CN109084675A - Center of circle positioning device and method based on Embedded geometrical characteristic in conjunction with Zernike square - Google Patents
Center of circle positioning device and method based on Embedded geometrical characteristic in conjunction with Zernike square Download PDFInfo
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- CN109084675A CN109084675A CN201810561893.5A CN201810561893A CN109084675A CN 109084675 A CN109084675 A CN 109084675A CN 201810561893 A CN201810561893 A CN 201810561893A CN 109084675 A CN109084675 A CN 109084675A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
Abstract
The present invention provides the center of circle positioning device and method based on Embedded geometrical characteristic in conjunction with Zernike square, belong to ground simulation field.The present invention is based on center of circle positioning device of the Embedded geometrical characteristic in conjunction with Zernike square and method can reduce noise jamming using geometrical characteristic, eliminate isolated point and noise spot；Using the sub-pixel edge location algorithm based on Zernike square, can be measurement is not influenced by image translation or change in size, improves the robustness of test result；Sufficiently this condition of two dimensional motion is planar done with testee, the installation site of Rational choice monocular camera, required coordinate transformation process in the resolving of position can be greatly simplified, the runing time of position solver is effectively reduced, such that monocular position measures the application under the conjunction of requirement of real-time high field.
Description
Technical field
The present invention relates to a kind of center of circle positioning device based on Embedded geometrical characteristic in conjunction with Zernike square and sides
Method belongs to ground simulation field.
Background technique
Paper " the embedded annulus Fast Calibration algorithm for displacement measurement " (Chinese journal of scientific instrument, Zhang Xudong,
200906) it for the laser triangular distance measuring apparatus with rotational symmetry characteristic, proposes a kind of based on the calibration inspection of Embedded annulus
Method of determining and calculating.The algorithm first with the parameter Estimation equation that binaryzation and least square method are fitted obtain rough radius size and
Center location.Next space filtering and BR4 algorithm three times are carried out in the ROI region of extraction, obtains the shift value on sub-pix.
It finally reuses annulus least square fitting and obtains center location.This method is the experiment of 27 frames/second in camera sampling rate
In the case of demonstrate good real-time and precision.Although verifying in test its characteristic that is real-time, accurate and not losing robustness,
But testee surface characteristic has a significant impact to inspection result tool
Paper " research of embedded vision measuring system " (Wuhan University of Technology's Master's thesis, Liu Yuntao, 200704) proposes
A kind of vision measurement algorithm based on the embedded circular patch part with sub-pixel precision.It is irradiated in specific light source
Under, the circumferential edges point with sub-pixel precision is obtained using Sobel operator and three rank multinomial fitting process, quasi- using circumference
The mode of conjunction obtains center location.This method demonstrates good sub-pixel precision in l-G simulation test.Although in l-G simulation test
In available accurate sub-pixel central coordinate of circle, but calculative parameter is more and circular index point passes through
It is generally planar elliptical after lens projects variation, seeking the center of circle in the way of circular fit will increase error, have to experimental result
Certain influence.
Paper " flexible structure vibration measurement and analysis based on machine vision " (Institutes Of Technology Of Nanjing's Master's thesis, Xu Xiu
Show, 201402) propose the static nature extracting method based on Otsu Threshold segmentation and the motion tracking based on Mean Shift
Method.Otsu thresholding method has processing speed fast, the higher spy of accuracy when background and prospect gray scale difference difference are larger
Point；The motion tracking method of Mean Shift is adaptable, possess preferable robustness and standard in the case where background is more single
True property.Above method is verified in test, achieves good test effect.Although possess certain robustness and compared with
Good accuracy, but precision is still within pixel class precision and is easy to be influenced by background, the robustness of measuring system compared with
Difference.
Based on this, center of circle positioning device and method based on Embedded geometrical characteristic in conjunction with Zernike square.Using several
What feature can reduce noise jamming, eliminate isolated point and noise spot.It is positioned and is calculated using the sub-pixel edge based on Zernike square
Method, can be measurement is not influenced by image translation or change in size, improves the robustness of test result.Sufficiently use measured object
Body planar does this condition of two dimensional motion, and the installation site of Rational choice monocular camera can greatly simplify position resolving
In required coordinate transformation process, effectively reduce the runing time of position solver so that monocular position measurement in reality
Application under the more demanding occasion of when property is possibly realized.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, and then provide a kind of based on Embedded
Center of circle positioning device and method of the geometrical characteristic in conjunction with Zernike square.
