CN109341537A - Dimension measurement method and device based on binocular vision - Google Patents
Dimension measurement method and device based on binocular vision Download PDFInfo
- Publication number
- CN109341537A CN109341537A CN201811129011.4A CN201811129011A CN109341537A CN 109341537 A CN109341537 A CN 109341537A CN 201811129011 A CN201811129011 A CN 201811129011A CN 109341537 A CN109341537 A CN 109341537A
- Authority
- CN
- China
- Prior art keywords
- image
- camera
- point
- measured
- location information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
-
- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
Abstract
This specification provides a kind of dimension measurement method and device based on binocular vision, wherein this method comprises: obtaining the first image and the second image of object to be measured respectively by the first camera and second camera；The first image is showed into user by touch screen, and receives user and the location information of object to be measured two-end-point in the first image is chosen, obtains the corresponding first location information of object to be measured two-end-point and second location information；The third place information and the 4th location information of first location information and second location information the opposite ends point in the second image are determined according to the matching relationship between the first image and second image；According to first location information of the object to be measured two-end-point in the first image and second location information and the third place information and the 4th location information in second image, the distance between object to be measured two-end-point is calculated.
Description
Technical field
This specification is related to technical field of machine vision, in particular to a kind of dimension measurement method based on binocular vision and
Device.
Background technique
In daily life and work, it is often necessary to measure the length of object.Such as it when buying furniture, needs
The size of furniture and the size of furniture placement position are measured, so that furniture can smoothly be put.For another example some engineering technology people
Member in the construction process, needs to measure the height of building, the width on road surface, the width in river etc..
The common measuring tool of people includes ruler, tape measure, vernier caliper, scale, set square etc. at present.These measurement works
Tool is not only not readily portable, but also measurement range is smaller, is only applicable to certain measurement occasion.However the object for needing to measure
Shape is different, and size is even more multifarious.It is difficult to find one kind and is convenient for carrying, the wide measuring tool of use scope.
Summary of the invention
In view of this, this specification embodiment provides a kind of dimension measurement method and device based on binocular vision, with
Solve technological deficiency existing in the prior art.
According to this specification embodiment in a first aspect, provide a kind of dimension measurement method based on binocular vision, wrap
It includes:
Obtain the first image and the second image of object to be measured respectively by the first camera and second camera；
The first image is showed into user by touch screen, and receives user to object to be measured in the first image
The location information of two-end-point is chosen, and the corresponding first location information of object to be measured two-end-point and second location information are obtained；
First location information and second are determined according to the matching relationship between the first image and second image
The third place information and the 4th location information of confidence breath opposite ends point in the second image；
According to first location information of the object to be measured two-end-point in the first image and second location information and
The third place information and the 4th location information in second image, are calculated the distance between object to be measured two-end-point.
Optionally, the matching relationship described according to the first image between second image determines first position
Information and second location information are also wrapped before the third place information of opposite ends point and the 4th location information in the second image
It includes:
Row alignment correction is carried out to the first image and second image, so that the pixel in the first image
With pixel corresponding in second image ordinate having the same.
Optionally, the first location information and the second position according to object to be measured two-end-point in the first image
Information and the third place information and the 4th location information in second image, be calculated object to be measured two-end-point it
Between distance include:
According to the first location information and the third place information and the second location information and the described 4th
The the first parallax coordinate and the second parallax coordinate of positional information calculation object to be measured two-end-point, wherein the first parallax coordinate and
The second parallax coordinate is respectively with (x1, y1, d1, 1), (x2, y2, d2, 1) and it indicates, wherein x1、y1、x2、y2For first figure
The location information of two-end-point, d as in1=x1-x′1, d2=x2-x′2；
According to the first parallax coordinate and the second parallax coordinate and principle of triangulation, mesh to be measured is calculated
The homogeneous coordinates for marking two-end-point, respectively with (X1, Y1, Z1, W1), (X2, Y2, Z2, W2) indicate, calculation formula is as follows:
First three coordinate components of homogeneous coordinates can be converted into cartesian coordinate divided by the last one component respectively, obtain
The three-dimensional coordinate of object to be measured two-end-point is (X1/ W, Y1/ W, Z1/W)、(X2/ W, Y2/ W, Z2/ W), wherein cx、cyIt is described first
Camera principal point cross, ordinate, c 'xFor the second camera principal point abscissa, T is first camera and described second
Translation vector between camera；
According to the three-dimensional coordinate of object to be measured two-end-point, the length D between object to be measured two-end-point is calculated, calculation formula is such as
Under:
Optionally, in first image and for passing through the first camera and second camera and obtaining object to be measured respectively
Before two images further include:
Stereo calibration is carried out to first camera and the second camera, obtains first camera and described
The intrinsic parameter of second camera, the intrinsic parameter include the focal length f of first camera and the second camera, and described
Principle point location (the c of one camerax, cy) and the second camera principle point location (c 'x, c 'y) and first camera
Spin matrix R and translation vector T between the second camera.
