dimensional chip output of line-scan digital camera is one-dimensional
Image information, with the unrivaled advantage such as visual field is wide, high resolution, sample frequency are high, data volume is small, based on two or
The stereo vision measuring technology of multiple line-scan digital cameras is widely used in field of high-precision measurement.
Camera calibration is one of key technology of vision measurement, and the precision of calibration result directly influences vision measurement system
The accuracy of system final result.The foundation of camera calibration is the camera mould according to space geometry transformation and camera imaging model foundation
Type, the geometry that camera model is described between the pixel coordinate of the space coordinate and object of object after camera chip imaging close
System is contacted between space coordinate and pixel coordinate by a camera projection matrix.The process of camera calibration is：According to known sky
Between coordinate feature point for calibration and its imaging after corresponding pixel coordinate, it is established that about feature point for calibration space coordinate and pixel
The equation group of coordinate obtains the parameters of camera projection matrix by solving overdetermined linear system, further can also obtain phase
The parameter of machine inside and outside parameter matrix.During practical measurement, according to the imaging pixel coordinate of testee and camera projection matrix
Calculate the space coordinate of testee.For stereo-visiuon measurement, such as binocular stereo vision measures, when reality measures
According to the testee pixel coordinate after two camera imagings respectively, the space of the testee of two cameras can be respectively obtained
Image linear equation, the intersection point of space coordinate, that is, two spaces image straight line of testee, passes through two linear equations of simultaneous
It can solve.
At present, the scaling method research of area array cameras is more, calibration technique development relative maturity, but the mark of line-scan digital camera
It is also seldom to determine technique study.How mitigation demarcates labor intensity, and keep the calibration state of camera and use state complete
It is complete consistent, the requirement to calibration facility is reduced, becomes the main direction of studying of line-scan digital camera calibration technique.For by two or more
The Stereo Vision Measurement System that a line-scan digital camera is formed, is equivalent to vision measurement station, it can be achieved that large-sized object size and morpheme
The measurement of parameter solves the in-site measurement of a wide range of space coordinate.Global calibration is this multisensor stereo-visiuon measurement system
System is successfully crucial, determines the measurement accuracy of whole system.Global calibration is that the measurement data of each visual sensor is united
In one to one overall world coordinate system, it is therefore necessary to determine position of each visual sensor with respect to this overall visual coordinate system
It puts and direction, further establishes space coordinate and each visual sensor imaging of the testee in overall world coordinate system
The geometrical relationship of pixel coordinate.
Invention content
In order to solve the problems, such as that existing line-scan digital camera calibration efficiency is low, the present invention provides one kind to be used for stereo-visiuon measurement
Line-scan digital camera caliberating device and scaling method, it is real that this is used for the line-scan digital camera caliberating device of stereo-visiuon measurement and scaling method
Showed the quick of multiple line-scan digital cameras to being used for stereo-visiuon measurement, high-precision global calibration, establish accurately and reliably by
The geometrical relationship between the imaging pixel coordinate of space coordinate and each line-scan digital camera of the object in overall world coordinate system is surveyed, is carried
The high measurement accuracy of Stereo Vision Measurement System.
The technical solution adopted by the present invention to solve the technical problems is：A kind of line-scan digital camera for stereo-visiuon measurement
Caliberating device, using X, Y, Z axis as in the rectangular coordinate system in space of reference axis, the line-scan digital camera for stereo-visiuon measurement
Caliberating device include optics guide rail and calibration frame component, the length direction of optics guide rail is parallel with X-axis, demarcate frame component contain according to
The fixation straight-bar of secondary connection slides straight-bar and calibration vertical bar, and fixed straight-bar is parallel with Z axis, and fixed straight-bar is connect with optics guide rail,
Fixed straight-bar is parallel with sliding straight-bar, and sliding straight-bar can move along Z-direction, and calibration vertical bar is parallel with X-axis, on optics guide rail
Equipped with multiple for installing the camera mounting base of line-scan digital camera, the working face of vertical bar is demarcated towards camera mounting base, demarcates vertical bar
Working face be equipped with feature point for calibration array.
