CN109186491A - Parallel multi-thread laser measurement system and measurement method based on homography matrix - Google Patents
Parallel multi-thread laser measurement system and measurement method based on homography matrix Download PDFInfo
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- 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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Abstract
The present invention provides a kind of parallel multi-thread laser measurement system and measurement method based on homography matrix, and this method, which is specifically included that, demarcates camera system by plane target drone, obtains camera inside and outside parameter.Laser measurement system is demarcated by stereo target, due to the relatively-stationary characteristic of laser plane and left and right camera plane position, so as to induce the homography relationship between binocular camera left images plane by laser plane, laser system calibrating parameters are obtained.Left image laser rays to be matched is mapped to right image by laser measurement system calibrating parameters, obtains a plurality of mapping laser rays.By calculating the registration of mapping laser rays, correspondence laser rays of the mapping laser rays as laser rays to be matched corresponding to maximum registration is taken, to realize the correct matching of laser rays in left images.According to above-mentioned correct matched laser rays, laser rays three-dimensional data can be reconstructed by binocular stereo vision measuring principle, obtain body surface three-dimensional information.
Description
Technical field
It is specifically a kind of parallel multi-thread sharp based on homography matrix the present invention relates to 3-d laser measurement technical field
Light measurement method.
Background technique
Structured light three-dimensional vision measuring technique is a kind of most common the Literature Lessons in three-dimensional digital field, with
The advantages that its is non-contact, scanning speed is fast, and acquisition contains much information, and precision is high, strong real-time, overcomes the limitation of traditional measurement instrument
Property, become the important means for directly acquiring target with high precision three-dimensional data.It significantly reduces measurement cost, saves the time,
It is easy to use, and have a wide range of application, in engineering survey, deformation monitoring, historical relic's protection, forest and agricultural, medical research, battlefield
There is very big development space in the fields such as emulation.
Currently used zlasing mode has dot laser, line laser, multi-thread laser and network optical mode.Dot laser mould
Under formula, the light beam that laser projecting apparatus issues generates a luminous point in body surface, and camera lens of the luminous point through video camera is in video camera
As forming a two-dimentional picture point in plane.The realization of video camera and light beam line in space with intersect at luminous point, form a kind of letter
Single triangle geometrical relationship.By certain available this triangle geometrical-restriction relation of calibration, and there is it that can determine light
Point is in the spatial position of a certain the known world coordinate system.Dot laser mode meets quick, realization requirement in on-line measurement, still
Its information that can only obtain one point of body surface every time it is small to obtain information content, it is difficult to meet three-dimensional measurement under complex situations and want
It asks.The projection of line laser mode is a laser rays, is crossed to form a striation with object.The striation is due to object surface depth
Variation and possible gap and be modulated, by demarcating to laser system, object can be obtained from line laser
Surface three dimension information, line laser structured light increased compared to dot laser information content, but its scanning process needs move back and forth
Data could be repeatedly improved, and its precision is low, cumulative errors are big, it is difficult to meet the three-dimensional measurement of large-sized object.Multi-thread laser
Mode is the extension of line laser mode, can once project multi-stripe laser line, greatly accelerates scanning speed, and not due to it
It needs to move back and forth, reduces cumulative errors, improve measurement accuracy.But for multi-thread zlasing mode, due to the figure of acquisition
There are multi-stripe laser lines as in, it is difficult to which the matching that corresponding points are carried out using general constraint will appear laser in the matching process
The ambiguity problem of lines matching is difficult to find that its correspondence in another width figure that is, for the laser rays to be matched in piece image
Laser rays.
Summary of the invention
In order to solve the laser lines matching ambiguity problem during multi-thread laser scanning measurement, the present invention provides one kind
Parallel multi-thread laser measurement method based on homography matrix, can effectively calculate the matching laser rays of laser rays to be matched,
To carry out three-dimensional reconstruction to laser rays according to binocular parallax principle.
