CN109084959A - A kind of parallelism of optical axis bearing calibration based on binocular location algorithm - Google Patents
A kind of parallelism of optical axis bearing calibration based on binocular location algorithm Download PDFInfo
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Abstract
The invention discloses a kind of parallelism of optical axis bearing calibrations based on binocular location algorithm, comprising the following steps: two-way optical system to be corrected is fixed on adjustment rack first；Then left and right view field image of the acquisition characteristics target in two-way optical system；Two optical axis coplanar horizontals that adjustment rack makes optical system are adjusted later；Left and right view field image of the acquisition characteristics target in two-way optical system again later；Then the real standard parallax of characteristic target is obtained using binocular location algorithm；Ranging is carried out to characteristic target again, and seeks the desirable level parallax of characteristic target using binocular location algorithm；Finally more above two parallax is adjusted the optical axis of optical system if the two etc., until two kinds of parallaxes are consistent, completes system optical axis parallel alignment.Method of the invention is good to system optical axis parallel alignment effect, and precision is high, can effectively improve the parallelism of optical axis of multiaxis optical system, and improve the convenience of optical axis calibrator.
Description
Technical field
The present invention relates to photoelectronic imaging field, in particular to a kind of parallelism of optical axis correction side based on binocular location algorithm
Method.
Background technique
Binocular system and image fusion system are widely used in military investigation, can be under complex scene
Target is scanned for, detects, aims at, is tracked.In order to guarantee that optical system obtains the accuracy of target information, improves to see and take aim at effect
Fruit and image co-registration quality, play its system advantage to greatest extent, it is necessary to carry out adjustment to the optical axis of optical system.Except this it
Outside, with naked eye 3D, bionical parallel, augmented reality, three-dimensional reconstruction development, a large amount of sci-tech products start universal double light
Axis, more optical axis optical systems, such as a plurality of smart phones improve image quality and user experience using dual camera.Optical system
Parallelism of optical axis directly affects the functional effect of above-mentioned sci-tech product, thus it is guaranteed that the system optical axis depth of parallelism is in certain model
It encloses interior most important.
Traditional parallelism of optical axis calibration method includes projection target method, small-bore light pipe method and heavy caliber collimator method
Deng.Wherein, projection target method carries out optical axis correction using mirror, and principle is simple, but the subjectivity that need to rely on people sentences knowledge, and precision can
It is lower by property；Although collimator method measurement accuracy is relatively high, operating difficulties, error link are more, cost of manufacture is high.It is above-mentioned
Optical axis bearing calibration is chiefly used in stationary applica-tions, and poor mobility, condition require height, especially for the light occurred in system use process
Axis deviation has very weak ambient adaptability.
And for wide baseline optical system, especially image fusion system, due to its two-way image-forming principle and response wave band
Difference, carrying out adjustment using traditional optical axis bearing calibration has very big difficulty.Therefore, research and develop that a kind of method is simple, correction essence
Optical axis bearing calibration high and that the wide baseline optical systematic optical axis depth of parallelism can be corrected well is spent to have great importance.
Summary of the invention
The purpose of the present invention is to provide a kind of parallelism of optical axis bearing calibrations based on binocular location algorithm.