Along Y direction, optics guide rail is located between fixed straight-bar and camera mounting base, slide straight-bar be located at fixed straight-bar and
It demarcates between vertical bar, optics guide rail and slip straight-bar are located at the same side for fixing straight-bar.
Optics guide rail and calibration vertical bar are horizontal, and fixed straight-bar and slip straight-bar are fixed straight in vertical state
The lower end of bar connect fixation with optics guide rail, slides straight-bar and is slidably connected with fixed straight-bar, slides straight-bar and be fixed on fixed straight-bar
Top.
The top that straight-bar is located at optics guide rail is slided, the sliding slot for sliding straight-bar slip is equipped in fixed straight-bar, along X-axis
Direction, the lower end of fixed straight-bar are located at the midpoint of optics guide rail, and the top for sliding straight-bar is located at the midpoint of calibration vertical bar.
It is set on optics guide rail there are two camera mounting base, two camera mounting bases are located at the same side of optics guide rail, two
Mirror image, camera mounting base are interior equipped with line-scan digital camera, the camera lens court of line-scan digital camera each other in the both sides of fixed straight-bar for camera mounting base
To calibration vertical bar.
Fixed straight-bar is equipped with the graduated scale or grating scale that can measure distance between calibration vertical bar and optics guide rail, light
It learns guide rail and is equipped with the laser range finder or laser tracker that can measure distance between calibration vertical bar and optics guide rail.
The working face for demarcating vertical bar is parallel with the plane where X-axis and Y-axis, which sets for multiple intervals
The column put, the multiple spaced column are arranged in order along X-direction, the size and shape all same of each column,
The length direction of column is identical with Y direction, and the distance between two adjacent columns are equal, which is a column.
The working face for demarcating vertical bar is parallel with the plane where X-axis and Y-axis, which sets for multiple intervals
The black bar paten put, the multiple spaced black bar paten are arranged in order along X-direction, each black bar shaped
The size and shape all same of pattern, the length direction of black bar paten is identical with Y direction, adjacent two black bar shapeds
The distance between pattern is equal, which is black bar paten.
A kind of line-scan digital camera scaling method for stereo-visiuon measurement, this is used for the line-scan digital camera mark of stereo-visiuon measurement
The method of determining employs the above-mentioned line-scan digital camera caliberating device for stereo-visiuon measurement, this is used for the linear array of stereo-visiuon measurement
Camera calibration method includes the following steps：
Line-scan digital camera is installed on camera mounting base by step 1, makes the camera lens of line-scan digital camera towards the mark of calibration vertical bar
Determine feature lattice array；
Step 2, record slide position of the straight-bar on fixed straight-bar, and the mark on vertical bar is demarcated in each line-scan digital camera acquisition
Determine the image of feature lattice array；
Step 3 makes slip straight-bar and calibration vertical bar be moved along Z-direction；
Step 4 after being repeated in step 2 and step 3, when reaching scheduled number of repetition, carries out in next step；
Step 5, according to implementation steps 2 each time when the obtained feature point for calibration array in each feature point for calibration sky
Between coordinate and pixel coordinate calculate the calibrating parameters of each line-scan digital camera.
In steps of 5, which is parameter, the parameter and camera of camera Intrinsic Matrix of camera projection matrix
The parameter of outer parameter matrix.
The beneficial effects of the invention are as follows：
First, the caliberating device and scaling method of the line-scan digital camera for stereo-visiuon measurement are established.On the one hand, optics
Guide rail provides the optical reference of calibration and measurement, and line-scan digital camera module is fixed on optics guide rail, this ensure that line-scan digital camera
Calibration state it is completely the same with use state, provide and a kind of can be applied to the live practical reliable mark in situ for measuring scene
Determine method and caliberating device, stated accuracy has been effectively ensured；On the other hand, the scaling method provided avoids each line-scan digital camera point
It is other that calibration target is shot, it is demarcated further according to the inner parameter of each line-scan digital camera, simplifies calibration process, improved
The accuracy and efficiency of calibration.
