CN108458671B - Calibration method of line structured light three-dimensional measurement system - Google Patents
Calibration method of line structured light three-dimensional measurement system Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention relates to a calibration method of a line structured light three-dimensional measurement system, which comprises the steps of firstly calibrating a camera according to a conventional method to obtain internal parameters and external parameters of the camera; secondly, projecting the coded structured light onto a calibration system plane plate by using a projector, obtaining sub-pixel level coordinates of all lines projected by the projector in a picture through image processing and decoding, establishing a line-surface equation according to internal parameters and external parameters of a camera, and calculating three-dimensional coordinates of all projected lines on the plane plate through line-surface intersection points; after the three-dimensional measurement system or the plane plate is moved, three-dimensional coordinates of all the moving projection lines are obtained; and finally, performing surface fitting on each projection line according to the obtained three-dimensional coordinate data to obtain surface equations of the optical curved surfaces formed by all the projection lines, and establishing a surface coefficient table according to coefficients of the surface equations to finish calibration. The calibration method eliminates the influence caused by the bending of the line light source, and ensures that the calibration process is simple and rapid, the operation is easy, the error is small, and the calibration precision is high.
Description
Technical Field
The invention belongs to the field of optical three-dimensional measurement, and particularly relates to a calibration method of a linear structured light three-dimensional measurement system.
Background
The three-dimensional measurement system based on the one-dimensional line structured light has the advantages of high measurement precision, high measurement speed, large information amount and the like, and is widely applied to the fields of reverse engineering, face recognition, industrial measurement and the like. A general measurement procedure includes: and projecting the structured light coding pattern to the target object by using the linear structured light projector, synchronously shooting by using the camera, and establishing a triangular ranging model through decoding so as to obtain the three-dimensional coordinates of the target object.
Calibrating a camera and a line structured light projector is the first step of a line structured light three-dimensional measurement system; the traditional calibration technology of the existing line structured light three-dimensional measurement system generally calibrates a camera firstly and then calibrates a projector. The calibration of the camera is generally based on a pinhole imaging model, and mature methods include a Zhang-Yong method, a two-step method and the like. The projector calibration method comprises the following steps: wire drawing, one-dimensional, two-dimensional and three-dimensional target calibration, cross ratio invariant, mechanical adjustment, etc. The calibration method of the projectors has the problems of small quantity of characteristic points, high manufacturing cost of high-precision calibration targets, various errors introduced by excessive operation links and the like.
On the other hand, the existing calibration method of the line structured light projector considers that the light source is an ideal line light source, and the projected light is an ideal light plane, so that the three-dimensional coordinates are calculated on the basis of the ideal light plane. However, in practical application, due to the defect of the linear light source, the projected and emergent line is slightly bent, so that the projected and emergent light forms a light curved surface instead of a light plane, and errors are brought to three-dimensional measurement.
Disclosure of Invention
The invention aims to eliminate the influence caused by the bending of a linear light source, and has the advantages of simple and quick calibration process, easy operation, small error and high calibration precision.
In order to achieve the above object, the present invention provides a calibration method for a line structured light three-dimensional measurement system, comprising the following steps:
the method comprises the following steps: building and adjusting a hardware system required by calibration;
the hardware system comprises a plane plate, an optical guide rail, a guide rail sliding block and a three-degree-of-freedom micro-motion platform, wherein the guide rail sliding block is positioned in the optical guide rail, and the three-degree-of-freedom micro-motion platform is positioned at the upper end of the guide rail sliding block and can rotate around xyz three axes;
adjusting the optical guide rail to be vertical to the plane plate;
step two: setting a two-dimensional target on a plane plate, calibrating a camera under the condition that the camera is additionally provided with an optical filter, determining a world coordinate system on the plane plate, and obtaining internal parameters and external parameters of the camera;
step three: fixing a three-dimensional measuring system on a guide rail sliding block;
step four: defining an initial position calibrated by a projector, projecting coded structured light onto a plane plate by using the projector, shooting a corresponding picture by using a camera, obtaining sub-pixel level coordinates of all lines projected by the projector in the picture through image processing and decoding, establishing a line-plane equation according to internal parameters and external parameters of the camera, and calculating three-dimensional coordinates of all projected lines on the plane plate through line-plane intersection points;
step five: after the three-dimensional measurement system is moved at least once, repeating the fourth step to obtain the three-dimensional coordinates of all the projection lines which are hit on the plane board after each movement;
step six: and performing surface fitting on each projection line according to the three-dimensional coordinate data obtained in the fourth step and the fifth step to obtain surface equations of the optical curved surface formed by all the projection lines, and establishing a surface coefficient table and calibration parameters according to coefficients of the surface equations so as to finish calibration.