The technical solution for realizing the aim of the invention is as follows: a kind of parallelism of optical axis correction side based on binocular location algorithm
Method, comprising the following steps:
Two optical paths of two-way optical system to be corrected are individually fixed on adjustment rack by step 1；
Step 2 carries out Image Acquisition to characteristic target I, obtains image of the characteristic target I in left and right visual field and is respectively
Left view image A, right view image B；
Step 3 is adjusted the adjustment rack according to left view image A, right view image B, so that described to be corrected double
Two optical axis coplanar horizontals of road optical system；
Step 4 carries out Image Acquisition to characteristic target I using step 3 two-way optical system to be corrected adjusted, obtains
Image of the characteristic target I in left and right visual field is respectively left view image C, right view image D；
Step 5 is handled left view image C, right view image D using binocular location algorithm, obtains characteristic target I on a left side
Real standard parallax △ x in visible image C, right view image D1；
Step 6 carries out ranging to characteristic target I, obtains the actual range L of characteristic target I；It is asked using binocular location algorithm
Take characteristic target I when described two optical axises of two-way optical system to be corrected are substantially parallel in left view image E, right view image F
Desirable level parallax △ x；
The real standard parallax △ x that step 7, judgment step 5 obtain1Whether the desirable level parallax △ x obtained with step 6
There are deviations, and deviation, thens follow the steps 8 if it exists；Otherwise terminate two-way system optical axis parallel alignment to be corrected；
Step 8 is adjusted the optical axis of two optical paths in the two-way optical system to be corrected, until real standard regards
Poor △ x1It is consistent with desirable level parallax △ x, complete two-way system optical axis parallel alignment to be corrected.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) present method avoids use parallel light tube,
It is at low cost；(2) adjustment is carried out using binocular location algorithm in method of the invention, it can be by field of view (fov) registration precision controlling in Pixel-level
In not, precision is high；(3) method of the invention is good to the parallelism of optical axis calibration result of more optical axis optical systems of wide baseline；(4)
The method of the present invention using binocular location algorithm and according to binocular image match carry out optical axis correction, by image matching algorithm into
After row optimization, may be equally applied to multi-source image pattern of fusion optical system, as infrared detector and visible light/fainter light detector it
Between optical axis correction etc..
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of the parallelism of optical axis bearing calibration of binocular location algorithm.
Fig. 2 is binocular location algorithm schematic diagram in the present invention.
Fig. 3 is the adjustment bench frame apparatus schematic diagram that the present invention uses, and representative meaning is numbered in figure are as follows: 1- optics is flat
Platform, 2- angular adjustment knob, 3- optical frame, 4- vertical adjusting screw rod, 5- five tie up regulating platform, 6- Level tune screw rod, 7- essence
Close lifting thin bar.
Fig. 4 is the target image acquired before Photoperiodic effects of the embodiment of the present invention, wherein figure (a) is left view image, figure (b) is
Right view image.
Fig. 5 is the Prototype drawing of characteristic target I selected in the embodiment of the present invention.
Fig. 6 is that optical axis of the embodiment of the present invention is adjusted to the target image acquired after coplanar horizontal, wherein figure (a) is left view
Picture, figure (b) are right view image.
Fig. 7 is the target image of acquisition after the completion of Photoperiodic effects of the embodiment of the present invention, wherein figure (a) is left view image, figure
It (b) is right view image.
Specific embodiment
In conjunction with Fig. 1, the parallelism of optical axis bearing calibration of the invention based on binocular location algorithm the following steps are included:
Two optical paths of two-way optical system to be corrected are individually fixed on adjustment rack by step 1.Wherein adjust rack
Regulating platform 5, Level tune screw rod are tieed up including optical platform 1, angular adjustment knob 2, optical frame 3, vertical adjusting screw rod 4, five
6, accurate lifting thin bar 7；Two five dimension regulating platforms 5 are arranged side by side in the top of optical platform 1, are respectively provided on each five dimensions regulating platform
Optical frame 3 is respectively provided with corresponding optical system in each optical frame；Wherein angle tune is also equipped on each five dimensions regulating platform
Save knob 2, vertical adjusting screw rod 4 and Level tune screw rod 6；The precision for adjusting its height is arranged in the lower section of optical platform 1
Go up and down thin bar 7.
Step 2 carries out Image Acquisition to characteristic target I, obtains image of the characteristic target I in left and right visual field and is respectively
Left view image A, right view image B.