Secondly, in the prior art laterally moved by artificial on optics guide rail using the calibration frame with single calibration object
Dynamic to be compared with the calibration mode of vertical movement, the fixation straight-bar of the calibration frame module of caliberating device provided by the invention is calibrated
It is affixed in journey on optics guide rail without transverse shifting, calibration vertical bar provides the calibration with different lateral spatial coordinates
Feature lattice array only needs in calibration process to move up and down along fixed straight-bar and slides straight-bar and realize calibration vertical bar opposing optical guide rail
Height change.Therefore, the calibration frame module including fixed straight-bar need not be led from optics in calibration process of the invention
It is disassembled on rail, greatly alleviates the workload of camera calibration, calibration efficiency greatly improved.On the other hand, with tradition
Artificial transverse shifting calibration frame form the modes of different lateral coordinates and compare, calibration vertical bar provided by the invention includes calibration
Required feature point for calibration array, the array are equally spaced along its length, and realization method includes spotting bar array
The black and white pattern being mutually parallel with interval setting, production method is processed for precision machinery or high-precision laser printing, this
Mode substantially increases the lateral spatial coordinates precision of feature point for calibration compared to the traditional artificial mobile mode for setting lateral coordinates.
To sum up two aspects, the present invention provides a kind of high-precision, practicality, the linear arrays for being quickly used for stereo-visiuon measurement
Camera calibration device and scaling method.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation do not constitute improper limitations of the present invention for explaining the present invention.
Fig. 1 is the left view of the line-scan digital camera caliberating device of the present invention for stereo-visiuon measurement.
Fig. 2 is the stereoscopic schematic diagram of the line-scan digital camera caliberating device of the present invention for stereo-visiuon measurement.
Fig. 3 is the use state diagram of the line-scan digital camera caliberating device of the present invention for stereo-visiuon measurement.
Fig. 4 is a kind of schematic diagram for the realization method for demarcating vertical bar.
Fig. 5 is the schematic diagram for another realization method for demarcating vertical bar.
Fig. 6 is the flow chart of the line-scan digital camera scaling method of the present invention for stereo-visiuon measurement.
Fig. 7 is the line-scan digital camera reference axis transition diagram for stereo-visiuon measurement.
Fig. 8 is the structure diagram of camera mounting base.
1st, optics guide rail；2nd, camera mounting base；3rd, frame component is demarcated；
21st, line-scan digital camera；22nd, upper pedestal；23rd, lower base；
31st, fixed straight-bar；32nd, straight-bar is slided；33rd, vertical bar is demarcated；
331st, column；332nd, black bar paten；333rd, frame.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
A kind of line-scan digital camera caliberating device for stereo-visiuon measurement, in the space right-angle using X, Y, Z axis as reference axis
In coordinate system, the line-scan digital camera caliberating device for stereo-visiuon measurement includes optics guide rail 1 and calibration frame component 3, light
The length direction for learning guide rail 1 is parallel with X-axis, and calibration frame component 3 contains sequentially connected fixed straight-bar 31, slip straight-bar 32 and mark
Determine vertical bar 33, fixed straight-bar 31 is parallel with Z axis, and fixed straight-bar 31 connect fixation with optics guide rail 1, and fixed straight-bar 31 is straight with sliding
Bar 32 is parallel, and sliding straight-bar 32 can move along Z-direction, and calibration vertical bar 33 is parallel with X-axis, and calibration vertical bar 33 is with sliding straight-bar
32 are fixedly connected, and optics guide rail 1 is equipped with multiple camera mounting bases 2 for being used to install line-scan digital camera 21, demarcate the work of vertical bar 33
Make facing towards camera mounting base 2, the working face of calibration vertical bar 33 is equipped with feature point for calibration array, as shown in Figure 1 to Figure 3.
