CN109323650A - Image visual transducer and the unified approach for putting ligh-ranging sensor measurement coordinate system - Google Patents
Image visual transducer and the unified approach for putting ligh-ranging sensor measurement coordinate system Download PDFInfo
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- CN109323650A CN109323650A CN201810093841.XA CN201810093841A CN109323650A CN 109323650 A CN109323650 A CN 109323650A CN 201810093841 A CN201810093841 A CN 201810093841A CN 109323650 A CN109323650 A CN 109323650A
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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
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Abstract
The unified approach of image visual transducer and point ligh-ranging sensor measurement coordinate system, solves, process cumbersome, precision unstable problem unified using High-precision standard block coordinate system.The method of use is that multiple imaging sensor obtains the image information of plane reference plate sheet, and point ligh-ranging sensor obtains the point cloud data information on this surface of plane reference plate；The inner parameter and external parameter of imaging sensor are demarcated；The three dimensional reconstruction of calibration point on plane reference plate；Obtain the fit Plane of each posture lower plane scaling board；It determines image visual transducer and puts the spin matrix and translation vector parameter between ligh-ranging sensor coordinate system.This method has the features such as being simple and efficient, precision is high, stable and low in cost.
Description
Technical field
The invention belongs to non-touch precision measurement fields, and in particular to a kind of binocular stereo visual sensor and point ligh-ranging
In the Fusion Measurement System that sensor is constituted, the unification side of binocular stereo visual sensor and point ligh-ranging sensor coordinate system
Method.It may be based on binocular stereo visual sensor structure light scan and point ligh-ranging sensor fusion row complex parts are non-
Contact measurement provides a kind of coordinate system unified approach of high-efficiency and precision.
Background technique
In complex-curved non-cpntact measurement field, optical measuring method is new method developed in recent years, obtains people
It is more and more pay attention to and be more and more widely used, such as: structure light scan method, optic triangle method, holographic interferometry.It is double
The structure light scan method of item stereo vision sensor passes through spectrum assignment optimization, image enhancement, multi-angle of view measurement optimization scheduling algorithm
With technology, have been able to directly measure general polished surface, be quickly obtained arbitrary surface partial data (10000 points/
Second).But due to the limitation of measuring principle, cannot achieve the precise measurement of higher curvature, minor radius feature, measurement accuracy is low.And
Based on the point light sources measuring technique such as the trigonometry of the luminous point of ligh-ranging sensor and holographic interference, (spot diameter minimum is reachable
3.5 μm), there is the ability that can measure high reflecting surface, do not need radius compensation, cooperate precise flange system, surveying
Higher curvature, minor radius feature precise measurement may be implemented after amount path planning, measurement accuracy is high, but measurement efficiency is low.Optics
Mensuration has become the development trend of complex curved surface parts detection.But there is apparent technologies for single optical measuring method
Limitation, it is difficult to meet a variety of demands such as measuring speed is fast, precision is high and data are complete.Therefore, binocular tri-dimensional is made full use of
Feel that the structure light scan measuring speed of sensor is fast and puts the holographic interferometry technical advantage with high accuracy of ligh-ranging sensor,
It is the effective means for realizing complex-curved quickly accurate full-scale measurement.How to be sat according to realization the characteristics of two kinds of sensors is global
The fast precise that mark is demarcates (unification), is the premise for realizing two kinds of optical sensors fusion measurements, to guarantee whole system
Measurement accuracy is most important.The global coordinate system unified approach of precise high-efficiency, to realize that structure light scan and holographic interference are this kind of
With speed fastly and more optical sensors with high accuracy fusion measurement to provide a kind of effective technological means be very necessary.
Summary of the invention
Survey is merged with four axis of point ligh-ranging sensor based on binocular stereo vision the purpose of the present invention is to provide a kind of
The global coordinate system unified approach of amount system realizes accurate acquisition and the Precision measurement of tested part complete point cloud data.The party
Method has the features such as being simple and efficient, precision is high, stable and low in cost.
