CN108253939B - Variable visual axis monocular stereo vision measuring method - Google Patents
Variable visual axis monocular stereo vision measuring method Download PDFInfo
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Abstract
The invention relates to a variable visual axis monocular stereoscopic vision measuring method, remove the rotating biprism system at first, demarcate the monocular vision measuring system, obtain and record the intrinsic parameter of the camera 1; installing a rotating double-prism system in front of a monocular vision measuring system, calibrating the monocular vision measuring system and the rotating double-prism system integrally to obtain the relative position relation between a camera and the rotating double-prism system, dividing imaging visual axes according to the theoretical geometric characteristics of a measured target after calibration is finished, and calculating the prism rotation angle corresponding to the rotating double-prism in an upper computer by an iteration method for each visual axis pointing angle; the rotating double-prism system controls the imaging visual axis to sequentially rotate to the corresponding visual axis pointing angles, and the camera sequentially collects corresponding images to realize sequential imaging of the geometric characteristics of the target to be measured; carrying out image processing and feature matching on two images formed by two adjacent visual axis pointing angles to realize three-dimensional feature reconstruction of a common region; and integrating the common areas reconstructed by all the three-dimensional characteristics to obtain the actual geometric characteristics of the measured target.
Description
Technical Field
The invention belongs to the field of vision measurement, and particularly relates to a method for measuring monocular stereoscopic vision with a variable visual axis.
Background
With the increasing maturity of machine vision theory and the great progress of vision sensors towards high speed, high precision and high sensitivity, people have applied the rapidity and high intelligence of machine vision technology to many important industrial and military fields, such as biomedicine, environmental science, textile, aerospace and the like. The monocular vision measurement technology is also more and more widely applied and becomes a new hotspot in the fields of aerospace, remote sensing measurement, industrial automation, artificial intelligence, product detection and the like. The rotary double prism is used as a typical light beam deflection and visual axis switching device, and provides a novel technology with potential for large-angle imaging visual axis adjustment by the advantages of compact structure, high accuracy, high speed, large deflection angle, good dynamic performance and the like.
(1) The application of machine vision techniques is given in the prior art below.
The prior art (Huangfengshan et al patent, application number: 201310169289.5, application date: 2013, 5/10.a. "a monocular stereoscopic vision measuring method") proposes a monocular stereoscopic vision measuring method, in which a workpiece to be measured is placed at a measuring position on a table of a three-coordinate measuring machine, and a camera on the three-coordinate measuring machine is located along the measuring positionXAnd moving the direction from the position A to the position B, respectively shooting two pictures, performing image processing, feature extraction and feature matching, and solving the pose parameters of the measured workpiece by combining corresponding coordinates of each feature point in a machine coordinate system and a part CAD coordinate system.
The prior art (Liuhuaping and other patents, application number: 201410016272.0, application date: 2014, 1 month and 14 days, "dynamic target position and posture measurement method based on monocular vision at the tail end of a mechanical arm") provides a dynamic target position and posture measurement method based on monocular vision at the tail end of a mechanical arm, a monocular camera is mounted at the tail end of the mechanical arm, and different characteristic parts of a target can be measured through the motion of the mechanical arm. According to the method, the pose of a camera is changed through a mechanical arm to measure the target, and the motion precision of the mechanical arm has a large influence on the measurement result of the video camera. The two methods are used for realizing single-camera stereoscopic vision measurement by changing the position of the camera, and the structure is not compact enough.
(2) The application of a rotating biprism system is given in the prior art below.
An iterative Inverse algorithm combining approximate Inverse solution of a rotating biprism and iteration is provided in the prior art (Anhu Li, etc. 'Inverse solutions for a Risley prism with iterative refinement by a forward solution', Applied Optics, 2015, 54(33): 9981 and 9989), and a high-precision and efficient solution method is provided for the Inverse problem of the rotating biprism.