Wherein, optics guide rail 1 is used to provide the optical measurement benchmark of stereo-visiuon measurement, provides calibration frame component 3 and line
The mechanical mounting references of array camera realize that each camera of line-scan digital camera is in same installation vertical plane (as where X-axis and Z axis
Plane).Calibration frame component 3 demarcates frame component 3 for providing the feature point for calibration array needed for line-scan digital camera calibration, by mobile
In calibration vertical bar 33 space coordinate of feature point for calibration array opposing optical guide rail 1 can be changed.Line-scan digital camera 21 is installed on light
The side of guide rail 1 is learned, is used to implement stereo-visiuon measurement.The quantity of line-scan digital camera 21 is no less than two, each line-scan digital camera arrangement
In the different location of optics guide rail 1, the visual field of each line-scan digital camera 21 should be able to be covered each by the space model of stereo-visiuon measurement
It encloses.
In the present embodiment, along Y direction, optics guide rail 1 is located between fixed straight-bar 31 and camera mounting base 2, slides
Straight-bar 32 is located between fixed straight-bar 31 and calibration vertical bar 33, and optics guide rail 1 and slip straight-bar 32 are located at the same of fixed straight-bar 31
Side, as shown in Figure 1.In order to facilitate describing and understand, present invention assumes that the plane where X-axis and Y-axis is parallel to horizontal plane, Z
Axis is vertically set.
In the present embodiment, optics guide rail 1 and calibration vertical bar 33 are horizontal, i.e. optics guide rail 1 and calibration vertical bar
33 each parallel to X-axis.It fixes straight-bar 31 and slides straight-bar 32 in vertical state, fixed straight-bar 31 and slip straight-bar 32 are parallel
In Z axis, the lower end of fixed straight-bar 31 connect fixation with optics guide rail 1, slides straight-bar 32 and is slidably connected with fixed straight-bar 31, slides
Straight-bar 32 can be moved back and forth relative to fixed straight-bar 31 along Z-direction, slide the top that straight-bar 32 is fixed on fixed straight-bar 31,
As described in Fig. 1 to Fig. 3.
In the present embodiment, the top that straight-bar 32 is located at optics guide rail 1 is slided, is equipped in fixed straight-bar 31 straight for sliding
The sliding slot that bar 32 slides, sliding a part of of straight-bar 32 matched can be plugged in the sliding slot.Along X-direction, fixed straight-bar
31 lower end is located at the midpoint of optics guide rail 1, and the top for sliding straight-bar 32 is located at the midpoint of calibration vertical bar 33, i.e., as shown in figure 3,
In the part of fixed 31 left and right sides of straight-bar, mirror image, calibration vertical bar 33 are fixing 31 left and right sides of straight-bar to optics guide rail 1 each other
Part also mirror image each other.
In the present embodiment, it is preferably set on optics guide rail 1 there are two camera mounting base 2, two camera mounting bases 2 are located at light
The same side of guide rail 1 is learned, as shown in Figure 1, two camera mounting bases 2 are located at the right side of optics guide rail 1.Two camera mounting bases 2
In the left and right sides of fixed straight-bar 31 mirror image each other, as shown in Figure 3.Line-scan digital camera 21, line-scan digital camera are equipped in camera mounting base 2
21 camera lens direction calibration vertical bar 33.The structure of camera mounting base 2 can be with as shown in figure 8, camera mounting base 2 contains concave shape
Upper pedestal 22 and lower base 23, are hinged between upper pedestal 22 and lower base 23 by shaft, and the axis of the shaft is parallel with Y-axis.
Optics guide rail 1 is plugged in the groove of lower base 23, and line-scan digital camera 21 is plugged in the groove of upper pedestal 22, as shown in Figure 8.On
Sealing protective is also provided with outside pedestal 22, in certain outdoor applications, the needs of line-scan digital camera 21 are sealingly fastened in sealing
The inside of protective cover.