The present invention provides a kind of parallel multi-thread laser measurement system based on homography matrix, and the measuring system includes extremely
Few two industrial cameras, laser projecting apparatus, object under test and camera optical filter corresponding with industrial camera；Wherein, the industry
Camera is installed on around object under test, and the laser projecting apparatus is located at the same side of the object under test with industrial camera, described
The laser rays direction and industrial camera optical center connection direction of laser projecting apparatus projection are angled, the industrial camera and laser
Relative positional relationship between the projector is fixed.
Further, the quantity of the industrial camera is two, and two industrial cameras are located at the laser projecting apparatus
Two sides.
The present invention also provides the laser measurement method of the parallel multi-thread laser measurement system based on homography matrix, the surveys
Amount method uses a plurality of parallel laser line of laser projecting apparatus projection to intersect with object under test first, the laser rays and laser projection
Device forms laser plane, and industrial camera is for acquiring picture；Laser line thinning is carried out to described image again, single pixel wide is obtained and swashs
Light；The correspondence laser rays that laser rays to be matched is calculated finally by homography constraint, to be calculated by binocular parallax principle
Laser rays three-dimensional data rebuilds body surface three-dimensional information.
Further, the method uses two industrial cameras, and two industrial cameras are located at the laser projecting apparatus
The left and right sides.
Described to carry out laser line thinning to described image again, obtaining single pixel wide laser rays is specially the side for using binaryzation
Method is split laser rays, after obtaining laser rays binary image, is refined, is obtained to image using Hilditch algorithm
The skeleton line of laser rays, then using the skeleton line of refinement as laser rays center initial point, by seeking initial point Hessian matrix
Method calculate initial point normal direction, finally left and right is each centered on initial point in normal orientation selects two points, fitted Gaussian
Curve calculates sub-pix point coordinate of the abscissa corresponding to the peak value of Gaussian curve as laser rays center；At the beginning of all
Initial point carries out the calculating of sub-pix central point, thus the laser center line refined.
Further, the homography is constrained to the homography induced between left images plane using laser plane
Matrix, the homography matrix are
Wherein, x is pixel coordinate in left image, and x' is pixel coordinate in right image, list of the H between left images
Answering property matrix.
Further, the correspondence laser rays that laser rays to be matched is calculated finally by homography constraint, to pass through binocular
Principle of parallax calculate laser rays three-dimensional data, rebuild body surface three-dimensional information, the process specifically includes the following steps:
Step 1: the search of single pixel wide laser rays
Left image laser rays is scanned for according to sequence from left to right, from top to bottom using local growth method, if
Grey scale pixel value is 0, then the pixel is background pixel, is not handled；
If grey scale pixel value is 255, and 8 neighborhood territory pixel numbers of the pixel are 1, and being considered as this pixel is laser strip
The endpoint of line constantly searches for abutment points in 8 contiguous ranges at this moment since the pixel；
If there is the point that pixel is 255 to update it as seed point with regard to its coordinate of immediate record in neighborhood, and it from figure
It is removed as in；Repeat the above search process, another endpoint until searching laser line segment；
The laser rays continued in seed mediated growth method search image is calculated until not having the point of pixel value 255 in image
It is then stored in different files, if it is greater than threshold value due to object by the pixel number for the laser line segment searched for every time respectively
Surface blocks, hole or the reason of image procossing, and laser rays has fracture, therefore the number of files n that search obtainslGreater than 4；
Step 2: laser line match
Appoint and takes nlIn a file nli, i=1,2,3 ..., in nliIn appoint take a point pl=[xl,yl]T, by having demarcated
Homography matrix out, according to formula (3), by plIt is multiplied respectively with 4 homography matrixes, mapping point coordinate p is calculatedri, i
=1,2,3,4；
The method to be added up using successive ignition, takes to be matched laser of the mapping laser rays of maximal degree of coincidence as left image
The correct matching laser rays of line segment, i.e., laser rays to be matched is multiplied with correct homography matrix in left image, obtained mapping
Laser rays maximal degree of coincidence, and be multiplied with the homography matrix of mistake, obtained mapping laser rays registration is small.