Optionally, described to include: to first camera and second camera progress stereo calibration
Adjustment the distance between scaling board and fixed plate is to operating distance to be measured and makes the scaling board and the fixation
Plate is parallel, wherein the binocular camera of first camera and second camera composition is arranged in the fixed plate
Heart position, the operating distance to be measured make the scaling board be full of the imaging picture of binocular camera, and the scaling board is located at double
The picture center of mesh camera；
The apex coordinate for obtaining the scaling board respectively by the first camera and second camera of binocular camera, obtains
Measured value of the binocular camera in depth direction；
The measurement error of binocular camera is obtained according to the operating distance to be measured and the measured value.
Optionally, one end of guide rail is arranged in the fixed plate, and the scaling board is slidably disposed on the guide rail
The other end.
Optionally, the quadrangle of the fixed plate is respectively arranged with rangefinder, between adjustment scaling board and the fixed plate
Distance is to operating distance to be measured and makes that the scaling board is parallel with the fixed plate to include:
It adjusts the scaling board and makes the distance between the scaling board and the fixed plate in the position on the guide rail
Equal to operating distance to be measured；
The vertex distance that the scaling board corresponds to quadrangle is obtained respectively by the rangefinder on the quadrangle of the fixed plate；
Whether the vertex distance of the quadrangle of the acquired scaling board of judgement all the same, if they are the same then the scaling board with
The fixed plate is parallel, and the ranging so that on the quadrangle of the fixed plate is adjusted to the angle of the scaling board if different
Instrument obtain respectively the scaling board correspond to quadrangle vertex distance it is identical.
Optionally, the top for obtaining the scaling board respectively by the first camera and second camera of binocular camera
Point coordinate, obtaining binocular camera in the measured value of depth direction includes:
Obtain the first image and of the scaling board respectively by the first camera and second camera of binocular camera
Two images；
P point is set as any one target point on the scaling board, extracts P point respectively in the first image coordinate system
Under abscissa x1 and second image coordinate system under abscissa xr；
The coordinate Zc of P point is calculated according to lower formula:
Wherein, Zc is P point at a distance from optical center plane, and f is the focal length of binocular camera, and T is parallax range, i.e. binocular camera
Distance between the optical center of left and right；
P point is calculated to the distance Z of measurement datum according to following formula, obtains binocular camera in the measurement of depth direction
Value:
Z=Zc+d
Wherein, d is distance of the optical center plane to measurement datum, and measurement datum is the plane where the fixed plate.
Optionally, described that the measurement error packet of binocular camera is obtained according to the operating distance to be measured and the measured value
It includes:
Each target point of the scaling board is calculated according to the distance of the scaling board each target point to the measurement datum
Apart from arithmetic mean of instantaneous value
The measurement error e of binocular camera is calculated by following formula:
Wherein, Hs is the operating distance to be measured, and n is the quantity of target point on the scaling board.
Optionally, the scaling board is gridiron pattern scaling board, and the target point is gridiron pattern on the gridiron pattern scaling board
Vertex.
According to the second aspect of this specification embodiment, a kind of dimension measuring device based on binocular vision is additionally provided,
Include:
Image collection module is configured as obtaining the first of object to be measured respectively by the first camera and second camera
Image and the second image；
Interactive module is configured as that the first image is showed user by touch screen, and receives user to described
In first image object to be measured two-end-point location information choose, obtain the corresponding first location information of object to be measured two-end-point and
Second location information；
Location information determining module is configured as according to the matching relationship between the first image and second image
Determine first location information and second location information the third place information of opposite ends point and the 4th position in the second image
Information；
Distance calculation module is configured as the first location information according to object to be measured two-end-point in the first image
The third place information and the 4th location information with second location information and in second image, are calculated mesh to be measured
Mark the distance between two-end-point.