The purpose of the present invention is what is be achieved through the following technical solutions:
Center of circle positioning device based on Embedded geometrical characteristic in conjunction with Zernike square, including cable wire, embedded development
Plate, monocular camera, data signal line, circular index point, flexible windsurfing and rack beam, cable wire are connected to the two of rack beam
It holds, on the rack beam that one end of cable wire is fixed on monocular camera and embedded development version is fixedly connected with, circular index point, which is located at, is scratched
Property windsurfing above and monocular camera underface, flexible windsurfing is fixedly connected with rack beam, and monocular camera passes through data-signal
Line is connected with embedded board.
It is described embedded to open the present invention is based on center of circle positioning device of the Embedded geometrical characteristic in conjunction with Zernike square
It sends out plate and uses Jetson TX1.
The present invention is based on center of circle positioning device of the Embedded geometrical characteristic in conjunction with Zernike square, the flexibility windsurfing
It is fixedly connected with one end of rack beam, and flexible windsurfing can side-to-side vibrations.
The present invention is based on center of circle positioning device of the Embedded geometrical characteristic in conjunction with Zernike square, the monocular cameras
With embedded board organization center positioning measurment system.
The present invention is based on circle center locating method of the Embedded geometrical characteristic in conjunction with Zernike square, specific steps are as follows:
Step 1: original image is obtained into circular edge by Canny operator first, Sobel operator is recycled to obtain gradient
Then direction and amplitude obtain marginal point by the method for non-maxima suppression using the gradient information of image；
Step 2: being extracted using the pixel edge of Radius Constraint and obtain pixel edge, utilizes image point to original image
Segmentation method removes the isolated point and noise in image, obtains a border circular areas, recycles centroid method to the center of circle of border circular areas
(Cx,Cy) and radius r calculated, if P (x, y) is any pixel grade marginal point, constraint expression formula is as follows:
Take whether threshold decision is left object edge point；
Step 3: it in conjunction with the center of circle of coarse positioning and the ideal edge distribution characteristics of circle imaging, is obtained using the method for subregion
The single pixel wide and continuous edge of circle target；
Step 4: after step 3 obtains continuous pixel edge, sub-pixel edge is obtained using Zernike square；
Step 5: carrying out centralized positioning on the basis of sub-pixel edge, is positioned using least square ellipse fitting
The heart.
The present invention is based on circle center locating method of the Embedded geometrical characteristic in conjunction with Zernike square, the utilizations
The location algorithm process of Zernike square acquisition sub-pixel edge:
Step1: 7 × 7 template { M are calculated00,M11,M20,M31,M40}；
Step2: template { M is utilized00,M11,M20,M31,M40And image each pixel carry out convolution algorithm obtain
{Z00,Z11,Z20,Z31,Z40}；
Step3: a pixel is taken, according to formulaEdge angle φ is calculated, the angle direction is vertical
Linear edge；
Zernike square Z' behind the angle Step4: image rotation φnmWith the Zernike square Z before rotationnmRelationship be Z'nm=
Znme-imφ, further according toCalculate l1,l2, and pass throughIt calculates
Theoretical distance l of the origin to edge；
Step5: l2It brings intoCalculate background ash
Angle value h, gray scale difference k；
Step6: if the parameter of the pixel meets condition k >=kt∩|l2-l1|≤lt(kt,ltFor judgment threshold), then
The pixel is marginal point, it is assumed that the size of Zernike square is N × N, it is contemplated that enlarge-effect utilizes formulaWherein, (xs, ys) be edge subpixel coordinates, (x, y) indicate edge Pixel-level sit
Mark calculates sub-pixel edge point coordinate；Otherwise Step3 is returned, pixel calculating is removed.
The present invention is based on circle center locating method of the Embedded geometrical characteristic in conjunction with Zernike square, the least squares
The method that ellipse fitting carrys out the centre of location are as follows: the objective function of planar elliptical is
F (A, B, C, D, E)=δ2
It is usually to seek each parameter the single order local derviation of above formula, and enable for the method that elliptic parameter A, B, C, D, E are solved
It is 0, can obtain five yuan of systems of linear equations:
Wherein, M5×5For the coefficient matrix of equation group.Solving equations obtain parameters value, if enabling point target center is P
(x0,y0), then its calculation formula is:
The center of circle positioning device and method that the present invention is based on Embedded geometrical characteristics in conjunction with Zernike square, utilization are several
What feature can reduce noise jamming, eliminate isolated point and noise spot, improve measurement accuracy；Using the Asia based on Zernike square
Pixel edge location algorithm can be such that measurement is not influenced by image translation or change in size, improve the robustness of test result；
The coordinate transformation process in the resolving of position is simplified, the execution efficiency of position computation is improved.