Further, the mapping laser rays registration calculating process is:
Laser line segment LlIt is L' by the mapping laser line segment that homography matrix obtainsli, i=1,2,3,4, appoint and takes right image
In a mapping laser rays L'l1, appoint and take L'l1On a point ps, with psCentered on take W × H rectangular neighborhood, W is rectangle length, is taken
The half of laser linewidth, H are the width of rectangle, and pixel in search rectangular neighborhood is counted if pixel gray value is 255
Calculate itself and point psThe direction x difference absolute value, be denoted as di；
Whole contiguous ranges are searched for, d is takeniMiddle minimum value is denoted as d as target valuemin, then substitute into formula (4) and calculate
Single pixel point registration ei,
ei=exp (- 0.1*dmin), i=1,2,3 ... (4)
It is repeated in above procedure from top to bottom, until laser line end.Then the Total contact ratio of laser line segment is calculated
E,
The Total contact ratio for calculating separately mapping laser rays, is denoted as Ei, n=1,2,3,4, compare EiSize, take maximum coincidence
Matching laser rays of the corresponding mapping laser rays as laser rays to be matched is spent, laser rays can be calculated using binocular parallax principle
Three-dimensional information；
Above procedure is repeated, all laser rays three-dimensional informations are rebuild.
The invention has the advantages that for laser lines matching ambiguity problem during multi-thread laser scanning, the present invention
Propose a kind of parallel multi-thread laser measurement method based on homography matrix.This method is according to two cameras and laser projecting apparatus
The fixed characteristic in relative position, induces the homography relationship between left images plane by laser plane, thus to laser
Line is to matching.This method does not need to calculate laser plane equation relative to traditional laser scanning system, reduces
It is cumbersome during system calibrating；This method, which does not need accurate stereo target, to carry out the system parameter of laser plane
Calibration, reduces the cost of scanning system；This method accuracy during matching laser rays pair is high, and efficiency is fast, stability
By force, the three dimensional point cloud precision for scanning acquisition is up to 0.1mm, is able to satisfy the demand of general industry.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is Measuring System Models schematic diagram of the invention；
Fig. 2 is homography conversion schematic diagram；
Fig. 3 is multi-thread laser matching principle figure；
Fig. 4 is registration schematic diagram calculation；
1. left camera in figure, 2. 4. left image of right 3. laser projecting apparatus of camera, 5. right image, 6. laser plane 7. swash
8. object under test of light.
Specific embodiment
Below in conjunction with the attached drawing in present example, technical solution in the embodiment of the present invention carries out clear, complete
Ground description.
Embodiment 1
The parallel multi-thread laser three-dimensional scanning system in the present invention is illustrated first, as shown in Figure 1, the measuring system
It is made of two industrial cameras, 1,2, laser projecting apparatus 3 and two camera optical filters 9, laser projecting apparatus 3 projects a plurality of
Parallel laser line, in the present embodiment for 4, the item number of the parallel laser line is not limited to 4, is crossed to form with object under test
Striation through ovennodulation, striation are located on optical plane in space, while through perspective projection, being imaged on video camera CCD.Herein
Relative to traditional structured light measurement system, the calibration that aiming plane 6 carries out optic plane equations is not needed, it is only necessary to utilize laser
Plane 6 induces the homography matrix between left images plane, therefore calibrates the homography square between left images plane
Battle array is the key that establish three-dimensional measurement model.
It is in left and right camera and to swash that the laser plane 6, which induces the homography matrix principle between left images plane 4,5,
In the case that light projector relative position is fixed, the homography square that plane 6 induces is passed through for a pixel in left image 4
Battle array, can find out its corresponding pixel in right image 5, as shown in Figure 2.