This specification embodiment by the first camera and second camera obtain respectively object to be measured the first image and
Second image is chosen to obtain object to be measured two-end-point first corresponding according to location information of the user to object to be measured two-end-point
Confidence breath and second location information are configured to determine the according to the matching relationship between the first image and second image
The third place information and the 4th location information of one location information and second location information the opposite ends point in the second image, into
And according to first location information of the object to be measured two-end-point in the first image and second location information and described
The third place information and the 4th location information in two images, thus be calculated automatically between object to be measured two-end-point away from
From measuring speed is fast, precision is high, while having the characteristics that portable, applied widely.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of this specification embodiment, will make below to required in embodiment description
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of this specification, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is to show the schematic stream of the dimension measurement method based on binocular vision according to one embodiment of this specification
Cheng Tu；
Fig. 2 is the principle of triangulation schematic diagram shown according to one embodiment of this specification.
Specific embodiment
Many details are explained in the following description in order to fully understand this specification.But this specification energy
Enough to be implemented with being much different from other way described herein, those skilled in the art can be without prejudice to this specification intension
In the case where do similar popularization, therefore this specification is not limited by following public specific implementation.
Fig. 1 is to show the schematic stream of the dimension measurement method based on binocular vision according to one embodiment of this specification
Cheng Tu, this method comprises:
Obtain the first image and the second image of object to be measured respectively by the first camera and second camera；
The first image is showed into user by touch screen, and receives user to object to be measured in the first image
The location information of two-end-point is chosen, and the corresponding first location information of object to be measured two-end-point and second location information are obtained；
First location information and second are determined according to the matching relationship between the first image and second image
The third place information and the 4th location information of confidence breath opposite ends point in the second image；
According to first location information of the object to be measured two-end-point in the first image and second location information and
The third place information and the 4th location information in second image, are calculated the distance between object to be measured two-end-point.
In a kind of implementation, determined in the matching relationship according to the first image between second image
The third place information and the 4th location information of first location information and second location information the opposite ends point in the second image
Before further include:
Row alignment correction is carried out to the first image and second image, so that the pixel in the first image
With pixel corresponding in second image ordinate having the same.
In a kind of implementation, the first location information according to object to be measured two-end-point in the first image and
Second location information and the third place information and the 4th location information in second image, are calculated object to be measured
The distance between two-end-point includes:
According to the first location information and the third place information and the second location information and the described 4th
The the first parallax coordinate and the second parallax coordinate of positional information calculation object to be measured two-end-point, wherein the first parallax coordinate and
The second parallax coordinate is respectively with (x1, y1, d1, 1), (x2, y2, d2, 1) and it indicates, wherein x1、y1、x2、y2For first figure
The location information of two-end-point, d as in1=x1-x′1, d2=x2-x′2；
According to the first parallax coordinate and the second parallax coordinate and principle of triangulation, mesh to be measured is calculated
The homogeneous coordinates for marking two-end-point, respectively with (X1, Y1, Z1, W1), (X2, Y2, Z2, W2) indicate, calculation formula is as follows:
First three coordinate components of homogeneous coordinates can be converted into cartesian coordinate divided by the last one component respectively, obtain
The three-dimensional coordinate of object to be measured two-end-point is (X1/ W, Y1/ W, Z1/W)、(X2/ W, Y2/ W, Z2/ W), wherein cx、cyIt is described first
Camera principal point cross, ordinate, c 'xFor the second camera principal point abscissa, T is first camera and described second
Translation vector between camera；
According to the three-dimensional coordinate of object to be measured two-end-point, the length D between object to be measured two-end-point is calculated, calculation formula is such as
Under:
In a kind of implementation, in first for passing through the first camera and second camera and obtaining object to be measured respectively
Before image and the second image further include:
Stereo calibration is carried out to first camera and the second camera, obtains first camera and described
The intrinsic parameter of second camera, the intrinsic parameter include the focal length f of first camera and the second camera, and described
Principle point location (the c of one camerax, cy) and the second camera principle point location (c 'x, c 'y) and first camera
Spin matrix R and translation vector T between the second camera.
It is described stereo calibration is carried out to first camera and the second camera to include: in a kind of implementation
Adjustment the distance between scaling board and fixed plate is to operating distance to be measured and makes the scaling board and the fixation
Plate is parallel, wherein the binocular camera of first camera and second camera composition is arranged in the fixed plate
Heart position, the operating distance to be measured make the scaling board be full of the imaging picture of binocular camera, and the scaling board is located at double
The picture center of mesh camera；
The apex coordinate for obtaining the scaling board respectively by the first camera and second camera of binocular camera, obtains
Measured value of the binocular camera in depth direction；
The measurement error of binocular camera is obtained according to the operating distance to be measured and the measured value.