Detailed description of the invention
Fig. 1 is that the structure of the center of circle positioning device the present invention is based on Embedded geometrical characteristic in conjunction with Zernike square is shown
It is intended to.
Fig. 2 is the structural block diagram that the present invention is center positioning measurment system.
Fig. 3 is that the present invention is round object edge point region division.
There is Detailed description of the invention in figure: 1 is cable wire；2 be embedded board；3 be monocular camera；4 be data signal line；5 are
Circular index point；6 be flexible windsurfing；7 be rack beam.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail: the present embodiment is being with technical solution of the present invention
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
Embodiment one: as shown in Figure 1, based on Embedded geometrical characteristic and Zernike square knot involved in the present embodiment
The center of circle positioning device of conjunction, including cable wire, embedded board, monocular camera, data signal line, circular index point, flexible sail
Plate and rack beam, cable wire are connected to the both ends of rack beam, and one end of cable wire is fixed on monocular camera and embedded development version
On the rack beam being fixedly connected with, circular index point is located above flexible windsurfing and the underface of monocular camera, flexible windsurfing and branch
Frame crossbeam is fixedly connected, and monocular camera is connected by data signal line with embedded board.
Embodiment two: as shown in Fig. 2, based on Embedded geometrical characteristic and Zernike square knot involved in the present embodiment
The center of circle positioning device of conjunction, the embedded board use Jetson TX1.
Embodiment three: as shown in Figure 1, based on Embedded geometrical characteristic and Zernike square knot involved in the present embodiment
The center of circle positioning device of conjunction, the flexibility windsurfing is fixedly connected with one end of rack beam, and flexible windsurfing can side-to-side vibrations.
Example IV: as shown in Fig. 2, based on Embedded geometrical characteristic and Zernike square knot involved in the present embodiment
The center of circle positioning device of conjunction, the monocular camera and embedded board organization center positioning measurment system.
Centralized positioning measuring system includes two parts, respectively monocular camera, embedded board Jetson TX1.Monocular
Camera acquired image is transferred in embedded board Jetson TX1 through USB3.0 interface, in embedded board
The calculating to the center of image is completed by circular index point sub-pix centralized positioning algorithm in Jetson TX1.
Embodiment five: as illustrated in fig. 1 and 2, based on Embedded geometrical characteristic and Zernike square involved in the present embodiment
In conjunction with circle center locating method, specific steps are as follows:
Step 1: original image is obtained into circular edge by Canny operator first, Sobel operator is recycled to obtain gradient
Then direction and amplitude obtain marginal point by the method for non-maxima suppression using the gradient information of image；
Step 2: being extracted using the pixel edge of Radius Constraint and obtain pixel edge, utilizes image point to original image
Segmentation method removes the isolated point and noise in image, obtains a border circular areas, recycles centroid method to the center of circle of border circular areas
(Cx,Cy) and radius r calculated, if P (x, y) is any pixel grade marginal point, constraint expression formula is as follows:
Take whether threshold decision is left object edge point；
Step 3: it in conjunction with the center of circle of coarse positioning and the ideal edge distribution characteristics of circle imaging, is obtained using the method for subregion
The single pixel wide and continuous edge of circle target；
Step 4: after step 3 obtains continuous pixel edge, sub-pixel edge is obtained using Zernike square；
Step 5: carrying out centralized positioning on the basis of sub-pixel edge, is positioned using least square ellipse fitting
The heart.
Threshold value in step 2 is usually 1 compared with Δ.