In use state, the line-scan digital camera 21 in two camera mounting bases 2 can be each other in the both sides of fixed straight-bar 31
Mirror image is set, and the optical axis (L1 and L2) of the line-scan digital camera 21 in two camera mounting bases 2 is both with respect to flat where Y-axis and Z axis
Face is obliquely installed, the working face of the camera lens direction calibration vertical bar 33 of two line-scan digital cameras 21, two line-scan digital cameras 21
In same perpendicular, which is parallel to or in the plane where X-axis and Z axis optical axis (L1 and L2), and
The perpendicular is vertical with the working face for demarcating vertical bar 33 and intersects, as shown in Figure 3.Along X-direction, line-scan digital camera 21 is in optics
Position on guide rail 1 can be adjusted.The optical axis of line-scan digital camera 21 can also be adjusted in the plane where X-axis and Z axis, i.e., as schemed
Shown in 7, the optical axis of line-scan digital camera 21 can be moved left and right or be swung.When adjusting 21 optical axis of line-scan digital camera, each line should ensure that
The visual field of array camera is covered each by the plane space range of measured target.
In the present embodiment, in order to accurately obtain calibration vertical bar 33 on the feature point for calibration array space coordinate position
It puts.It slides straight-bar 32 and is equipped with graduated scale or grating scale, the graduated scale or grating scale, which can measure, slides straight-bar 32 solid
The position on straight-bar 31 is determined, so as to obtain distance between calibration vertical bar 33 and optics guide rail 1.It is provided on fixed straight-bar 31
The location hole of spacing is used to slide the installation positioning of straight-bar 32.Optics guide rail 1, which is equipped with, can measure calibration vertical bar 33 and optics
The laser range finder or laser tracker of distance between guide rail 1.
In the present embodiment, the working face of calibration vertical bar 33 is parallel with the plane where X-axis and Y-axis, the feature point for calibration
Array is multiple spaced columns 331, and the multiple spaced column 331 is arranged in order along X-direction, each item
The size and shape all same of column 331, the length direction of column 331 is identical with Y direction, between adjacent two columns 331
Distance it is equal, which is a column 331, i.e., at this time the feature point for calibration for corresponding to column 331 in Fig. 4 P1,
P2、P3、……Pn.In addition, calibration vertical bar 33 is also containing the frame 333 for being useful for fixed strip column 331, it can be understood as demarcates at this time
The structure of vertical bar 33 is similar to common ladder.
The feature point for calibration, which also uses, to be formed with the pattern at black and white interval, if the feature point for calibration array is multiple intervals
The black bar paten 332 of setting, the multiple spaced black bar paten 332 are arranged in order along X-direction, each
The size and shape all same of black bar paten 332, the length direction of black bar paten 332 is identical with Y direction, adjacent
The distance between two black bar patens 332 it is equal, be white area between two adjacent black bar patens 332,
The feature point for calibration is black bar paten 332, i.e., at this time the feature point for calibration for corresponding to black bar paten 332 in Fig. 5
P1, P2, P3 ... Pn.At this point, calibration vertical bar 33 is the sheet or platy structure of strip.
A kind of line-scan digital camera scaling method for stereo-visiuon measurement is described below, this is used for the line of stereo-visiuon measurement
Array camera scaling method employs the above-mentioned line-scan digital camera caliberating device for stereo-visiuon measurement, this is used for stereoscopic vision survey
The line-scan digital camera scaling method of amount includes the following steps：
Line-scan digital camera 21 is installed in camera mounting base 2 by step 1, makes the camera lens direction calibration vertical bar of line-scan digital camera 21
The 33 feature point for calibration array；
Step 2, record slide position of the straight-bar 32 on fixed straight-bar 31, each acquisition of line-scan digital camera 21 calibration vertical bar 33
On the feature point for calibration array image；
Step 3 makes slip straight-bar 32 and calibration vertical bar 33 be moved along Z-direction；
Step 4 after being repeated in step 2 and step 3, after scheduled number of repetition is reached, then carries out in next step.Example
Such as, scheduled number of repetition is 5 times, then will carry out step 2, step 3, step 2, step 3, step 2, step 3, step successively at this time
Then rapid 2, step 3, step 2 and step 3 carry out in next step again.