In a kind of implementation, one end of guide rail is arranged in the fixed plate, and the scaling board is slidably disposed on institute
State the other end of guide rail.
In a kind of implementation, the quadrangle of the fixed plate is respectively arranged with rangefinder, the adjustment scaling board and fixation
The distance between plate is to operating distance to be measured and makes that the scaling board is parallel with the fixed plate to include:
It adjusts the scaling board and makes the distance between the scaling board and the fixed plate in the position on the guide rail
Equal to operating distance to be measured；
The vertex distance that the scaling board corresponds to quadrangle is obtained respectively by the rangefinder on the quadrangle of the fixed plate；
Whether the vertex distance of the quadrangle of the acquired scaling board of judgement all the same, if they are the same then the scaling board with
The fixed plate is parallel, and the ranging so that on the quadrangle of the fixed plate is adjusted to the angle of the scaling board if different
Instrument obtain respectively the scaling board correspond to quadrangle vertex distance it is identical.
It is described that the mark is obtained by the first camera and second camera of binocular camera respectively in a kind of implementation
The apex coordinate of fixed board, obtaining binocular camera in the measured value of depth direction includes:
Obtain the first image and of the scaling board respectively by the first camera and second camera of binocular camera
Two images；
P point is set as any one target point on the scaling board, extracts P point respectively in the first image coordinate system
Under abscissa xl and second image coordinate system under abscissa xr；
The coordinate Zc of P point is calculated according to lower formula:
Wherein, Zc is P point at a distance from optical center plane, and f is the focal length of binocular camera, and T is parallax range, i.e. binocular camera
Distance between the optical center of left and right；
P point is calculated to the distance Z of measurement datum according to following formula, obtains binocular camera in the measurement of depth direction
Value:
Z=Zc+d
Wherein, d is distance of the optical center plane to measurement datum, and measurement datum is the plane where the fixed plate.
It is described that the measurement of binocular camera is obtained according to the operating distance to be measured and the measured value in a kind of implementation
Error includes:
Each target point of the scaling board is calculated according to the distance of the scaling board each target point to the measurement datum
Apart from arithmetic mean of instantaneous value
The measurement error e of binocular camera is calculated by following formula:
Wherein, Hs is the operating distance to be measured, and n is the quantity of target point on the scaling board.
In a kind of implementation, the scaling board is gridiron pattern scaling board, and the target point is the gridiron pattern scaling board
Upper tessellated vertex.
This specification implement in executing subject can be for the terminal with binocular camera, such as mobile terminal is mobile
Mobile phone, tablet computer etc..Such as in fanion pole length, terminal shoots the first image of flagpole to be measured by binocular camera
With the second image.Terminal is displayed the captured image to user.User clicks flagpole base and flagpole vertex.Terminal passes through institute
It states method and calculates flagpole length, and flagpole length is shown to user.
This specification embodiment by the first camera and second camera obtain respectively object to be measured the first image and
Second image is chosen to obtain object to be measured two-end-point first corresponding according to location information of the user to object to be measured two-end-point
Confidence breath and second location information are configured to determine the according to the matching relationship between the first image and second image
The third place information and the 4th location information of one location information and second location information the opposite ends point in the second image, into
And according to first location information of the object to be measured two-end-point in the first image and second location information and described
The third place information and the 4th location information in two images, thus be calculated automatically between object to be measured two-end-point away from
From measuring speed is fast, precision is high, while having the characteristics that portable, applied widely.
Corresponding with preceding method, this specification additionally provides Installation practice, and described device embodiment can be by soft
Part is realized, can also be realized by way of hardware or software and hardware combining.Taking software implementation as an example, as a logical meaning
On device, be to be read computer program instructions corresponding in nonvolatile memory by the processor of equipment where it
Operation is formed in memory.For hardware view, a kind of hardware configuration of equipment may include where the device of this specification
Except processor, network interface, memory and nonvolatile memory, the equipment in embodiment where device is generally according to reality
Function can also include other hardware, repeat no more to this.