π is a plane in world coordinate system in figure, and the ray of point x is extended and meets at point x with plane ππ, the point quilt
The point projected on another image is x', and there are a perspectives to change H between world coordinate plane π and left image 41π:
X=H1πxπ (1)
Similarly there are perspective transform H between world's coordinate plane and right image 52π:
X'=H2πxπ (2)
The compound of the two perspective transforms is a homograph H between two planes of delineation 4,5:
The present invention carries out parameter to binocular camera using the camera marking method based on two-dimensional surface target of Zhang Zhengyou
Calibration, obtains binocular camera inside and outside parameter, then demarcates to the homography matrix of 4 laser planes 6 induction.Open laser
A plurality of parallel laser line is incident upon on calibration target (here for 4) by the projector, and calibration target could be used without strong reflective
Plaster cast, left and right camera acquires image simultaneously, and repeatedly mobile calibration target, acquires five groups of uncalibrated images respectively.Point
It is other that image procossing, laser line thinning are carried out to every group of uncalibrated image, the laser rays with single pixel wide is extracted, due to laser rays
It is arranged successively in left images according to sequence from left to right, is successively labeled as 1,2,3,4, it respectively will be identical in left images
The laser rays of number is matched, and calculates separately the 4 homography matrix H induced respectively by 4 laser planes 6 by formula 3i
(i=1,2,3,4).
The laser rays 7 refines, for will have the laser rays 7 of one fixed width to be refined into the laser with single pixel wide
Line facilitates and matches below to laser rays.Since laser rays brightness ratio ambient enviroment is high, using the method for binaryzation to laser
Line is split, and after obtaining laser rays binary image, is refined using Hilditch algorithm to image, is obtained laser rays
Skeleton line, then using the skeleton line of refinement as laser rays center initial point, by the method meter for seeking initial point Hessian matrix
The normal direction of initial point is calculated, finally left and right is each centered on initial point in normal orientation selects two points, and fitted Gaussian curve calculates
Sub-pix point coordinate of the abscissa corresponding to the peak value of Gaussian curve as laser rays center.All initial points are carried out sub-
The calculating of pixel center point, thus the laser center line refined.
The multi-thread laser matching is with the detailed process rebuild:
Step 1: the search of single pixel wide laser rays
Left image laser rays is scanned for using local growth method, according to sequence from left to right, from top to bottom, if
Grey scale pixel value is 0, then the pixel is background pixel, is not handled；If grey scale pixel value is 255, and the 8 of the pixel
Neighborhood territory pixel number is 1, the endpoint that this pixel is laser stripe is considered as, at this moment since the pixel, constantly in 8 contiguous ranges
Interior search abutment points.If there is the point that pixel is 255 to update it as seed point with regard to its coordinate of immediate record in neighborhood, and handle
It is removed from image.Repeat above search process, until search laser line segment another endpoint (in 8 neighborhoods there is no
Other abutment points).The laser rays in seed mediated growth method search image is continued with, until there is no the point of pixel value 255 in image.
It is then stored in different files, in this way by the pixel number for calculating the laser line segment searched for every time respectively if it is greater than threshold value
It is to filter out shorter laser line segment.Body surface blocks, due to hole or image procossing, laser rays has disconnected
It splits, therefore the number of files that search obtains may be greater than 4, be denoted as nl。
Step 2: laser line match
Appoint and takes nlIn a file nli(i=1,2,3 ...), in nliIn appoint take a point pl=[xl,yl]T, by having demarcated
4 homography matrixes out, according to formula (3), by plIt is multiplied respectively with 4 homography matrixes, 4 mapping points is calculated and sit
Mark pri(i=1,2,3,4).Had by the Corresponding matching point in two images 4,5 known to binocular vision unique constraints and only one
It is a, so only one in calculated 4 mapping points is point plCorrect match point.As shown in figure 3, correct match point is fallen in
In right image 5 on certain laser rays, and the match point of mistake is not fallen in generally on any laser rays, so by judging mapping point
Whether surrounding has laser rays pixel (referred to as laser rays constraint) that can remove erroneous matching.Due to having multi-stripe laser on image
Line 7, the mapping point of mistake may also be fallen in right image on certain laser rays, and removal institute can not be thus constrained by laser rays
Wrong Mismatching point.The thought that the present invention uses successive ignition to add up, takes the mapping laser rays of maximal degree of coincidence as left image
Laser line segment to be matched correct matching laser rays, i.e., laser rays to be matched and correct homography matrix phase in left image
Multiply, obtained mapping laser rays maximal degree of coincidence, and is multiplied with the homography matrix of mistake, obtained mapping laser rays registration
It is small.