In the prior art (William D. Fountain et al, application No.: US 07/833,604, application date: 2/11 1992, "System for scanning a surgical laser beam") developed based on the visual axis switching function of a rotating biprism, the scanning radius is determined by the angle between prisms when the prisms are rotated in synchronism, and the scanning trajectory in the diameter direction is obtained when the prisms are rotated in the opposite direction at the same speed.
In the prior art (Kim Keri, et al, "Wide FOV Wedge Prism Endoscope", IEEEengineering in Medicine and Biology, Conference IEEE, 2005: 5758-.
In the prior art (Xiaodong Tao, etc.), "Active optical system for variable vision with micro objects with the animation on mechanical analysis", applied optics, 2008, 47(22): 4121) the rotating biprism is used to change the observation angle of the operator on the micro-stage to achieve smooth assembly of micro objects.
Disclosure of Invention
The invention aims to provide a method for measuring monocular stereoscopic vision with a variable visual axis. The imaging visual axis of the monocular vision is switched by rotating the double-prism system, so that the imaging visual axis of the camera is deflected to a specified target position. The camera takes pictures of the object by different imaging visual axes, and performs characteristic matching on two images formed by pointing angles of two adjacent visual axes to realize three-dimensional characteristic reconstruction of a common region, so that the geometric characteristic of the object to be measured can be obtained. The method combines the characteristics of beam deflection and visual axis switching of a rotating biprism system and the characteristics of monocular vision non-contact high-precision measurement, and ensures the precision of stereoscopic vision measurement. The invention is used as a high-precision measurement method, and has important application value in the fields of industrial measurement and the like.
The invention provides a variable visual axis monocular stereo vision measuring method, wherein the variable visual axis measurement is realized by a monocular vision device based on a rotating biprism, the monocular vision device consists of a monocular vision measuring system and a rotating biprism system, and the method comprises the following steps: the monocular vision measuring system consists of a camera 1; the rotating double-prism system comprises a first rotating prism 2 and a second rotating prism 3, the first rotating prism 2 and the second rotating prism 3 are respectively and independently fixed on a supporting structure, and the first rotating prism 2 and the second rotating prism 3 are coaxially arranged with the camera 1; the arrangement distance and the arrangement form of the first rotating prism 2 and the second rotating prism 3 are determined according to actual conditions; the first rotary prism 2 and the second rotary prism 3 can be independently rotated by respective driving devices;
in the whole measuring process after camera calibration and system calibration, the monocular vision measuring system and the rotating biprism system are fixed; the method comprises the following specific steps:
(1) firstly, removing a rotating double-prism system, and calibrating a monocular vision measurement system by adopting a proper method, wherein the proper method is any one of a direct linear transformation method, a Tsai two-step calibration method, a Zhangyingyou plane calibration method or a neural network calibration method, and the like, so as to obtain and record internal parameters of the camera 1;
(2) installing a rotating double-prism system in front of a monocular vision measuring system, calibrating the monocular vision measuring system and the rotating double-prism system integrally to obtain the relative position relation between the camera 1 and the rotating double-prism system, and fixing the whole device after the calibration is finished;
(3) dividing an imaging visual axis according to theoretical geometric characteristics of a measured target, dividing the imaging visual axis into a plurality of visual axis pointing angles at intervals, and calculating a prism rotation angle corresponding to the rotating double prisms in an upper computer by an iterative method for each visual axis pointing angle;
(4) the rotating double-prism system controls the imaging visual axis to sequentially rotate to the corresponding visual axis pointing angles, and the camera 1 sequentially collects corresponding images to realize sequential imaging of the geometric characteristics of the target to be measured;
(5) the imaging distortion of the rotating double-prism system is influenced, and because the angles of light rays entering the prism in the object field of view are inconsistent, when the rotating double-prism system moves the imaging visual axis to a given position, the light rays from the whole field of view cannot be deflected consistently, the imaging distortion is generated finally, and accurate distortion correction can be realized by using methods such as inverse ray tracing and the like;
(6) carrying out image processing and feature matching on two images formed by two adjacent visual axis pointing angles to realize three-dimensional feature reconstruction of a common region;
(7) and finally, integrating the common areas reconstructed by all the three-dimensional characteristics to obtain the actual geometric characteristics of the measured target.