One embodiment of this specification provide device include:
Image collection module is configured as obtaining the first of object to be measured respectively by the first camera and second camera
Image and the second image；
Interactive module is configured as that the first image is showed user by touch screen, and receives user to described
In first image object to be measured two-end-point location information choose, obtain the corresponding first location information of object to be measured two-end-point and
Second location information；
Location information determining module is configured as according to the matching relationship between the first image and second image
Determine first location information and second location information the third place information of opposite ends point and the 4th position in the second image
Information；
Distance calculation module is configured as the first location information according to object to be measured two-end-point in the first image
The third place information and the 4th location information with second location information and in second image, are calculated mesh to be measured
Mark the distance between two-end-point.
Device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity,
Or it is realized by the product with certain function.It is a kind of typically to realize that equipment is computer, the tool of computer
Body form can be personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant,
Media player, navigation equipment, E-mail receiver/send equipment, game console, tablet computer, wearable device or these
The combination of any several equipment in equipment.
The function of each unit and the realization process of effect are specifically detailed in the above method and correspond to step in above-mentioned apparatus
Realization process, details are not described herein.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize this specification scheme.Those of ordinary skill in the art are not
In the case where making the creative labor, it can understand and implement.
One embodiment of this specification also provides a kind of calculating equipment, including memory, processor and storage are on a memory
And the computer instruction that can be run on a processor, when the processor executes described instruction the step of method described in realization.
One embodiment of this specification also provides a kind of computer readable storage medium, is stored with computer instruction, this refers to
Enable the step of method is realized when being executed by processor.
A kind of exemplary scheme of above-mentioned computer readable storage medium for the present embodiment.It should be noted that this is deposited
The technical solution of storage media and the technical solution of above-mentioned automated testing method belong to same design, the technical side of storage medium
The detail content that case is not described in detail may refer to the description of the technical solution of above-mentioned automated testing method.
The computer instruction includes computer program code, the computer program code can for source code form,
Object identification code form, executable file or certain intermediate forms etc..The computer-readable medium may include: that can carry institute
State any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, the computer storage of computer program code
Device, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory),
Electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer-readable medium include it is interior
Increase and decrease appropriate can be carried out according to the requirement made laws in jurisdiction with patent practice by holding, such as in certain jurisdictions of courts
Area does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium.
It should be noted that for the various method embodiments described above, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, this specification is not limited by the described action sequence, because
For according to this specification, certain steps can use other sequences or carry out simultaneously.
Secondly, those skilled in the art should also know that, the embodiments described in the specification are all preferred embodiments,
Related actions and modules might not all be necessary to this specification.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
This specification preferred embodiment disclosed above is only intended to help to illustrate this specification.Alternative embodiment is not
All details of detailed descriptionthe, do not limit the invention to the specific embodiments described.Obviously, according in this specification
Hold, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain this theory
The principle and practical application of bright book, so that skilled artisan be enable to better understand and utilize this specification.This
Specification is limited only by the claims and their full scope and equivalents.
Claims (10)
1. a kind of dimension measurement method based on binocular vision characterized by comprising
Obtain the first image and the second image of object to be measured respectively by the first camera and second camera；
The first image is showed into user by touch screen, and receives user to object to be measured both ends in the first image
The location information of point is chosen, and the corresponding first location information of object to be measured two-end-point and second location information are obtained；
First location information and second confidence are determined according to the matching relationship between the first image and second image
Cease the third place information and the 4th location information of the opposite ends point in the second image；
According to first location information of the object to be measured two-end-point in the first image and second location information and described
The third place information and the 4th location information in second image, are calculated the distance between object to be measured two-end-point.
2. dimension measurement method according to claim 1, which is characterized in that it is described according to the first image with it is described
Matching relationship between second image determines first location information and second location information the opposite ends point in the second image
Before the third place information and the 4th location information further include:
Row alignment correction is carried out to the first image and second image, so that pixel and institute in the first image
State corresponding pixel ordinate having the same in the second image.