The mapping laser rays registration Computing Principle is:
As shown in figure 4, laser line segment LlIt is L' by the mapping laser line segment that homography matrix obtainsli(i=1,2,3,
4), appoint and take a mapping laser rays L' in right image 5l1.Appoint and takes L'l1One point ps, with psCentered on take W × H rectangular neighborhood, W is
Rectangle length takes the half of laser linewidth, and H is the width of rectangle, takes 1.Pixel in search rectangular neighborhood, if pixel is grey
Angle value is 255, then calculates itself and point psThe direction x difference absolute value, be denoted as di.Whole contiguous ranges are searched for, d is takeniIn most
Small value is used as target value, is denoted as dmin.Then it substitutes into and calculates single pixel point registration e in formula (4)i。
ei=exp (- 0.1*dmin), i=1,2,3 ... (4)
It is repeated in above procedure from top to bottom, until laser line end.Then the Total contact ratio of laser line segment is calculated
E。
The Total contact ratio for calculating separately four mapping laser rays, is denoted as Ei(n=1,2,3,4), compares EiSize, take most
Matching laser rays of the corresponding mapping laser rays of registration as laser rays to be matched greatly, can be calculated using binocular parallax principle
7 three-dimensional information of laser rays.
Above procedure is repeated, all laser rays three-dimensional informations are rebuild.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
It for member, can also make several improvements without departing from the principle of the present invention, these improvement also should be regarded as of the invention
Protection scope.
Claims (9)
1. the parallel multi-thread laser measurement system based on homography matrix, which is characterized in that the measuring system includes at least two
Platform industrial camera, laser projecting apparatus, object under test and camera optical filter corresponding with industrial camera；Wherein,
The industrial camera is installed on around object under test, and the laser projecting apparatus and industrial camera are located at the object under test
The same side, the laser rays direction and industrial camera optical center connection direction of the laser projecting apparatus projection are angled, the work
Relative positional relationship between industry camera and laser projecting apparatus is fixed.
2. the parallel multi-thread laser measurement system according to claim 1 based on homography matrix, which is characterized in that described
The quantity of industrial camera is two, and two industrial cameras are located at the two sides of the laser projecting apparatus.
3. the laser measurement method of the parallel multi-thread laser measurement system according to claim 1 based on homography matrix,
Intersect it is characterized in that, the measurement method uses laser projecting apparatus to project a plurality of parallel laser line first with object under test, institute
It states laser rays and laser projecting apparatus forms laser plane, industrial camera is for acquiring picture；Laser rays is carried out to described image again
Refinement, obtains single pixel wide laser rays；The correspondence laser rays of laser rays to be matched is calculated finally by homography constraint, thus logical
It crosses binocular parallax principle and calculates laser rays three-dimensional data, rebuild body surface three-dimensional information.
4. laser measurement method according to claim 3, which is characterized in that the method use two industrial cameras, two
Platform industrial camera is located at the left and right sides of the laser projecting apparatus.
5. laser measurement method according to claim 3, which is characterized in that described thin to described image progress laser rays again
Change, obtaining single pixel wide laser rays is specially that the method for using binaryzation is split laser rays, obtains laser rays binaryzation
After image, image is refined using Hilditch algorithm, obtains the skeleton line of laser rays, is then with the skeleton line of refinement
Laser rays center initial point calculates the normal direction of initial point by the method for seeking initial point Hessian matrix, finally in normal direction side
Left and right is each centered on initial point upwards selects two points, and fitted Gaussian curve calculates horizontal seat corresponding to the peak value of Gaussian curve
It is denoted as the sub-pix point coordinate for laser rays center；
The calculating that sub-pix central point is carried out to all initial points, thus the laser center line refined.