Embodiment six: as shown in Fig. 2, based on Embedded geometrical characteristic and Zernike square knot involved in the present embodiment
The circle center locating method of conjunction, the location algorithm process that sub-pixel edge is obtained using Zernike square:
Step1: 7 × 7 template { M are calculated00,M11,M20,M31,M40}；
Step2: template { M is utilized00,M11,M20,M31,M40And image each pixel carry out convolution algorithm obtain
{Z00,Z11,Z20,Z31,Z40}；
Step3: a pixel is taken, according to formulaEdge angle φ is calculated, the angle direction is vertical
Linear edge；
Zernike square Z' behind the angle Step4: image rotation φnmWith the Zernike square Z before rotationnmRelationship be
Z'nm=Znme-imφ, further according toCalculate l1,l2, and pass throughTheoretical distance l of the datum point to edge；
Step5: l2It brings intoCalculate background ash
Angle value h, gray scale difference k；
Step6: if the parameter of the pixel meets condition k >=kt∩|l2-l1|≤lt(kt,ltFor judgment threshold), then
The pixel is marginal point, it is assumed that the size of Zernike square is N × N, it is contemplated that enlarge-effect utilizes formulaWherein, (xs,ys) be edge subpixel coordinates, (x, y) indicate edge Pixel-level coordinate,
Calculate sub-pixel edge point coordinate；Otherwise Step3 is returned, pixel calculating is removed.
Embodiment seven: as shown in Fig. 2, based on Embedded geometrical characteristic and Zernike square knot involved in the present embodiment
The circle center locating method of conjunction, the method that least square ellipse fitting carrys out the centre of location are as follows: the objective function of planar elliptical is
F (A, B, C, D, E)=δ2
It is usually to seek each parameter the single order local derviation of above formula, and enable for the method that elliptic parameter A, B, C, D, E are solved
It is 0, can obtain five yuan of systems of linear equations:
Wherein, M5×5For the coefficient matrix of equation group.Solving equations obtain parameters value, if enabling point target center is P
(x0,y0), then its calculation formula is:
Embodiment eight: as shown in Fig. 2, based on Embedded geometrical characteristic and Zernike square knot involved in the present embodiment
The circle center locating method of conjunction, the method that non-maxima suppression is taken are following (wherein a is gradient direction angle):
1) a selects two horizontal neighbors pixels of coordinate (x-1, y) and (x+1, y) in (- 1/2,1/2) section；
2) a selects coordinate for two vertical neighborhood pictures of (x, y-1) and (x, y+1) in the section (- ∞, -2) and (2, ∞)
Element；
3) a selects coordinate for (x-1, y-1), two diagonal neighborhood territory pixels and seat of (x+1, y+1) in (1/2,1) section
It is designated as two horizontal neighbors pixels of (x-1, y) and (x+1, y)；
4) a selects coordinate for (x-1, y-1), two diagonal neighborhood territory pixels and coordinate of (x+1, y+1) in (1,2) section
For the neighborhood territory pixel of two vertical direction of (x, y-1), (x, y+1)；
5) a is (- 2, -1) section, selects coordinate for (x-1, y+1), two diagonal neighborhood territory pixels and seat of (x+1, y-1)
It is designated as the neighborhood territory pixel of two vertical direction of (x, y-1), (x, y+1)；
6) a be (- 1, -1/2) section, select coordinate for (x-1, y+1), (x+1, y-1) two diagonal neighborhood territory pixels with
Coordinate is the neighborhood territory pixel of two horizontal directions of (x-1, y), (x+1, y).
Embodiment nine: as shown in figure 3, based on Embedded geometrical characteristic and Zernike square knot involved in the present embodiment
The circle center locating method of conjunction, Radius Constraint treated the phenomenon that edge often will appear many gaps, in conjunction with the circle of coarse positioning
The ideal edge distribution characteristics of the heart and circle imaging can use the method for subregion to obtain the single pixel wide of round target and continuous
Edge.As shown in figure 3, O is the center of circle of coarse positioning, circumference is divided into 4 big regions first according to coordinate system.Enable straight line L1、
L2、L3And L4Whole circumference is divided into 12 sub-regions, is indicated here with number 1~12.It is any choose a point P on circumference (x,
Y), start to track as starting point using P point and connect marginal point, until returning to starting point.