In the invention, the driving device of the rotating biprism system can adopt any one of a torque motor direct drive, a gear mechanism, a worm and gear mechanism or a synchronous belt mechanism. The arrangement form of the rotating biprism system comprises four types: the plane sides are opposite; the inclined surfaces are opposite; the inclined side of the first rotating prism 2 faces inwards, and the plane side of the second rotating prism 3 faces inwards; the planar side of the first rotating prism 2 faces inward and the inclined side of the second rotating prism 3 faces inward.
In the present invention, the first rotating prism 2 and the second rotating prism 3 may adopt the same structural parameters or adopt different parameter configurations on partial structural parameters according to different specific use requirements, and the structural parameters include refractive index, wedge angle and the like.
In the invention, the monocular vision measuring system and the rotating biprism system can be not coaxial, and related parameters can be calibrated by adopting the method provided by the invention.
In the invention, the division principle in the step (3) has the following two points: firstly, the more complex the three-dimensional characteristics of the target are, the smaller the interval of the visual axis pointing angles of the imaging visual axis is, so as to improve the measurement precision of a complex region; and secondly, ensuring that the imaging overlapping area covers the whole detected area.
The invention has the beneficial effects that:
1. the method has the advantages that the target theoretical characteristics are known, the rotating angle of the rotating double prisms is solved by a reverse algorithm through specifying the visual axis pointing angle corresponding to the specific area of the target theoretical characteristics, and the visual axis of the double prisms is actively controlled to be accurately aligned with the area characteristics. Compared with the mode that the pose of the monocular camera is manually switched to change the imaging visual axis, the system has better controllability and higher pointing accuracy.
2. The invention utilizes the rotating double-prism system to enlarge the measuring function of monocular vision. The rotating double-prism system has a high-accuracy light beam deflection function, can realize the switching of the pointing angles of the dynamic imaging visual axis, and overcomes the defect that monocular vision cannot dynamically adjust the imaging visual axis to realize three-dimensional characteristic measurement. Therefore, the monocular vision measuring system sequentially obtains the image sequence of the target characteristics by changing the imaging visual axis direction, and realizes the three-dimensional characteristic reconstruction of the static target through characteristic matching.
3. The invention mainly comprises a monocular vision measuring system and a rotating biprism system, and the control process is relatively simple. For a monocular vision measuring system, only an upper computer is needed to control a camera to collect and transmit images in time; for the rotating double-prism system, the upper computer is only required to control the rotating double prisms to rotate to the specified rotation angle positions respectively. Therefore, the measuring method provided by the invention has the characteristics of good controllability and high execution efficiency.
4. The invention solves the prism rotation angle of the rotating biprism by means of an iteration method. Based on the division of the pointing angles of the imaging visual axis, the corresponding rotation angles of the double prisms can be obtained in a short time, so that the pointing of the visual axis is accurately adjusted, the visual measurement orientation precision and the imaging efficiency are improved, and the method has the advantages of small calculated amount, good robustness and the like.
5. The rotary double-prism system adopted by the invention is a typical light beam deflection device, is widely applied in various fields, and has the advantages of compact structure, high accuracy, high speed, large deflection angle, good dynamic performance, good environmental adaptability and the like.
Drawings
Fig. 1 is a structural schematic diagram of the variable visual axis monocular stereoscopic vision measuring method of the present invention.
Fig. 2 is a structural view of a prism. (a) Is a front view, and (b) is a left view.