Step 3 is adjusted the adjustment rack according to left view image A, right view image B, so that described to be corrected double
Two optical axis coplanar horizontals of road optical system.Specifically:
Step 3-1, left view image A is sought using matching algorithm, the coordinate value of right view image B match point is respectively (x1,
y1)、(x2,y2)；Wherein matching algorithm is specifically using the matching algorithm based on gray scale cross-correlation；Specifically:
Step 3-1-1, matching target template T (m, n), the upper left of record matching target template are chosen in left view image A
Angular coordinate and as the coordinate value (x of match point in left view image A1,y1)；Wherein, m, n are respectively selected matching target mould
The size dimension of plate；
Step 3-1-2, the matching target template in step 3-1-1 is moved in right view image B, when moving each time
Region subgraph with target template covering right view image B is Si,j(m,n)；Wherein, i, j are respectively region subgraph top left corner pixel
Cross, the ordinate of point；
Step 3-1-3, it seeks matching region subgraph S in target template T (m, n) and step 3-1-2 in step 3-1-1i,j
The similarity of (m, n)；Similarity seek specifically utilizing is normalized cross-correlation function:
In formula, T (m, n) is matching target template, Si,j(m, n) is the region subgraph of template covering, and m, n are respectively selected
The size dimension of target template is matched, i, j are respectively cross, the ordinate of region subgraph top left corner pixel point, and M, N respectively indicate spy
Survey the size of the left and right visible image of device acquisition；
Step 3-1-4, using the centre coordinate of the corresponding matching target template of step 3-1-3 similarity maximum as right view
Coordinate value (the x of match point in image B2,y2)；
Step 3-2, according to y1、y2Relative deviation adjust adjustment rack until meet y1=y2, to make the two-way light
Two optical axis coplanar horizontals of system.
Step 4 carries out Image Acquisition to characteristic target I using step 3 two-way optical system to be corrected adjusted, obtains
Image of the characteristic target I in left and right visual field is respectively left view image C, right view image D.
Step 5 is handled left view image C, right view image D using binocular location algorithm, obtains characteristic target I on a left side
Real standard parallax △ x in visible image C, right view image D1.Specifically:
Step 5-1, characteristic target I is obtained in left view image C, right view image using the matching algorithm based on gray scale cross-correlation
The coordinate value of match point is respectively Q in D1(Xleft,Yleft),Q2(Xright,Yright)；
Step 5-2, according to the coordinate Q in step 5-11(Xleft,Yleft),Q2(Xright,Yright) seek real standard parallax
For △ x1Are as follows:
△x1=(Xleft-Xright)×pixel
In formula, pixel is detector pixel dimension.
Step 6 carries out ranging to characteristic target I, obtains the actual range L of characteristic target I, specifically:
Step 6-1, n' ranging is carried out to characteristic target I using laser distance measurement method, obtains n' ranging numerical value, remember Li
For i-th ranging numerical value；
Step 6-2, the actual range L for obtaining characteristic target I is averaging to the n' ranging numerical value of step 6-1:
Characteristic target I is sought using binocular location algorithm to be substantially parallel in described two optical axises of two-way optical system to be corrected
When left view image E, right view image F in desirable level parallax △ x；Specifically:
The actual range L of characteristic target I and left side when two optical axises are substantially parallel in the two-way optical system to be corrected
The relationship between desirable level parallax △ x in visible image E, right view image F are as follows:
In formula, b is the baseline length of the two-way optical system to be corrected, and f is the two-way optical system to be corrected
Focal length；
Desirable level parallax △ x is reversely solved according to the actual range L of characteristic target I are as follows:
The real standard parallax △ x that step 7, judgment step 5 obtain1Whether the desirable level parallax △ x obtained with step 6
There are deviations, and deviation, thens follow the steps 8 if it exists；Otherwise terminate two-way system optical axis parallel alignment to be corrected；
Step 8 is adjusted the optical axis of two optical paths in the two-way optical system to be corrected, until real standard regards
Poor △ x1It is consistent with desirable level parallax △ x, complete two-way system optical axis parallel alignment to be corrected.
Below with reference to embodiment, the present invention will be further described in detail.
Embodiment
For a biaxial optical system as research object, parallelism of optical axis bearing calibration of the present invention is verified.
Two-way optical system design parameter to be corrected are as follows: the focal length f of two-way optical system is 75mm, and optical system baseline b is 200mm,
Detector pixel dimension pixel selected by Image Acquisition is 2.75 μm.
In conjunction with Fig. 1, the present invention is based on the parallelism of optical axis bearing calibrations of binocular location algorithm, comprising the following steps:
Two optical paths of two-way optical system to be corrected are individually fixed on adjustment rack by step 1.It is described in conjunction with Fig. 3
Adjustment rack includes optical platform 1, angular adjustment knob 2, optical frame 3, the dimension of vertical adjusting screw rod 4, five regulating platform 5, level
Adjusting screw rod 6, accurate lifting thin bar 7.Using optical platform 1 as optical mount, the top of optical platform 1 is covered with mounting hole.It is logical
It crosses mounting hole two five dimension regulating platforms 5 are fixed on side by side on optical platform 1, fixed optical frame on each five dimensions regulating platform
3, convenient for two-way optical system to be corrected is fixed.