For known marginal point P (x, y), the affiliated sub-district of the point is judged according to the central coordinate of circle of coarse positioning first
Domain.As shown in figure 3, each subregion has respective preferential tracking and connection direction, also indicated here with number 1~12.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (7)
1. the center of circle positioning device based on Embedded geometrical characteristic in conjunction with Zernike square, which is characterized in that described based on embedding
Entering center of circle positioning device of the geometrical characteristic of formula in conjunction with Zernike square includes cable wire (1), embedded board (2), monocular phase
Machine (3), data signal line (4), circular index point (5), flexible windsurfing (6) and rack beam (7), cable wire (1) are connected to bracket
The both ends of crossbeam (7), the rack beam that one end of cable wire (1) is fixed on monocular camera (3) and embedded development version (2) is fixedly connected with
(7) on, circular index point (5) is located above flexible windsurfing (6) and the underface of monocular camera (3), flexible windsurfing (6) and bracket
Crossbeam (7) is fixedly connected, and monocular camera (3) is connected by data signal line (4) with embedded board (2).
2. the center of circle positioning device according to claim 1 based on Embedded geometrical characteristic in conjunction with Zernike square,
It is characterized in that, the embedded board (2) uses JetsonTX1.
3. the center of circle positioning device according to claim 1 based on Embedded geometrical characteristic in conjunction with Zernike square,
It is characterized in that, the flexibility windsurfing (6) is fixedly connected with one end of rack beam (7), and flexible windsurfing (6) can side-to-side vibrations.
4. the center of circle positioning device according to claim 1 combined based on Embedded geometrical characteristic with Zernike square,
It is characterized in that, the monocular camera (3) and embedded board (2) organization center positioning measurment system.
5. the circle center locating method based on Embedded geometrical characteristic in conjunction with Zernike square, specific steps are as follows:
Step 1: original image is obtained into circular edge by Canny operator first, Sobel operator is recycled to obtain gradient direction
And amplitude, marginal point is then obtained by the method for non-maxima suppression using the gradient information of image；
Step 2: being extracted using the pixel edge of Radius Constraint and obtain pixel edge, utilizes image segmentation side to original image
Method removes the isolated point and noise in image, obtains a border circular areas, recycles centroid method to the center of circle (C of border circular areasx,
Cy) and radius r calculated, if P (x, y) is any pixel grade marginal point, constraint expression formula is as follows:
Take whether threshold decision is left object edge point；
Step 3: in conjunction with the center of circle of coarse positioning and the ideal edge distribution characteristics of circle imaging, circle mesh is obtained using the method for subregion
Target single pixel wide and continuous edge；
Step 4: after step 3 obtains continuous pixel edge, sub-pixel edge is obtained using Zernike square；
Step 5: carrying out centralized positioning on the basis of sub-pixel edge, using least square ellipse fitting come the centre of location.
6. it is according to claim 5 based on Embedded geometrical characteristic in the circular index point that Zernike square combines
Heart localization method, which is characterized in that the location algorithm process that sub-pixel edge is obtained using Zernike square:
Step1: 7 × 7 template { M are calculated00,M11,M20,M31,M40}；
Step2: template { M is utilized00,M11,M20,M31,M40And image each pixel carry out convolution algorithm obtain { Z00,
Z11,Z20,Z31,Z40}；
Step3: a pixel is taken, according to formulaCalculate edge angle φ, the angle direction vertical line side
Edge；
Zernike square Z' behind the angle Step4: image rotation φnmWith the Zernike square Z before rotationnmRelationship be Z'nm=Znme-imφ, further according toCalculate l1,l2, and pass throughDatum point
To the theoretical distance l at edge；
Step5: l2It brings intoCalculating background gray levels h,
Gray scale difference k；
Step6: if the parameter of the pixel meets condition k >=kt∩|l2-l1|≤lt(kt,ltFor judgment threshold), then the picture
Vegetarian refreshments is marginal point, it is assumed that the size of Zernike square is N × N, it is contemplated that enlarge-effect utilizes formulaWherein, (xs,ys) be edge subpixel coordinates, (x, y) indicate edge Pixel-level sit
Mark calculates sub-pixel edge point coordinate；Otherwise Step3 is returned, pixel calculating is removed.
7. the circle center locating method according to claim 5 based on Embedded geometrical characteristic in conjunction with Zernike square,
It is characterized in that, the method that least square ellipse fitting carrys out the centre of location are as follows: the objective function of planar elliptical is
F (A, B, C, D, E)=δ2
It is usually to seek each parameter the single order local derviation of above formula, and enable it be for the method that elliptic parameter A, B, C, D, E are solved
0, five yuan of systems of linear equations can be obtained:
Wherein, M5×5For the coefficient matrix of equation group.Solving equations obtain parameters value, if enabling point target center is P (x0,
y0), then its calculation formula is:
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