When three-dimensional measurement is carried out, a polynomial equation of a light curved surface formed by a projection line is quickly obtained by using a table look-up method, light rays emitted by a camera can be established according to pixel coordinates of a measured point, and the three-dimensional coordinates of the measured point can be obtained by calculating line-surface intersection points.
Preferably, the plane plate is used for receiving the projection light, the track direction of the optical guide rail needs to be perpendicular to the plane plate, the included angle between the track direction and the plane plate is not more than 2 degrees, and in the step one, the optical guide rail is adjusted to be perpendicular to the plane plate through the following process:
1.1) mounting a collimated point light source on a three-degree-of-freedom micro-motion platform, enabling the light source to strike on a plane plate to form a tiny light spot, adjusting the micro-motion platform to enable the moving distance of the light spot struck on the plane plate to be smaller than the diameter of one light spot when the point light source freely slides on an optical guide rail, and considering that the light path of the light source is parallel to a guide rail track at the moment;
1.2) then installing a mirror surface on the plane plate, placing a small hole in front of the light source, wherein the aperture of the small hole is the same as the size of the light spot (the size of the small hole is that the light spot just passes through the small hole), enabling the laser light spot to pass through the small hole to be punched on the mirror surface and reflected, adjusting the direction of the optical guide rail to enable the light spot reflected by the mirror surface to pass through the small hole to be reflected back, and then considering that the optical guide rail is vertical to the plane plate.
Preferably, in the fourth step, multiple encoding modes may be selected to encode and decode each projection line, such as gray code, gray code + phase shift code, and conventional binary encoding, and these encoding modes may all extract the sub-pixel-level pixel coordinates of all projection lines by taking a small number of pictures and decoding.
The higher the order of the polynomial surface equation obtained by fitting, the higher the fitting accuracy, and preferably, the quadratic surface equation fitting can meet the calibration requirement. The equation is as follows:
p1*x2+p2*y2+p3*z2+p4*x*y+p5*x*z+p6*y*z+p7*x+p8*y+p9*z+p10＝0
wherein: p is a radical of1～p10Is the parameter to be fitted;
x, y and z are three-dimensional coordinate data of each projection line obtained in the fourth step and the fifth step;
in order to ensure that the surface fitting has enough data volume and fitting accuracy, the three-dimensional measurement system in the fifth step needs to translate at least once, so that when the optical curved surface generated by each projection line is fitted, at least more than two space curves are fitted to form a curved surface equation.
Preferably, the camera is calibrated by adopting the Zhang friend method in the second step.
Preferably, the two-dimensional target on the plane plate in the second step should be coplanar with the plane where the two-dimensional target is located, or the thickness of the target is ensured to be less than 0.2mm, so as to avoid that the target is not coplanar with the plane where the target is located due to excessive thickness of the target, and increase the calibration error.
Preferably, in the second step, the top left vertex of the checkerboard is selected as the origin of the world coordinate system, and the plane where the two-dimensional target is located is the plane where Z is 0; the Z axis is forward to the direction of the three-dimensional measurement system, the direction downward along the edge of the checkerboard is determined as the X axis, and the Y axis direction is determined according to the Z axis and the X axis. And after the world coordinate system is determined, the corresponding external parameters of the camera can be obtained according to the calculation principle of the Zhang-Zhengyou method.
The invention has the beneficial effects that:
1. the invention uses the light curved surface to replace the light plane, has higher accuracy compared with the light plane, and avoids the influence of the bending of the line light source on calibration and the calculation of the three-dimensional coordinate.
2. The calibration system is simple, has low requirement on the calibration target, low cost, convenient operation process and less parameters needing to be controlled, and avoids introducing more errors due to excessive calibration operation links.
3. The calculation process is simple, and all the optical curved surfaces are directly calibrated. The sub-pixel level pixel coordinates of all projection lines are extracted in a coding and decoding mode, convenience and rapidness are achieved, and accuracy is high. The method for looking up the table is adopted to improve the calculation speed of the three-dimensional coordinate in the later period, and more errors introduced in the calculation process are avoided.