3. dimension measurement method according to claim 2, which is characterized in that it is described according to object to be measured two-end-point described
First location information and second location information in first image and the third place information in second image and
Four location informations, the distance between object to be measured two-end-point, which is calculated, includes:
According to the first location information and the third place information and the second location information and the 4th position
Information calculates the first parallax coordinate and the second parallax coordinate of object to be measured two-end-point, wherein the first parallax coordinate and described
Second parallax coordinate is respectively with (x1, y1, d1, 1), (x2, y2, d2, 1) and it indicates, wherein x1、y1、x2、y2For in the first image
The location information of two-end-point, d1=x1-x′1, d2=x2-x′2；
According to the first parallax coordinate and the second parallax coordinate and principle of triangulation, object to be measured two is calculated
The homogeneous coordinates of endpoint, respectively with (X1, Y1, Z1, W1), (X2, Y2, Z2, W2) indicate, calculation formula is as follows:
First three coordinate components of homogeneous coordinates can be converted into cartesian coordinate divided by the last one component respectively, obtain to be measured
The three-dimensional coordinate of target two-end-point is (X1/ W, Y1/ W, Z1/W)、(X2/ W, Y2/ W, Z2/ W), wherein cx、cyFor first camera shooting
Head principal point cross, ordinate, c 'xFor the second camera principal point abscissa, T is first camera and second camera shooting
Translation vector between head；
According to the three-dimensional coordinate of object to be measured two-end-point, the length D between object to be measured two-end-point is calculated, calculation formula is as follows:
4. dimension measurement method according to claim 1, which is characterized in that taken the photograph in first camera and second that passes through
Before the first image and the second image that obtain object to be measured respectively as head further include:
Stereo calibration is carried out to first camera and the second camera, obtains first camera and described second
The intrinsic parameter of camera, the intrinsic parameter include the focal length f of first camera and the second camera, and described first takes the photograph
As the principle point location (c of headx, cy) and the second camera principle point location (c 'x, c 'y) and first camera and institute
State the spin matrix R and translation vector T between second camera.
5. dimension measurement method according to claim 4, which is characterized in that described to first camera and described
Two cameras carry out stereo calibration
Adjustment the distance between scaling board and fixed plate is to operating distance to be measured and makes the scaling board and the fixed plate flat
Row, wherein the centre bit of the fixed plate is arranged in the binocular camera of first camera and second camera composition
It sets, the operating distance to be measured makes imaging picture of the scaling board full of binocular camera, and the scaling board is located at binocular phase
The picture center of machine；
The apex coordinate for obtaining the scaling board respectively by the first camera and second camera of binocular camera, obtains binocular
Measured value of the camera in depth direction；
The measurement error of binocular camera is obtained according to the operating distance to be measured and the measured value.
6. dimension measurement method according to claim 5, which is characterized in that one end of guide rail is arranged in the fixed plate,
The scaling board is slidably disposed on the other end of the guide rail.
7. dimension measurement method according to claim 6, which is characterized in that the quadrangle of the fixed plate is respectively arranged with survey
Distance meter, adjustment the distance between the scaling board and fixed plate to operating distance to be measured simultaneously make the scaling board and the fixation
Plate includes: in parallel
It adjusts the scaling board and in the position on the guide rail distance between the scaling board and the fixed plate is equal to
Operating distance to be measured；
The vertex distance that the scaling board corresponds to quadrangle is obtained respectively by the rangefinder on the quadrangle of the fixed plate；
Whether the vertex distance of the quadrangle of the acquired scaling board of judgement all the same, if they are the same then the scaling board with it is described
Fixed plate is parallel, is adjusted the rangefinder point so that on the quadrangle of the fixed plate to the angle of the scaling board if different
Do not obtain the scaling board correspond to quadrangle vertex distance it is identical.
8. dimension measurement method according to claim 5, which is characterized in that first camera by binocular camera
The apex coordinate for obtaining the scaling board respectively with second camera, obtaining binocular camera in the measured value of depth direction includes:
Obtain the first image and the second figure of the scaling board respectively by the first camera and second camera of binocular camera
Picture；
P point is set as any one target point on the scaling board, extracts P point respectively under the first image coordinate system
Abscissa xr under abscissa xl and second image coordinate system；
The coordinate Zc of P point is calculated according to lower formula:
Wherein, Zc is P point at a distance from optical center plane, and f is the focal length of binocular camera, and T is parallax range, i.e. binocular camera or so
Distance between optical center；
P point is calculated to the distance Z of measurement datum according to following formula, obtains binocular camera in the measured value of depth direction:
Z=Zc+d
Wherein, d is distance of the optical center plane to measurement datum, and measurement datum is the plane where the fixed plate.
9. dimension measurement method according to claim 8, which is characterized in that described according to the operating distance to be measured and institute
It states measured value and obtains the measurement error of binocular camera and include:
The distance of each target point of the scaling board is calculated according to the distance of the scaling board each target point to the measurement datum
Arithmetic mean of instantaneous value
The measurement error e of binocular camera is calculated by following formula:
Wherein, Hs is the operating distance to be measured, and n is the quantity of target point on the scaling board.