Step 5, according to implementation steps 2 each time when the obtained feature point for calibration array in each feature point for calibration sky
Between coordinate and pixel coordinate calculate the calibrating parameters of each line-scan digital camera 21, as shown in Figure 6.
At this point, calibrating parameters of each line-scan digital camera 21 in this position are obtained, if any one line-scan digital camera 21
Position or angle change, then need to re-scale the line-scan digital camera 21 or all line-scan digital cameras 21.
In implementation steps 2 each time, can obtain each feature point for calibration (such as P1, P2, P3 ... Pn) space
Coordinate and each feature point for calibration (such as P1, P2, P3 ... Pn) pixel coordinate.Obtain the sky of each feature point for calibration
Between the mode of coordinate by practical measurement and can be calculated, each line-scan digital camera 21 shoots the feature point for calibration in acquisition
The pixel coordinate of each feature point for calibration can be automatically generated during the image of array.It is mobile every time to slide directly in the application
After bar 32, the space coordinate of feature point for calibration and the method for pixel coordinate are obtained with of the prior art identical, in order to save a piece
Width, the present invention no longer detailed annotation are introduced.
In step 4, when repeating step 2 and step 3, may be used makes between calibration vertical bar 33 and optics guide rail 1
The gradual increased mode of distance, can also be by the way of the distance between calibration vertical bar 33 and optics guide rail 1 be gradually reduced.
Wherein, the number repeated can select the quantity for being greater than or equal to feature point for calibration in the feature point for calibration array, such as Fig. 5 institutes
Show there be n feature point for calibration in the feature point for calibration array, then the number repeated should be greater than or equal to n, so as to obtain solution overdetermination
System of linear equations.
The mobile space coordinate for sliding each feature point for calibration that straight-bar 32 obtains and pixel coordinate can be in steps 2 every time
Carried out between step 3 or step 3 and step 4 between carry out or step 4 and step 5 between carry out.Obtaining each shifting
After the dynamic space coordinate for sliding each feature point for calibration that straight-bar 32 obtains and pixel coordinate, line-scan digital camera is demarcated in the present invention
Process is identical with existing camera calibration process, that is, sets up the equation of the space coordinate and pixel coordinate about feature point for calibration
Group obtains the parameters of camera projection matrix by solving overdetermined linear system, further can also obtain camera inside and outside parameter
The parameter of matrix.I.e. the calibrating parameters are parameter, the parameter and Camera extrinsic of camera Intrinsic Matrix of camera projection matrix
The parameter of matrix number.
The above-mentioned space coordinate and pixel coordinate obtained can also be converted in different coordinate systems as needed, this
The invention line-scan digital camera scaling method for stereo-visiuon measurement can be using optics guide rail 1 as optical measurement benchmark
The two-dimensional plane coordinate system OwXwZw of the stereo-visiuon measurement of foundation, as shown in Figure 7.At this point, using X, Y, Z axis as reference axis
In rectangular coordinate system in space, Ow is corresponding with the origin O in the rectangular coordinate system in space, in Xw axis and the rectangular coordinate system in space
X-axis it is corresponding, Zw axis is corresponding with the Z axis in the rectangular coordinate system in space.
As shown in fig. 7, the two-dimensional plane coordinate of the line-scan digital camera scaling method of the present invention for stereo-visiuon measurement
It is OwXwZw respectively using the length direction of optics guide rail 1 and perpendicular to the direction of 1 length direction of optics guide rail as two coordinates
Axis OwXw and OwZw, if reference axis OwXw is corresponding with the optics guide rail 1 in Fig. 1, the fixation straight-bar in reference axis OwZw and Fig. 1
31 is corresponding, the origin Ow using the midpoint of optics guide rail 1 as coordinate system.