Drawings
FIG. 1 is a schematic diagram of an exemplary linear structured light three-dimensional measuring instrument;
FIG. 2 is a schematic diagram of an exemplary calibration system;
FIG. 3 is a flowchart of calibration in the embodiment.
The reference numbers in the figures are: the method comprises the following steps of 1-a plane plate, 2-an optical guide rail, 3-a slide block, 4-a three-degree-of-freedom micro-motion platform and 5-a calibration target.
Detailed Description
The invention is explained in detail below with reference to the figures and examples.
As can be seen from fig. 1, in this embodiment, the three-dimensional measurement system to be calibrated mainly consists of a camera and a line-structured light projector, where the pixel of the camera is 640 × 480, and the pixel of the line-structured light projector to be calibrated is 1024, that is, the maximum possible 1024 lines can be projected along the transverse direction1～l1024。
A calibration system as shown in fig. 2 was set up, with a flat plate 1, measuring 1.5m by 1.5m and 10mm thick. The material selects an acrylic plate, flat white paper with the surface adhered with 1.5m by 1.5m is printed at the center of the white paper with a checkerboard calibration target 5 of 20 by 20, and each unit cell of the calibration target 5 is a square with the size of 30 mm. The optical guide 2 is 1.5m long. The slider 3 and the three-degree-of-freedom micro-motion platform 4 are arranged, the D can rotate around three spatial axes, and the maximum rotation angle is 3 degrees.
The calibration process is shown in fig. 3, and comprises the following steps:
1. the optical guide rail 2 is adjusted to be vertical to the surface of the plane plate 1, and the method comprises the following concrete implementation steps:
1a, a three-degree-of-freedom micro-motion platform is arranged at 700mm of an optical guide rail 2, a collimated point light source is fixed on the three-degree-of-freedom micro-motion platform, emergent light of the point light source is made to strike on a plane plate 1, and the diameter of a light spot is 1.5 mm. An opaque paperboard with the thickness of 2mm is fixed at the position of 300mm of the optical guide rail 2, and small holes with the diameter of 1.5mm are drilled in the paperboard.
And 1b, adjusting the angle and the height of the three-degree-of-freedom micro-motion platform 4, so that when the three-degree-of-freedom micro-motion platform 4 is at any position between 400mm and 1400mm on the guide rail, the light emitted by the point light source can pass through the small hole, and at the moment, the light emitted by the point light source is considered to be parallel to the track direction of the optical guide rail 2.
And 1c, keeping the point light source on the optical guide rail 2, fixing a mirror surface on the plane plate 1, adjusting the angle and the height of the optical guide rail 2, enabling the light emitted by the point light source to pass through the small hole and be emitted on the mirror surface, and enabling the reflected light to pass through the small hole again, wherein the plane plate 1 is considered to be vertical to the track direction of the optical guide rail 2.
2. And calibrating the camera under the condition that the optical filter is additionally arranged on the camera. Because the optical filter is used, the brightness of the shot target picture is low, and the checkerboard target is illuminated by using a surface light source which is adaptive to the wave band of the optical filter. 25 calibration photographs were taken at different angles, wherein the position of one photograph was taken from the initial position defined in the following step 3). Subsequently, calibrating the camera by adopting a Zhangyingyou calibration method, calculating and obtaining an internal parameter K and an external parameter R of the camera according to the Zhangyingyou method, obtaining a second-order distortion coefficient kc of the camera by using an LM method, wherein the Zhangyingyou method is realized by the following specific steps: AFlexible New technique for Camera calcium-rating, Microsoft Corpera-tion, NSR-TR-98-71.1998. The external parameter R of each photograph is expressed as:
wherein:
representing a rotation matrix;
3. the three-dimensional measurement system is fixed on the slide of the optical rail, slid up the rail to the 700mm position, defined here as the nominal initial position. Step 2) determining a world coordinate system at the initial position and obtaining an external parameter R, and determining a checkerboard plane according to the external parameter R, namely a plane equation of the plane board A under the camera coordinate system is as follows:
wherein: r is13，r23，r33，r13，r23，r33，t1，t2，t3From an external parameter R;
XC，YC，ZCrepresenting camera coordinate system coordinates;
4. the method comprises the steps of projecting coded structured light by using a linear structured light projector at a calibrated initial position, namely 700mm of a guide rail, taking a corresponding picture, carrying out distortion correction by using a second-order distortion coefficient kc, and decoding all projection lines l by image processing1～l1024The coding mode adopted in the embodiment is seven-level Gray code + phase shift code coding, and the realization principle comes from Jens G ü hring's article, namely, Dense 3-D surface acquisition by structure construction using off-the-shelf components, videos and Optical Methods for 3DShape Measurement (2000), doi:10.1117/12.4108771～l1024After the sub-pixel level coordinates of each projection point in the picture are obtained, a ray which is emitted by the camera and passes through a calibration plane and corresponds to each point can be obtained through the calibration parameters of the camera, and the ray meets the following relationship:
wherein: u, v represent the sub-pixel level coordinates of the point;
XC，YC，ZCrepresenting coordinates of a camera coordinate system；
s represents a free coefficient;
any point on the ray can be represented as: [ X ]C/s，YC/s，ZC/s]And s is a free coefficient. The intersection point of the ray and the calibration plane is the three-dimensional coordinate of each projection point, and the corresponding s can be obtained by combining with the surface equation of the calibration plane, so that all projection lines l can be obtained1～l1024Coordinates M in the camera coordinate systemC＝[XC，YC，ZC]。
5. Sliding the three-dimensional measurement system to the position of 800mm along the optical guide rail to obtain all projection lines l at the position of 800mm1～l1024Coordinates M in the camera coordinate systemC＝[XC，YC，ZC]。
6. To this end, two sets of three-dimensional coordinate data M were obtained at 700mm and 800mmC. 1024 lines l projected by the projector are extracted from the image1～l1024The light curved surface formed by each projection line in the two groups of data corresponds to a space curve. 1024 groups of three-dimensional data are obtained in total, the three-dimensional data are used as input data to carry out surface fitting, the fitting method adopts a least square method, and 1024 groups of polynomial coefficients p corresponding to all space curved surfaces can be obtained1～p10. And a curved surface coefficient table is established according to the corresponding relation between the coefficients and 1024 projection lines, so that a space curved surface equation of the corresponding projection lines can be quickly obtained by a table look-up method. The curved surface coefficient table completely meets the requirement of three-dimensional measurement of the line-structured light projector, so that the calibration of the line-structured light three-dimensional measurement system is completed.
The calibration method provided by the invention replaces the light plane with the light curved surface, thereby eliminating the shadow of the linear light source bending on three-dimensional measurement to the maximum extent; the calibration process does not depend on complex calibration equipment, and the calibration can be conveniently and quickly carried out; the use method of the calibration parameters is table lookup, which is convenient and quick and has higher calibration precision; the optical filter is always additionally arranged in the calibration process, so that the influence of the additional arrangement of the optical filter on the calibration parameters after calibration is avoided.
Although the above examples describe the method of the present invention in detail, it is clear that: the method proposed by the present invention is by no means limited to the above examples, which are intended to be illustrative and not limiting. The practitioner of the invention can make various modifications without departing from the basic principle of the invention, but all fall within the scope of the invention.
Claims (8)
1. A calibration method of a line structured light three-dimensional measurement system is characterized by comprising the following steps:
the method comprises the following steps: building and adjusting a hardware system required by calibration;
the hardware system comprises a plane plate, an optical guide rail, a guide rail sliding block and a three-degree-of-freedom micro-motion platform, wherein the guide rail sliding block is positioned in the optical guide rail, and the three-degree-of-freedom micro-motion platform is positioned at the upper end of the guide rail sliding block and can rotate around xyz three axes;
adjusting the optical guide rail to be vertical to the plane plate;
step two: setting a two-dimensional target on a plane plate, calibrating a camera under the condition that the camera is additionally provided with an optical filter, determining a world coordinate system on the plane plate, and obtaining internal parameters and external parameters of the camera;
step three: fixing a three-dimensional measuring system on a guide rail sliding block;
step four: defining an initial position calibrated by a projector, projecting coded structured light onto a plane plate by using the projector, shooting a corresponding picture by using a camera, obtaining sub-pixel level coordinates of all lines projected by the projector in the picture through image processing and decoding, establishing a line-plane equation according to internal parameters and external parameters of the camera, and calculating three-dimensional coordinates of all projected lines on the plane plate through line-plane intersection points;
step five: after the three-dimensional measurement system or the plane plate is moved, repeating the step four to obtain the three-dimensional coordinates of all the projection lines which are hit on the plane plate after each movement;
step six: and according to the three-dimensional coordinate data obtained in the fourth step and the fifth step, performing surface fitting on each projection line by using a quadric surface equation to obtain surface equations of the optical curved surface formed by all the projection lines, and establishing a surface coefficient table, namely calibration parameters, by using coefficients of the surface equations to finish calibration.