Step 2 carries out Image Acquisition to characteristic target I, obtains image of the characteristic target I in left and right visual field and is respectively
Shown in left view image A such as Fig. 4 (a), shown in right view image B such as Fig. 4 (b).
Step 3 is adjusted the adjustment rack according to left view image A, right view image B, so that described to be corrected double
Two optical axis coplanar horizontals of road optical system.The present embodiment step specifically:
Step 3-1, the seat of left view image A, right view image B match point are sought using the matching algorithm based on gray scale cross-correlation
Scale value；Specifically:
Step 3-1-1, matching target template T (m, n)=T (24,82) is chosen in left view image A, matches target template
As shown in figure 5, the coordinate in the record matching target template upper left corner and as the coordinate value (x of match point in left view image A1,
y1)=(1235,409)；
Step 3-1-2, the matching target template in step 3-1-1 is moved in right view image B, when moving each time
Region subgraph with target template covering right view image B is Si,j(m, n)=Si,j(24,82)；Wherein, i, j are respectively region
Cross, the ordinate of figure top left corner pixel point；
Step 3-1-3, using normalized cross-correlation function seek in step 3-1-1 match target template T (24,82) with
Subgraph S in region in step 3-1-2i,j(24,82) similarity；
Step 3-1-4, using the centre coordinate of the corresponding matching target template of step 3-1-3 similarity maximum as right view
Coordinate value (the x of match point in image B2,y2)=(125,649).
Step 3-2, according to y1、y2Relative deviation adjust adjustment rack until meet y1=y2, to make described to be corrected
Two optical axis coplanar horizontals of two-way optical system.
Step 4 carries out Image Acquisition to characteristic target I using step 3 two-way optical system to be corrected adjusted, obtains
Image of the characteristic target I in left and right visual field be respectively shown in left view image C such as Fig. 6 (a), right view image D such as Fig. 6 (b) institute
Show.
Step 5 is handled left view image C, right view image D using binocular location algorithm, obtains characteristic target I on a left side
Real standard parallax in visible image C, right view image D is △ x1.The step in the present embodiment specifically:
Step 5-1, characteristic target I is obtained in left view image C, right view image using the matching algorithm based on gray scale cross-correlation
The coordinate value of match point is respectively as follows: Q in D1(Xleft,Yleft)=(1235,409), Q2(Xright,Yright)=(137,409), it obtains
Its real standard parallax are as follows: Xleft-Xright=1098；
Step 5-2, according to the coordinate Q in step 5-11(Xleft,Yleft),Q2(Xright,Yright) seek real standard parallax
△x1Are as follows:
△x1=(Xleft-Xright) × pixel=1098 × 2.75 × 10-6=3.0195 × 10-3。
Step 6 carries out ranging to characteristic target I, obtains the actual range L of characteristic target I；It is asked using binocular location algorithm
Take characteristic target I when described two optical axises of two-way optical system to be corrected are substantially parallel in left view image E, right view image F
Desirable level parallax is △ x.The actual range L of characteristic target I is obtained in the present embodiment, specifically:
Step 6-1,9 rangings are carried out to characteristic target I using laser distance measurement method, obtains 9 ranging numerical value such as the following table 1
It is shown, remember LiFor i-th ranging numerical value；
| Group number | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| Distance measurement result | 107 | 107 | 106 | 107 | 106 | 107 | 107 | 107 | 106 |
Step 6-2,9 ranging numerical value of step 6-1 are averaging with the actual range L for obtaining characteristic target I:
It is complete that using binocular location algorithm characteristic target I two optical axises in the two-way optical system are sought in the present embodiment
Desirable level parallax △ x when complete parallel in left view image E, right view image F；Specifically:
The actual range L of characteristic target I and left view image when two optical axises are substantially parallel in the two-way optical system
E, the relationship between the desirable level parallax △ x in right view image F are as follows:
In formula, b is the baseline length of the two-way optical system, and f is the focal length of the two-way optical system；
Desirable level parallax △ x is reversely solved according to the actual range L of characteristic target I are as follows:
X=140.19 × 10 △-6
△ x=(Xleft-Xright)×pixel
The real standard parallax △ x that step 7, judgment step 5 obtain1Whether the desirable level parallax △ x obtained with step 6
There are deviation, the present embodiment △ x1And there are deviations by △ x, therefore execute step 8.