Fig. 3 shows four different arrangements of the rotating biprism system of the present invention. Wherein: (a) is opposite to the plane side; (b) is inclined oppositely; (c) the inclined side of the first rotating prism 2 faces inwards, and the plane side of the second rotating prism 3 faces inwards; (d) the planar side of the first rotating prism 2 faces inward and the inclined side of the second rotating prism 3 faces inward.
Fig. 4 is a camera imaging model.
FIG. 5 is a diagram: the monocular stereoscopic vision switches the visual axis imaging schematic diagram. WhereinM i AndM i+1are respectively the firstiIs first and secondiThe pointing point of +1 imaging visual axis,A i andA i+1respectively, the imaging area of the image sensor,A i i,+1are their common area.
Fig. 6 is a flow chart of a method for measuring monocular stereoscopic vision with variable visual axes.
Reference numbers in the figures: 1 is a camera, 2 is a first rotating prism, and 3 is a second rotating prism.
Detailed Description
The following describes the method for measuring monocular stereoscopic vision with variable visual axis according to the present invention in detail with reference to the accompanying drawings and examples, but the scope of the present invention is not limited thereto.
Example 1: taking the measurement of the geometric characteristics of an edge of an object as an example:
referring to fig. 1, the left side is the variable visual axis monocular stereoscopic vision system, which comprises a monocular vision measuring system and a rotating biprism system; the right side is the object to be measured, which is measured as the actual geometric characteristic of an edge of the object. According to the method for measuring the variable visual axis monocular stereoscopic vision and the known theoretical geometric characteristics of the edge, the actual geometric characteristics of the edge are measured.
Referring to fig. 2 and 3, a wedge prism structure and arrangement is employed for the rotating biprism system. In this example, the prisms adopt the arrangement shown in fig. 3 (b).
See fig. 4, whereinO C X C Y C Z C Is a coordinate system of the camera, and is,O W X W Y W Z W is a world coordinate system and is characterized by that,u-vis a coordinate system of the pixel, and is,x-yis an image coordinate system.O C Is the optical center point of the camera,OO C is the camera focal length. Based on the imaging geometry of the camera, a representation of the world coordinate system can be obtainedPPoint coordinates (X W ,Y W ,Z W ) And its projection pointpCoordinates of (A), (B)u,v) The relationship of (1):
in the formula: dxAnd dyThe physical dimensions in the x-axis and y-axis directions for each pixel; (u 0,v 0) Pixel coordinates of an intersection point of a camera optical axis and a camera shooting image plane;fis the camera focal length; matrix arrayM 1Rotation matrix of camera orientation relative to world coordinate systemRAnd an offset vectorTDetermining, called camera extrinsic parameters; matrix arrayM 2Is totally formed byx、dy、u 0、v 0Andfit is decided that these parameters are related only to the internal structure of the camera, called camera internal parameters.
In this embodiment, the known theoretical geometric feature of this edge is expressed in world coordinates as:
this embodiment is mainly realized by the following procedure: firstly, camera calibration and system calibration are carried out, the theoretical geometric characteristics of the edge to-be-measured target are divided into the pointing angle intervals of the imaging visual axes, then the imaging visual axes of the monocular vision measuring system are switched by rotating the double-prism system, the camera 1 shoots objects with different imaging visual axes, and the common area is subjected to characteristic matching and three-dimensional characteristic reconstruction, so that the geometric characteristics of the to-be-measured object can be obtained.