The technical solution that the present invention realizes that goal of the invention uses includes the following steps:
Plane reference plate with regularly arranged index point is fixed on the workbench of four-axle linked equipment by step 1., and binocular is vertical
Body vision imaging sensor obtains the image information under the state of this installation of plane reference plate, and point ligh-ranging sensor obtains plane
The point cloud data information of the state lower surface of this installation of scaling board；
Step 2. repeats step 1 and is obtained in the image information and plane scaling board surface of one group of difference posture plane reference plate altogether
Point cloud data information；
The image information for one group of difference posture plane reference plate that step 3. is obtained according to step 2 passes binocular stereo vision image
The inner parameter of sensor: focal length, picture centre, lens distortion and external parameter: spin matrix and translation vector are demarcated；
Calibration point information is corresponded on the plane reference plate of inner parameter, external parameter and acquisition that step 4. is obtained according to step 3,
Carry out the three dimensional reconstruction of one group of calibration point on plane reference plate in different positions；
The three-dimensional coordinate of the calibration point on plane reference plate in different positions of step 5. obtain according to step 4 one group, using with
Machine consistency algorithm carries out plane fitting, obtains the fit Plane of each posture lower plane scaling board；
The fit Plane and step 2 ligh-ranging for each posture lower plane scaling board that step 6. is obtained according to step 5 sense
The point cloud data information in one group of difference posture plane reference plate surface that device obtains, according to the point cloud data midpoint under same posture
The distance of fit Plane constructs optimization object function under to same posture, arrives plane by the optimization object function solution point of building
Lowest distance value determines in Fusion Measurement System between binocular stereo vision imaging sensor and point ligh-ranging sensor coordinate system
Spin matrix and translation vector parameter.
The beneficial effects of the present invention are: solving this based on binocular stereo vision and point ligh-ranging sensing in the prior art
The global coordinate system calibration process of the Fusion Measurement System of device is cumbersome, additionally makes high cost precision standard block and low precision etc. asks
Topic.The present invention does not need additionally to make High-precision standard block, merely with the plane target for binocular vision calibration, in binocular vision
Feel parameter calibration in the process realizes global coordinate system calibration simultaneously.It can be direct to take full advantage of dot laser distance measuring sensor
The characteristic of the strong reflecting surface of high-acruracy survey and binocular stereo vision rapid survey complex surface, realize complex-curved high-precision,
Rapid survey provides a kind of effective global coordinate system calibration technique means.This method, which has, to be simple and efficient, precision is high, stablize and
The features such as low in cost.
In order to which goal of the invention of the invention, technical solution and beneficial effect is more clearly understood, below in conjunction with attached drawing and
Embodiment, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this
Invention, is not intended to limit the present invention.
Detailed description of the invention
Attached drawing 1 is global coordinate system scaling method flow chart of the present invention.
Attached drawing 2 is plane fitting result schematic diagram of the present invention.
Specific embodiment
Image visual transducer and point ligh-ranging sensor measurement coordinate are unified approach, and this method is based on four-axle linked
Equipment realizes binocular stereo vision imaging sensor and point ligh-ranging by means of the plane reference plate with regularly arranged index point
The coordinate system unified approach for the Fusion Measurement System that sensor is constituted, this method are realized by following steps:
Plane reference plate with regularly arranged index point is fixed on the workbench of four-axle linked equipment by step 1., and binocular is vertical
Body vision imaging sensor obtains the image information under the state of this installation of plane reference plate, and point ligh-ranging sensor obtains plane
The point cloud data information of the state lower surface of this installation of scaling board.
Step 1 plane reference plate used in the examples is the dot matrixes feature of 9 row * 11 column, and plane reference plate can also
To use other features such as gridiron pattern, concentric circles.The scaling board under shooting at least five different positions and pose is used during the calibration process
Image, all poses will guarantee to cover entire binocular stereo vision camera 1 and camera 2(imaging sensor as far as possible) effective view
?.After binocular stereo vision (imaging sensor) system has clapped image under each pose, three-axis control system drives point light
Distance measuring sensor moves in effective field depth of distance calibration plate the acquisition for carrying out surface three dimension point cloud.
In step 1 embodiment using point ligh-ranging sensor when being shot to the scaling board under each pose, to protect
The precision of card acquisition data, uses a kind of scan control strategy, specifically: servo antrol scanning, which is carried out, in calibration plate surface obtains
Two rectilinear points of calibration plate surface both horizontally and vertically are taken, first survey the upper left position that measuring head is moved to scaling board
Amount obtains first point, carries out second point of traverse measurement by the intrinsic step-length that sets, subtracts the with the Z value of first point
The Z value of two points judges can or can not be beyond field depth in the case where mobile fixed step size, and then measures the tune of distance
It is whole.Iteration is until getting the first row point data in this way.First row point data value is obtained using same method.So
Planar fit method fit Plane is used afterwards.We can arbitrarily be obtained by solving the method for surface point after obtaining the plane
Us are taken to want the surface data point of acquisition.
Step 2. repeats image information and the plane scaling board surface that step 1 obtains one group of difference posture plane reference plate altogether
On point cloud data information.
The image information for one group of difference posture plane reference plate that step 3. is obtained according to step 2 is to binocular stereo vision figure
As the inner parameter of sensor: focal length, picture centre, lens distortion and external parameter: spin matrix and translation vector are marked
It is fixed.
Calibration point is corresponded on the plane reference plate of inner parameter, external parameter and acquisition that step 4. is obtained according to step 3
Information carries out the three dimensional reconstruction of one group of calibration point on plane reference plate in different positions.