10. a kind of dimension measuring device based on binocular vision characterized by comprising
Image collection module is configured as obtaining the first image of object to be measured respectively by the first camera and second camera
With the second image；
Interactive module is configured as that the first image is showed user by touch screen, and receives user to described first
The location information of object to be measured two-end-point is chosen in image, obtains the corresponding first location information of object to be measured two-end-point and second
Location information；
Location information determining module is configured as being determined according to the matching relationship between the first image and second image
The third place information and the 4th location information of first location information and second location information the opposite ends point in the second image；
Distance calculation module is configured as the first location information according to object to be measured two-end-point in the first image and
Two location informations and the third place information and the 4th location information in second image, are calculated object to be measured two
The distance between endpoint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811129011.4A CN109341537A (en) | 2018-09-27 | 2018-09-27 | Dimension measurement method and device based on binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811129011.4A CN109341537A (en) | 2018-09-27 | 2018-09-27 | Dimension measurement method and device based on binocular vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109341537A true CN109341537A (en) | 2019-02-15 |
Family
ID=65307161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811129011.4A Pending CN109341537A (en) | 2018-09-27 | 2018-09-27 | Dimension measurement method and device based on binocular vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109341537A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109931906A (en) * | 2019-03-28 | 2019-06-25 | 杭州华雁云态信息技术有限公司 | Video camera distance measuring method, device and electronic equipment |
| CN110187720A (en) * | 2019-06-03 | 2019-08-30 | 深圳铂石空间科技有限公司 | Unmanned plane guidance method, device, system, medium and electronic equipment |
| CN110490938A (en) * | 2019-08-05 | 2019-11-22 | Oppo广东移动通信有限公司 | For verifying the method, apparatus and electronic equipment of camera calibration parameter |
| CN110942032A (en) * | 2019-11-27 | 2020-03-31 | 深圳市商汤科技有限公司 | Living body detection method and device, and storage medium |
| CN112700587A (en) * | 2020-12-21 | 2021-04-23 | 湖南中谷科技股份有限公司 | Method for checking goods of vending machine and vending machine |
| WO2021129073A1 (en) * | 2019-12-23 | 2021-07-01 | 华为技术有限公司 | Distance measurement method and device |
| WO2021170051A1 (en) * | 2020-02-28 | 2021-09-02 | 华为技术有限公司 | Digital photogrammetry method, electronic device, and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009168453A (en) * | 2008-01-10 | 2009-07-30 | Shigeki Kobayashi | Inspection device |
| CN103292779A (en) * | 2012-02-28 | 2013-09-11 | 联想(北京)有限公司 | Method for measuring distance and image acquisition equipment |
| CN105627932A (en) * | 2015-12-31 | 2016-06-01 | 零度智控（北京）智能科技有限公司 | Distance measurement method and device based on binocular vision |
| CN106296825A (en) * | 2016-07-27 | 2017-01-04 | 中国科学院半导体研究所 | A kind of bionic three-dimensional information generating system and method |
| CN107588721A (en) * | 2017-08-28 | 2018-01-16 | 武汉科技大学 | The measuring method and system of a kind of more sizes of part based on binocular vision |
| CN107729893A (en) * | 2017-10-12 | 2018-02-23 | 清华大学 | A kind of vision positioning method of clapper die spotting press, system and storage medium |
| CN107957246A (en) * | 2017-11-29 | 2018-04-24 | 北京伟景智能科技有限公司 | Article geometrical size measuring method on conveyer belt based on binocular vision |
| CN105806242B (en) * | 2016-04-15 | 2018-06-05 | 同济大学 | Using the surface type measurement device of laser rotary scanning |
-
2018
- 2018-09-27 CN CN201811129011.4A patent/CN109341537A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009168453A (en) * | 2008-01-10 | 2009-07-30 | Shigeki Kobayashi | Inspection device |
| CN103292779A (en) * | 2012-02-28 | 2013-09-11 | 联想(北京)有限公司 | Method for measuring distance and image acquisition equipment |
| CN105627932A (en) * | 2015-12-31 | 2016-06-01 | 零度智控（北京）智能科技有限公司 | Distance measurement method and device based on binocular vision |
| CN105806242B (en) * | 2016-04-15 | 2018-06-05 | 同济大学 | Using the surface type measurement device of laser rotary scanning |