2. The calibration method of the line structured light three-dimensional measurement system according to claim 1, wherein in the first step, the optical guide rail is adjusted to be perpendicular to the plane plate by the following process:
1.1) mounting a collimated point light source on a three-degree-of-freedom micro-motion platform, enabling the light source to strike on a plane plate to form a light spot, and adjusting the micro-motion platform to enable the moving distance of the light spot struck on the plane plate to be smaller than the diameter of the light spot when the point light source freely slides on an optical guide rail, and considering that the light path of the light source is parallel to a guide rail track at the moment;
1.2) then installing a mirror surface on the plane plate, placing a small hole in front of the light source, wherein the aperture of the small hole is the same as the size of the light spot, enabling the laser light spot to penetrate through the small hole to be punched on the mirror surface and reflected, adjusting the position of the optical guide rail, enabling the light spot reflected by the mirror surface to penetrate through the small hole to be reflected back, and considering that the optical guide rail is vertical to the plane plate at the moment.
3. The calibration method of the line structured light three-dimensional measurement system according to claim 2, wherein: and in the fourth step, Gray codes and phase shift codes or traditional binary codes are selected to encode the projection lines.
4. The calibration method of the line structured light three-dimensional measurement system according to claim 3, wherein: and fifthly, translating the three-dimensional measurement system at least once.
5. The calibration method of the line structured light three-dimensional measurement system according to claim 4, wherein: and step two, calibrating the camera by adopting a Zhang friend method.
6. The calibration method of the line structured light three-dimensional measurement system according to claim 5, wherein: and in the second step, the two-dimensional target on the plane plate is coplanar with the plane where the two-dimensional target is located, or the thickness of the target is ensured to be less than 0.2 mm.
7. The calibration method of the line structured light three-dimensional measurement system according to claim 6, wherein: selecting a two-dimensional target, wherein the top left vertex of the target is the origin of a world coordinate system, and the plane where the two-dimensional target is located is a plane with the Z being 0; the Z axis is forward to the direction of the three-dimensional measurement system, the direction downward along the edge of the checkerboard is determined as the X axis, and the Y axis direction is determined according to the Z axis and the X axis.
8. The calibration method of the line structured light three-dimensional measurement system according to claim 6, wherein: the flat plate is made of an acrylic plate.
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| CN109443209B (en) * | 2018-12-04 | 2019-12-31 | 四川大学 | Line structured light system calibration method based on homography matrix |
| CN110207605B (en) * | 2019-06-13 | 2024-06-14 | 广东省特种设备检测研究院东莞检测院 | Device and method for measuring metal structure deformation based on machine vision |
| CN110260822B (en) * | 2019-06-18 | 2021-01-19 | 西安交通大学 | High-precision calibration method for multi-view structured light system |
| CN110570525B (en) * | 2019-08-15 | 2022-05-13 | 同济大学 | Method for rapidly matching three-dimensional scanning coordinate and projection coordinate in augmented reality system |
| CN111223151B (en) * | 2020-03-06 | 2024-04-12 | 泉州华中科技大学智能制造研究院 | Calibrating device and calibrating method for structured light three-dimensional scanning camera |
| CN111750804B (en) * | 2020-06-19 | 2022-10-11 | 浙江华睿科技股份有限公司 | Object measuring method and device |
| CN113865514B (en) * | 2020-06-30 | 2023-08-29 | 西安知微传感技术有限公司 | Calibration method of line structured light three-dimensional measurement system |
| CN111986266A (en) * | 2020-08-10 | 2020-11-24 | 中国民航大学 | Photometric stereo light source parameter calibration method |
| CN112414301B (en) * | 2020-10-22 | 2021-09-03 | 光华临港工程应用技术研发(上海)有限公司 | Equipment for three-dimensional measurement of line structured light |
| CN112179292B (en) * | 2020-11-20 | 2022-07-08 | 苏州睿牛机器人技术有限公司 | Projector-based line structured light vision sensor calibration method |
| CN113012277B (en) * | 2021-02-03 | 2022-06-21 | 中国地质大学（武汉） | DLP (digital light processing) -surface-based structured light multi-camera reconstruction method |
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| CN103047943B (en) * | 2012-12-31 | 2016-04-06 | 吉林大学 | Based on the door skin geomery detection method of single projection coded structured light |
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