The three-dimensional coordinate of the calibration point on plane reference plate in different positions of step 5. obtain according to step 4 one group, is adopted
Plane fitting is carried out with random consistency algorithm, obtains the fit Plane of each posture lower plane scaling board.
The fit Plane and step 2 point light for each posture lower plane scaling board that step 6. is obtained according to step step 5
The point cloud data information in one group of difference posture plane reference plate surface that distance measuring sensor obtains, according to the point cloud under same posture
The distance of fit Plane constructs optimization object function under data midpoint to same posture, passes through the optimization object function solution point of building
To the lowest distance value of plane, determine that binocular stereo vision imaging sensor and point ligh-ranging sensor are sat in Fusion Measurement System
Spin matrix and translation vector parameter between mark system.
In the embodiment of the present invention, step 3 inner parameter: focal length, picture centre, lens distortion and external parameter: spin moment
Battle array and translation vector carry out scaling method:
The algebraic solution that parameter is carried out with well known Zhang Zhengyou plane reference method, it is false using backwards projection error as error model
J-th point is marked on targetProjection coordinate under i-th of posture on camera image is, then target equation has:
In formula (1):For withCorresponding picture point,For the inner parameter matrix of camera,For under the pose
Spin matrix,For the translation vector under the pose.Above-mentioned majorized function generally uses L-M (Levenberg-
Marquardt) algorithm solves optimal solution.
In the embodiment of the present invention, the three dimensional reconstruction of the calibration point on plane reference plate in different positions in step 3
Method are as follows:
Be extracted feature point for calibration during the three dimensional reconstruction of calibration point, and to characteristic point carried out sequence with it is right
Answer, the character pair point for having left images to and in the case where calibration point parameter, of three-dimensional point is carried out using following formula
With calculating, the projection matrix of left cameraIt can be expressed as formula (2):
WithForm having the same may further obtain formula (3):
Here, It is indicated for the corresponding points and pixel coordinate of left images,,WithFor the D coordinates value of the calibration point on the plane reference plate that finally obtains.
In the embodiment of the present invention, in step 6 binocular stereo vision imaging sensor and point ligh-ranging sensor coordinate system it
Between spin matrix and translation vector determination method for parameter be:
The distance of point to fit Plane under same posture can indicate are as follows:
HereIt isNormal vector；
, It is the known point demarcated in plane；
WithIt is spatial pointWithHomogeneous coordinates point indicate；
Optimization object function are as follows:
HereIt is one group in different positions in image informationThe fit Plane of scaling board under a posture；
Transformation matrix is finally calculated, here, rightCarrying out decomposition can be in the hope of external parameter
Spin matrixAnd translation vector；
The present invention having the beneficial effect that compared with the prior art
1. binocular stereo visual sensor and point ligh-ranging sensor are used in measurement process of the present invention, with traditional majority
Group composition and division in a proportion using three coordinates and optical sensor is low in cost, and it is micro- that the sensor full accuracy that the present invention uses can achieve 1
Rice has been able to meet most complex-curved measurement demands although more lower than three coordinates.
2. method of the invention takes full advantage of the advantage of binocular stereo visual sensor and point ligh-ranging sensor,
Carry out binocular stereo vision calibration while carry out global coordinate system calibration, it is time saving simultaneously, reduce system calibrating
Other demands, for example, being additionally required high-precision calibrated bolck.And the inventive method using scaling board surface three dimensional reconstruction into
Rower is fixed, and the data precision for comparing acquisition with traditional High-precision standard block is higher, and noise is smaller, and coordinate system mark can be improved
Fixed precision and stability.
Claims (4)
1. image visual transducer and point ligh-ranging sensor measurement coordinate are unified approach, this method is based on four-axle linked set
It is standby to realize that binocular stereo vision imaging sensor and point ligh-ranging pass by means of the plane reference plate with regularly arranged index point
The coordinate system unified approach for the Fusion Measurement System that sensor is constituted, it is characterised in that: this method is realized by following steps:
Plane reference plate with regularly arranged index point is fixed on the workbench of four-axle linked equipment by step 1., and binocular is vertical
Body vision imaging sensor obtains the image information under the state of this installation of plane reference plate, and point ligh-ranging sensor obtains plane
The point cloud data information of the state lower surface of this installation of scaling board；
Step 2. repeats step 1 and is obtained in the image information and plane scaling board surface of one group of difference posture plane reference plate altogether
Point cloud data information；
The image information for one group of difference posture plane reference plate that step 3. is obtained according to step 2 passes binocular stereo vision image
The inner parameter of sensor: focal length, picture centre, lens distortion and external parameter: spin matrix and translation vector are demarcated；
Calibration point information is corresponded on the plane reference plate of inner parameter, external parameter and acquisition that step 4. is obtained according to step 3,
Carry out the three dimensional reconstruction of one group of calibration point on plane reference plate in different positions；
The three-dimensional coordinate of the calibration point on plane reference plate in different positions of step 5. obtain according to step 4 one group, using with
Machine consistency algorithm carries out plane fitting, obtains the fit Plane of each posture lower plane scaling board；
The fit Plane and step 2 ligh-ranging for each posture lower plane scaling board that step 6. is obtained according to step 5 sense
The point cloud data information in one group of difference posture plane reference plate surface that device obtains, according to the point cloud data midpoint under same posture
The distance of fit Plane constructs optimization object function under to same posture, arrives plane by the optimization object function solution point of building
Lowest distance value determines in Fusion Measurement System between binocular stereo vision imaging sensor and point ligh-ranging sensor coordinate system
Spin matrix and translation vector parameter.