Step 8 is adjusted the optical axis of two optical paths in the two-way optical system to be corrected, makes real standard parallax
△x1It is consistent with desirable level parallax △ x, complete two-way system optical axis parallel alignment to be corrected.
The left and right visible image of target such as Fig. 7 (a) after the completion of two-way system optical axis parallel alignment, shown in 7 (b),
The coordinate value of left and right visible image match point is respectively Q1(Xleft,Yleft)=(403,431), Q2(Xright,Yright)=(352,
431), thus correct after real standard parallax are as follows: Xleft-Xright=51, it is consistent with desirable level parallax, show that optical axis is complete
In parallel, method of the invention is thus verified to work well to system optical axis parallel alignment.
Method of the invention is good to system optical axis parallel alignment effect, and precision is high, effectively raises multiaxis light
The parallelism of optical axis of system improves the convenience of optical axis calibrator.
Claims (8)
1. a kind of parallelism of optical axis bearing calibration based on binocular location algorithm, which comprises the following steps:
Two optical paths of two-way optical system to be corrected are individually fixed on adjustment rack by step 1；
Step 2 carries out Image Acquisition to characteristic target I, and obtaining image of the characteristic target I in left and right visual field is respectively left view
Image A, right view image B；
Step 3 is adjusted the adjustment rack according to left view image A, right view image B, so that the two-way light to be corrected
Two optical axis coplanar horizontals of system；
Step 4 carries out Image Acquisition to characteristic target I using step 3 two-way optical system to be corrected adjusted, obtains feature
Image of the target I in left and right visual field is respectively left view image C, right view image D；
Step 5 is handled left view image C, right view image D using binocular location algorithm, obtains characteristic target I in left view
As the real standard parallax △ x in C, right view image D1；
Step 6 carries out ranging to characteristic target I, obtains the actual range L of characteristic target I；Spy is sought using binocular location algorithm
Levy ideal of the target I when described two optical axises of two-way optical system to be corrected are substantially parallel in left view image E, right view image F
Horizontal parallax △ x；
The real standard parallax △ x that step 7, judgment step 5 obtain1The desirable level parallax △ x obtained with step 6 whether there is
Deviation, deviation, thens follow the steps 8 if it exists；Otherwise terminate two-way system optical axis parallel alignment to be corrected；
Step 8 is adjusted the optical axis of two optical paths in the two-way optical system to be corrected, until real standard parallax △
x1It is consistent with desirable level parallax △ x, complete two-way system optical axis parallel alignment to be corrected.
2. the parallelism of optical axis bearing calibration according to claim 1 based on binocular location algorithm, which is characterized in that step
Adjustment rack described in 1 includes optical platform (1), angular adjustment knob (2), optical frame (3), vertical adjusting screw rod (4), five
Tie up regulating platform (5), Level tune screw rod (6), accurate lifting thin bar (7)；
Two five dimension regulating platforms (5) are arranged side by side in the top of the optical platform (1), are respectively provided with optics on each five dimensions regulating platform
Mirror holder (3) is respectively provided with corresponding optical system in each optical frame；Wherein angular adjustment is also equipped on each five dimensions regulating platform
Knob (2), vertical adjusting screw rod (4) and Level tune screw rod (6)；The lower section of optical platform (1) is arranged for adjusting its height
Accurate lifting thin bar (7).
3. the parallelism of optical axis bearing calibration according to claim 1 based on binocular location algorithm, which is characterized in that step
3 it is described the adjustment rack is adjusted according to left view image A, right view image B so that two of the two-way optical system
Optical axis coplanar horizontal, specifically:
Step 3-1, left view image A is sought using matching algorithm, the coordinate value of right view image B match point is respectively (x1,y1)、
(x2,y2)；Wherein matching algorithm is specifically using the matching algorithm based on gray scale cross-correlation；
Step 3-2, according to y1、y2Relative deviation adjust adjustment rack until meet y1=y2, to make the two-way to be corrected
Two optical axis coplanar horizontals of optical system.