Referring to fig. 5 and 6, the detailed steps of the method for measuring the three-dimensional characteristics of the object by using the variable visual axis monocular stereoscopic vision are as follows:
step 1: and calibrating the camera. The rotating biprism system is removed, the camera 1 is placed in front of the measured object, and it is ensured that the camera can take any position of the measured object under the condition that the imaging visual axis is switched in combination with the rotating biprism. Calibrating the monocular vision measuring system by Zhangzhengyou chessboard pattern calibration method to obtain and record the internal parameters of the camera 1, including the internal parameter matrix of the cameraM 2Radial distortion parameter of camerak 1Andk 2and tangential distortion parameterk 3Andk 4。
step 2: and (5) carrying out system calibration. And (3) installing the rotating double-prism system in front of the monocular vision measuring system, sequentially rotating the first rotating prism 1 and the second rotating prism 2 according to rules, and calibrating the monocular vision measuring system and the rotating double-prism system integrally. Through derivation calculation, the position relation between the axis of the monocular vision measuring system and the axis of the rotating biprism system and the displacement transformation matrix between the camera 1 and the world coordinate system are obtainedTAnd a rotation transformation matrixRAnd the first rotationPrism corner of rotating prismθ 1And the prism corner of the second rotating prismθ 2The relationship (2) of (c). After the calibration is finished, the whole system is fixed.
And step 3: the visual axis pointing angle interval of the imaging visual axis is divided. Dividing the visual axis pointing angle interval of the imaging visual axis according to the theoretical geometric characteristics of the measured target, wherein the dividing principle comprises the following two points: firstly, the more complex the three-dimensional characteristics of the target are, the smaller the interval of the visual axis pointing angles of the imaging visual axis is, so as to improve the measurement precision of a complex region; and secondly, ensuring that the imaging overlapping area covers the whole detected area. According to these two principles, the imaging visual axis division result of the present embodiment is shown as a dot in fig. 5.
And 4, step 4: respectively calculating the prism rotation angle corresponding to the rotating biprism in an upper computer by using the divided visual axis pointing angles through an iterative method, and using a matrixθRepresents:θ n2×=[θ 1,θ 2] T 。
and 5: for the firstiThe imaging visual axis points, and the upper computer calculates the prism rotation angle (θ i1,θ i2) Transmitted to a lower computer to control the rotating double prisms to rotate to corresponding angles and control the imaging visual axis to rotate to the corresponding secondiAngle of orientation of individual visual axis, making the visual axis pointM i The point is located at the center of the image, then the camera 1 collects the current image and transmits the current image to the upper computer for storage asA i 。
Step 6: because the larger the deviation angle of the visual axis from the optical axis of the system is, the more obvious the imaging distortion caused by rotating the double prisms is, and finally the imaging target can be unidentifiable, the obtained image is subjected to the reverse ray tracing method before feature matchingA i And carrying out distortion correction.
And 7: will be firstiSecond and thirdiTwo images formed by +1 visual axis pointing anglesA i AndA i +1 image processing and feature matching to achieve three-dimensional feature reconstruction of the common region, denotedA i i,+1。
And 8: reconstructing all three-dimensional featuresIn a common area ofA i i,+1And integrating to obtain the actual geometric characteristics of the measured target.
After the imaging pointing angle interval is divided in the step 3 and the step 4 and the corresponding prism rotation angle is calculated, images corresponding to the pointing direction of each imaging visual axis are collected in the step 5 and the step 6 in sequence and are subjected to distortion correction, and after all the images are collected, common region feature matching and three-dimensional reconstruction are carried out in the step 7 and the step 8 to obtain the geometric features of the target to be measured.