6. laser measurement method according to any one of claim 3 to 5, which is characterized in that the laser projecting apparatus is thrown
Penetrate 4 parallel laser lines.
7. laser measurement method according to claim 6, which is characterized in that the homography is constrained to flat using laser
Face induces the homography matrix between left images plane, and the homography matrix is
Wherein, x is pixel coordinate in left image, and x' is pixel coordinate in right image, homography of the H between left images
Matrix.
8. laser measurement method according to claim 6, which is characterized in that calculated finally by homography constraint to be matched
The correspondence laser rays of laser rays rebuilds body surface three-dimensional letter to calculate laser rays three-dimensional data by binocular parallax principle
Breath, the process specifically includes the following steps:
Step 1: the search of single pixel wide laser rays
Left image laser rays is scanned for according to sequence from left to right, from top to bottom using local growth method, if pixel
Gray value is 0, then the pixel is background pixel, is not handled；
If grey scale pixel value is 255, and 8 neighborhood territory pixel numbers of the pixel are 1, and being considered as this pixel is laser stripe
Endpoint constantly searches for abutment points in 8 contiguous ranges at this moment since the pixel；
If have in neighborhood pixel be 255 point with regard to its coordinate of immediate record, update it as seed point, and it from image
Removal；Repeat the above search process, another endpoint until searching laser line segment；
The laser rays in seed mediated growth method search image is continued with, until not having the point of pixel value 255 in image, is calculated each
It is then stored in different files, if it is greater than threshold value due to body surface by the pixel number of the laser line segment of search respectively
It blocks, hole or the reason of image procossing, laser rays has fracture, therefore the number of files n that search obtainslGreater than 4；
Step 2: laser line match
Appoint and takes nlIn a file nli, i=1,2,3 ..., in nliIn appoint take a point pl=[xl,yl]T, by what is calibrated
Homography matrix, according to formula (3), by plIt is multiplied respectively with 4 homography matrixes, mapping point coordinate p is calculatedri, i=1,
2,3,4；The method to be added up using successive ignition, takes to be matched laser rays of the mapping laser rays of maximal degree of coincidence as left image
The correct matching laser rays of section, i.e., laser rays to be matched is multiplied with correct homography matrix in left image, and obtained mapping is sharp
Light maximal degree of coincidence, and be multiplied with the homography matrix of mistake, obtained mapping laser rays registration is small.
9. laser measurement method according to claim 6, which is characterized in that the mapping laser rays registration calculating process
It is: laser line segment LlIt is L' by the mapping laser line segment that homography matrix obtainsli, i=1,2,3,4, appoint and takes one in right image
Item maps laser rays L'l1, appoint and take L'l1On a point ps, with psCentered on take W × H rectangular neighborhood, W is rectangle length, takes laser
The half of line width, H are the width of rectangle, and pixel in search rectangular neighborhood calculates it if pixel gray value is 255
With point psThe direction x difference absolute value, be denoted as di；
Whole contiguous ranges are searched for, d is takeniMiddle minimum value is denoted as d as target valuemin, then substitute into formula (4) and calculate individually
Pixel registration ei,
ei=exp (- 0.1*dmin), i=1,2,3 ... (4)
It is repeated in above procedure from top to bottom, until laser line end.Then the Total contact ratio E of laser line segment is calculated,
The Total contact ratio for calculating separately mapping laser rays, is denoted as Ei, n=1,2,3,4, compare EiSize, take maximum registration pair
Matching laser rays of the mapping laser rays answered as laser rays to be matched can calculate laser rays three-dimensional using binocular parallax principle
Information；Above procedure is repeated, all laser rays three-dimensional informations are rebuild.
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