In the figure 7, O1 and O2 is respectively the coordinate origin of the camera coordinates system of two line-scan digital cameras, i.e. two line-scan digital cameras
Camera lens optical center, reference axis O1Xc1 and O2Xc2 be respectively left and right two line-scan digital cameras camera coordinates system horizontal axis, direction
Perpendicular to line-scan digital camera camera lens optical axis direction.U01 and U02 is respectively the coordinate origin of the image coordinate system of two line-scan digital cameras,
For the coordinate system as unit of pixel, which is the pixel coordinate of the intersection point of line-scan digital camera camera lens optical axis and imaging plane.
Reference axis U01Uc1 and U02Uc are the horizontal axis of the image coordinate system of two line-scan digital cameras in left and right respectively, and direction is perpendicular to linear array
The camera lens optical axis direction of camera.
Line-scan digital camera scaling method of the present invention for stereo-visiuon measurement is extracted each by image processing method
Line-scan digital camera is to the image pixel coordinates of each feature point for calibration after the imaging of the scaling board of each elevation plane, by each feature point for calibration
Space coordinate and image pixel coordinates carry out the calibrating parameters that mathematical computations obtain each line-scan digital camera.The present invention's is used for solid
The line-scan digital camera caliberating device of vision measurement, simple in structure, easy to operate, the spatial position setting of each feature point for calibration accurately may be used
It leans on, can rapidly and accurately carry out the line-scan digital camera calibration for stereo-visiuon measurement, ensure that stereo-visiuon measurement result
Required precision.
In addition, it should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or calculate
Machine program product.Therefore, the present invention can be used complete hardware embodiment, complete software embodiment or combine software and hardware side
The form of the embodiment in face.Moreover, the present invention can be used wherein includes computer usable program code in one or more
The computer that computer-usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of program product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above, only specific embodiments of the present invention, it is impossible to the range that its restriction invention is implemented, so it is equivalent
The displacement of component or the equivalent variations made according to scope of patent protection of the present invention and modification, should all still fall within what this patent was covered
Scope.In addition, between technical characteristic and technical characteristic in the present invention, between technical characteristic and technical solution, technical solution with
Use can be freely combined between technical solution.
Claims (10)
1. a kind of line-scan digital camera caliberating device for stereo-visiuon measurement, which is characterized in that using X, Y, Z axis as reference axis
In rectangular coordinate system in space, the line-scan digital camera caliberating device for stereo-visiuon measurement includes optics guide rail (1) and calibration
Frame component (3), the length direction of optics guide rail (1) is parallel with X-axis, and calibration frame component (3) contains sequentially connected fixed straight-bar
(31), straight-bar (32) and calibration vertical bar (33) are slided, fixed straight-bar (31) is parallel with Z axis, fixed straight-bar (31) and optics guide rail
(1) it connects, fixed straight-bar (31) is parallel with sliding straight-bar (32), and sliding straight-bar (32) can move along Z-direction, demarcate vertical bar
(33) parallel with X-axis, optics guide rail (1) is equipped with multiple camera mounting bases (2) for being used to install line-scan digital camera (21), and calibration is straight
For the working face of item (33) towards camera mounting base (2), the working face of calibration vertical bar (33) is interior to be equipped with feature point for calibration array.
2. the line-scan digital camera caliberating device according to claim 1 for stereo-visiuon measurement, which is characterized in that along Y-axis
Direction, optics guide rail (1) slide straight-bar (32) positioned at fixed straight-bar between fixed straight-bar (31) and camera mounting base (2)
(31) between calibration vertical bar (33), optics guide rail (1) and slip straight-bar (32) are positioned at the same side of fixed straight-bar (31).