The above description is only one example of the application of the present invention in scanning, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The variable visual axis monocular stereoscopic vision measuring method is characterized in that the variable visual axis measurement is realized by a monocular vision device based on a rotating biprism, the monocular vision device consists of a monocular vision measuring system and a rotating biprism system, wherein: the monocular vision measuring system consists of a camera; the rotating double-prism system comprises a first rotating prism and a second rotating prism, the first rotating prism and the second rotating prism are respectively and independently fixed on the supporting structure, and the first rotating prism and the second rotating prism are coaxially arranged with the camera; the arrangement distance and the arrangement form of the first rotating prism and the second rotating prism are determined according to actual conditions; the first rotating prism and the second rotating prism can independently rotate through respective driving devices;
in the whole measuring process after camera calibration and system calibration, the monocular vision measuring system and the rotating biprism system are fixed; the method comprises the following specific steps:
(1) firstly, removing a rotating double-prism system, and calibrating a monocular vision measurement system by adopting a proper method, wherein the proper method is any one of a direct linear transformation method, a Tsai two-step calibration method, a Zhangyou plane calibration method or a neural network calibration method, so as to obtain and record internal parameters of a camera;
(2) installing a rotating double-prism system in front of a monocular vision measuring system, calibrating the monocular vision measuring system and the rotating double-prism system integrally to obtain the relative position relation between a camera and the rotating double-prism system, and fixing the whole device after the calibration is finished;
(3) dividing an imaging visual axis according to theoretical geometric characteristics of a measured target, dividing the imaging visual axis into a plurality of visual axis pointing angles at intervals, and calculating a prism rotation angle corresponding to the rotating double prisms in an upper computer by an iterative method for each visual axis pointing angle;
(4) the rotating double-prism system controls the imaging visual axis to sequentially rotate to the corresponding visual axis pointing angles, and the camera sequentially collects corresponding images to realize sequential imaging of the geometric characteristics of the target to be measured;
(5) the imaging distortion of the rotating double-prism system is influenced, and because the angles of light rays entering the prism in the object field of view are inconsistent, when the rotating double-prism system moves the imaging visual axis to a given position, the light rays from the whole field of view cannot be deflected consistently, the imaging distortion is generated finally, and the accurate distortion correction is realized by utilizing an inverse ray tracing method;
(6) carrying out image processing and feature matching on two images formed by two adjacent visual axis pointing angles to realize three-dimensional feature reconstruction of a common region;
(7) and finally, integrating the common areas reconstructed by all the three-dimensional characteristics to obtain the actual geometric characteristics of the measured target.
2. The method for measuring monocular stereoscopic vision with variable visual axis according to claim 1, wherein the driving device of the rotating biprism system adopts any one of a torque motor direct drive, a gear mechanism, a worm gear mechanism or a synchronous belt mechanism.
3. The method of claim 1, wherein the arrangement of the rotating biprism system comprises four of: the plane sides are opposite; the inclined surfaces are opposite; the inclined plane side of the first rotating prism faces inwards, and the plane side of the second rotating prism faces inwards; the first rotating prism has its planar side facing inward and the second rotating prism has its inclined side facing inward.
4. The method of claim 1, wherein the first rotating prism and the second rotating prism adopt the same structural parameters or different parameter configurations on partial structural parameters according to different requirements of specific applications, and the structural parameters include refractive index and wedge angle.
5. The method of claim 1, wherein the monocular vision measuring system is not coaxial with the rotating biprism system and the associated parameters are calibrated by the method of claim 1.
6. The method for measuring monocular stereoscopic vision with variable visual axis according to claim 1, wherein the division rule in step (3) has the following two points: firstly, the more complex the three-dimensional characteristics of the target are, the smaller the interval of the visual axis pointing angles of the imaging visual axis is, so as to improve the measurement precision of a complex region; and secondly, ensuring that the imaging overlapping area covers the whole detected area.
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| CN111123991B (en) * | 2019-12-04 | 2023-05-12 | 上海航天控制技术研究所 | Optical axis control method based on double-optical wedge infrared imaging |
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| CN111311688A (en) * | 2020-01-22 | 2020-06-19 | 同济大学 | Calibration method based on dual-sensor variable visual axis monitoring device |
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| CN111768486B (en) * | 2020-07-02 | 2023-03-24 | 中国科学院自动化研究所 | Monocular camera three-dimensional reconstruction method and system based on rotating refraction sheet |
| CN112330794B (en) * | 2020-10-09 | 2022-06-14 | 同济大学 | Single-camera image acquisition system based on rotary bipartite prism and three-dimensional reconstruction method |
| CN114157852B (en) * | 2021-11-30 | 2022-12-13 | 北京理工大学 | Virtual camera array three-dimensional imaging method and system based on rotating double prisms |
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