2. image visual transducer according to claim 1 and the unified approach for putting ligh-ranging sensor measurement coordinate system,
It is characterized by: step 3 inner parameter: focal length, picture centre, lens distortion and external parameter: spin matrix and translation vector
Carrying out scaling method is:
The algebraic solution that parameter is carried out with well known Zhang Zhengyou plane reference method, it is false using backwards projection error as error model
J-th point is marked on targetProjection coordinate under i-th of posture on camera image is, then target equation has:
In formula (1):For withCorresponding picture point,For the inner parameter matrix of camera,For the rotation under the pose
Torque battle array,For the translation vector under the pose, above-mentioned majorized function generally uses L-M algorithm to solve optimal solution.
3. image visual transducer according to claim 1 or 2 and the unification side for putting ligh-ranging sensor measurement coordinate system
Method, it is characterised in that: the method for the three dimensional reconstruction of the calibration point on plane reference plate in different positions in step 3 are as follows:
Be extracted feature point for calibration during the three dimensional reconstruction of calibration point, and to characteristic point carried out sequence with it is right
Answer, the character pair point for having left images to and in the case where calibration point parameter, of three-dimensional point is carried out using following formula
With calculating, the projection matrix of left cameraIt can be expressed as formula (2):
WithForm having the same may further obtain formula (3):
Here,It is indicated for the corresponding points and pixel coordinate of left images,,
WithFor the D coordinates value of the calibration point on the plane reference plate that finally obtains.
4. image visual transducer according to claim 1 or 2 and the unification side for putting ligh-ranging sensor measurement coordinate system
Method, it is characterised in that: the spin moment in step 6 between binocular stereo vision imaging sensor and point ligh-ranging sensor coordinate system
Battle array and translation vector determination method for parameter are:
The distance of point to fit Plane under same posture can indicate are as follows:
HereIt isNormal vector；
, It is the known point demarcated in plane；
WithIt is spatial pointWithHomogeneous coordinates point indicate；
Optimization object function are as follows:
HereIt is one group in different positions in image informationThe fit Plane of scaling board under a posture；
Transformation matrix is finally calculated, here, rightDecompose can revolve in the hope of external parameter
Torque battle arrayAnd translation vector；
。
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| CN110017770A (en) * | 2019-04-18 | 2019-07-16 | 天津工业大学 | A kind of vision-based detection scaling method applied to three coordinate measuring machine |
| CN110103329A (en) * | 2019-06-05 | 2019-08-09 | 山东骊久建筑机器人有限公司 | The method of automatic identification side mode enclosed space and exact distributing on concrete component production line |
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| CN110017770A (en) * | 2019-04-18 | 2019-07-16 | 天津工业大学 | A kind of vision-based detection scaling method applied to three coordinate measuring machine |
| CN110103329A (en) * | 2019-06-05 | 2019-08-09 | 山东骊久建筑机器人有限公司 | The method of automatic identification side mode enclosed space and exact distributing on concrete component production line |
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| CN110490937A (en) * | 2019-07-15 | 2019-11-22 | 南京大学 | A kind of method and device thereof for accelerating EO-1 hyperion video to rebuild |
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| CN111598931A (en) * | 2020-04-13 | 2020-08-28 | 长安大学 | Monocular vision system imaging parameter calibration device and method |
| CN111562563A (en) * | 2020-04-30 | 2020-08-21 | 北京国电富通科技发展有限责任公司 | Laser radar rotary table calibration method and device and computer readable storage medium |
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| CN115200475B (en) * | 2022-07-14 | 2024-06-07 | 河南埃尔森智能科技有限公司 | Rapid correction method for arm-mounted multi-vision sensor |
| CN116424279A (en) * | 2023-06-13 | 2023-07-14 | 宁德时代新能源科技股份有限公司 | Posture adjustment method, posture adjustment device, control equipment and storage medium |
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