| CN106296825A (en) * | 2016-07-27 | 2017-01-04 | 中国科学院半导体研究所 | A kind of bionic three-dimensional information generating system and method |
| CN107588721A (en) * | 2017-08-28 | 2018-01-16 | 武汉科技大学 | The measuring method and system of a kind of more sizes of part based on binocular vision |
| CN107729893A (en) * | 2017-10-12 | 2018-02-23 | 清华大学 | A kind of vision positioning method of clapper die spotting press, system and storage medium |
| CN107957246A (en) * | 2017-11-29 | 2018-04-24 | 北京伟景智能科技有限公司 | Article geometrical size measuring method on conveyer belt based on binocular vision |
Non-Patent Citations (1)
| Title |
|---|
| 严雨: "基于双目立体视觉的表观缺陷三维重建检测评定方法", 《中国优秀硕士论文全文数据库信息科技辑》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109931906A (en) * | 2019-03-28 | 2019-06-25 | 杭州华雁云态信息技术有限公司 | Video camera distance measuring method, device and electronic equipment |
| CN109931906B (en) * | 2019-03-28 | 2021-02-23 | 华雁智科(杭州)信息技术有限公司 | Camera ranging method and device and electronic equipment |
| CN110187720A (en) * | 2019-06-03 | 2019-08-30 | 深圳铂石空间科技有限公司 | Unmanned plane guidance method, device, system, medium and electronic equipment |
| CN110187720B (en) * | 2019-06-03 | 2022-09-27 | 深圳铂石空间科技有限公司 | Unmanned aerial vehicle guiding method, device, system, medium and electronic equipment |
| CN110490938A (en) * | 2019-08-05 | 2019-11-22 | Oppo广东移动通信有限公司 | For verifying the method, apparatus and electronic equipment of camera calibration parameter |
| CN110942032A (en) * | 2019-11-27 | 2020-03-31 | 深圳市商汤科技有限公司 | Living body detection method and device, and storage medium |
| CN110942032B (en) * | 2019-11-27 | 2022-07-15 | 深圳市商汤科技有限公司 | Living body detection method and device, and storage medium |
| WO2021129073A1 (en) * | 2019-12-23 | 2021-07-01 | 华为技术有限公司 | Distance measurement method and device |
| WO2021170051A1 (en) * | 2020-02-28 | 2021-09-02 | 华为技术有限公司 | Digital photogrammetry method, electronic device, and system |
| CN112700587A (en) * | 2020-12-21 | 2021-04-23 | 湖南中谷科技股份有限公司 | Method for checking goods of vending machine and vending machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109341537A (en) | Dimension measurement method and device based on binocular vision | |
| CN104613930B (en) | Method and device for measuring distance as well as mobile terminal | |
| CN102278946B (en) | Imaging device, distance measuring method | |
| US7912320B1 (en) | Method and apparatus for photographic measurement | |
| CN111192235B (en) | Image measurement method based on monocular vision model and perspective transformation | |
| CN104395692B (en) | Three-dimensional measurement method, device, system and image processing apparatus | |
| CN104833342B (en) | Mobile terminal and method of establishing stereoscopic model through multipoint distance measurement | |
| CN107481288A (en) | The inside and outside ginseng of binocular camera determines method and apparatus | |
| JP2004163292A (en) | Survey system and electronic storage medium | |
| CN105403146A (en) | Object size measurement method and system and intelligent terminal | |
| CN107633532B (en) | Point cloud fusion method and system based on white light scanner | |
| CN110337674A (en) | Three-dimensional rebuilding method, device, equipment and storage medium | |
| CN1561502A (en) | Strapdown system for three-dimensional reconstruction | |
| CN106546169A (en) | Using the method and device of mobile device Measuring Object size | |
| CN105136042A (en) | Height measuring method and apparatus, and mobile terminal | |
| CN113781534A (en) | Distance measuring method and device | |
| CN111882608A (en) | Pose estimation method between augmented reality glasses tracking camera and human eyes | |
| CN110807431A (en) | Object positioning method and device, electronic equipment and storage medium | |
| CN109674443A (en) | A kind of interpupillary distance measurement method and terminal | |
| TW201312080A (en) | Non-contact method for measuring dimensions of objects | |
| CN109186495A (en) | Test structured light projection instrument method of tilting, device, equipment and storage medium | |
| CN105427282A (en) | Method and device for testing 3D positioning accuracy | |
| CN108427110A (en) | Distance measuring method, device and electronic equipment | |
| CN106152946B (en) | A kind of method and terminal measuring object length | |
| CN112200838A (en) | Projectile trajectory tracking method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190215 |
|
| RJ01 | Rejection of invention patent application after publication |