4. the parallelism of optical axis bearing calibration according to claim 3 based on binocular location algorithm, which is characterized in that step
3-1 specifically:
Step 3-1-1, matching target template T (m, n), the seat in the record matching target template upper left corner are chosen in left view image A
It marks and as the coordinate value (x of match point in left view image A1,y1)；Wherein, m, n are respectively selected matching target template
Size dimension；
Step 3-1-2, the matching target template in step 3-1-1 is moved in right view image B, mesh is matched when moving each time
The region subgraph for marking template covering right view image B is Si,j(m,n)；Wherein, i, j are respectively region subgraph top left corner pixel point
Horizontal, ordinate；
Step 3-1-3, it seeks matching region subgraph S in target template T (m, n) and step 3-1-2 in step 3-1-1i,j(m,n)
Similarity；
Step 3-1-4, using the centre coordinate of the corresponding matching target template of step 3-1-3 similarity maximum as right view image
Coordinate value (the x of match point in B2,y2)。
5. the parallelism of optical axis bearing calibration according to claim 4 based on binocular location algorithm, which is characterized in that step
In 3-1-3 similarity seek specifically utilizing is normalized cross-correlation function:
In formula, T (m, n) is matching target template, Si,j(m, n) is the region subgraph of template covering, and m, n are respectively selected matching
The size dimension of target template, i, j are respectively cross, the ordinate of region subgraph top left corner pixel point, and M, N are respectively that detector is adopted
The size of the left and right visible image of collection.
6. the parallelism of optical axis bearing calibration according to claim 1 based on binocular location algorithm, which is characterized in that step
5 it is described left view image C, right view image D are handled using binocular location algorithm, obtain characteristic target I left view image C,
Real standard parallax △ x in right view image D1, specifically:
Step 5-1, characteristic target I is obtained in left view image C, right view image D using the matching algorithm based on gray scale cross-correlation
The coordinate value of match point is respectively Q1(Xleft,Yleft),Q2(Xright,Yright)；
Step 5-2, according to the coordinate Q in step 5-11(Xleft,Yleft),Q2(Xright,Yright) seek real standard parallax △ x1
Are as follows:
△x1=(Xleft-Xright)×pixel
In formula, pixel is detector pixel dimension.
7. the parallelism of optical axis bearing calibration according to claim 1 based on binocular location algorithm, which is characterized in that step
Ranging is carried out to the characteristic target I in 6, obtains the actual range L of characteristic target I, specifically:
Step 6-1, n' ranging is carried out to characteristic target I using laser distance measurement method, obtains n' ranging numerical value, remember LiIt is i-th
Secondary ranging numerical value；
Step 6-2, the actual range L for obtaining characteristic target I is averaging to the n' ranging numerical value of step 6-1:
8. the parallelism of optical axis bearing calibration according to claim 1 based on binocular location algorithm, which is characterized in that step
It is left when seeking characteristic target I using binocular location algorithm described in 6 two optical axises are substantially parallel in the two-way optical system
Desirable level parallax in visible image E, right view image F is △ x；Specifically:
The actual range L of characteristic target I and left view when two optical axises are substantially parallel in the two-way optical system to be corrected
As the relationship between the desirable level parallax △ x in E, right view image F are as follows:
In formula, b is the baseline length of the two-way optical system to be corrected, and f is the focal length of the two-way optical system to be corrected；
Desirable level parallax △ x is reversely solved according to the actual range L of characteristic target I are as follows:
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| CN111382591A (en) * | 2018-12-27 | 2020-07-07 | 海信集团有限公司 | Binocular camera ranging correction method and vehicle-mounted equipment |
| CN113865834A (en) * | 2021-11-23 | 2021-12-31 | 中国航空工业集团公司洛阳电光设备研究所 | Quick adjusting device of aircraft photoelectric equipment |
| CN114624005A (en) * | 2022-01-21 | 2022-06-14 | 欧拓飞科技(珠海)有限公司 | AR and VR high-precision testing equipment and detection method thereof |
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