3. the line-scan digital camera caliberating device according to claim 1 for stereo-visiuon measurement, which is characterized in that optics is led
Rail (1) and calibration vertical bar (33) are horizontal, and fixed straight-bar (31) and slip straight-bar (32) are fixed straight in vertical state
The lower end of bar (31) connect fixation with optics guide rail (1), slides straight-bar (32) and is slidably connected with fixed straight-bar (31), slides straight-bar
(32) it is fixed on the top of fixed straight-bar (31).
4. the line-scan digital camera caliberating device according to claim 3 for stereo-visiuon measurement, which is characterized in that slide straight
Bar (32) is equipped with the sliding slot for sliding straight-bar (32) slip in the top of optics guide rail (1), fixed straight-bar (31), along X
Axis direction, the lower end of fixed straight-bar (31) are located at the midpoint of optics guide rail (1), and the top for sliding straight-bar (32) is located at calibration vertical bar
(33) midpoint.
5. the line-scan digital camera caliberating device according to claim 3 for stereo-visiuon measurement, which is characterized in that optics is led
It is set on rail (1) there are two camera mounting base (2), two camera mounting bases (2) are pacified positioned at the same side of optics guide rail (1), camera
It fills and line-scan digital camera (21) is equipped in seat (2), the camera lens direction calibration vertical bar (33) of line-scan digital camera (21).
6. the line-scan digital camera caliberating device according to claim 1 for stereo-visiuon measurement, which is characterized in that fixed straight
Bar (31) is equipped with the graduated scale or grating scale that can measure distance between calibration vertical bar (33) and optics guide rail (1), optics
Guide rail (1), which is equipped with, can measure the laser range finder of distance or laser tracking between calibration vertical bar (33) and optics guide rail (1)
Instrument.
7. the line-scan digital camera caliberating device according to claim 1 for stereo-visiuon measurement, which is characterized in that calibration is straight
The working face of item (33) is parallel with the plane where X-axis and Y-axis, which is multiple spaced columns
(331), the multiple spaced column (331) is arranged in order along X-direction, the size and shape of each column (331)
All same, the length direction of column (331) is identical with Y direction, and the distance between adjacent two columns (331) are equal.
8. the line-scan digital camera caliberating device according to claim 1 for stereo-visiuon measurement, which is characterized in that calibration is straight
The working face of item (33) is parallel with the plane where X-axis and Y-axis, which is multiple spaced black bars
Shape pattern (332), the multiple spaced black bar paten (332) are arranged in order along X-direction, each black bar shaped
The size and shape all same of pattern (332), the length direction of black bar paten (332) is identical with Y direction, and adjacent two
The distance between a black bar paten (332) is equal.
9. a kind of line-scan digital camera scaling method for stereo-visiuon measurement, which is characterized in that this is used for stereo-visiuon measurement
Line-scan digital camera scaling method employs the line-scan digital camera caliberating device described in claim 1 for stereo-visiuon measurement, the use
Include the following steps in the line-scan digital camera scaling method of stereo-visiuon measurement：
Line-scan digital camera (21) is installed on camera mounting base (2) by step 1, makes the camera lens direction calibration vertical bar of line-scan digital camera (21)
(33) the feature point for calibration array；
Step 2, record slide position of the straight-bar (32) on fixed straight-bar (31), each line-scan digital camera (21) acquisition calibration vertical bar
(33) image of the feature point for calibration array on；
Step 3 makes slip straight-bar (32) and calibration vertical bar (33) be moved along Z-direction；
Step 4 after being repeated in step 2 and step 3, when reaching scheduled number of repetition, carries out in next step；
Step 5, according to implementation steps 2 each time when the obtained feature point for calibration array in the space of each feature point for calibration sit
Mark and pixel coordinate calculate the calibrating parameters of each line-scan digital camera (21).
10. the line-scan digital camera scaling method according to claim 9 for stereo-visiuon measurement, which is characterized in that in step
In rapid 5, which is the parameter of camera projection matrix, the parameter of camera Intrinsic Matrix and Camera extrinsic matrix number
Parameter.
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