CN109373912A - A kind of non-contact six-freedom displacement measurement method based on binocular vision - Google Patents
A kind of non-contact six-freedom displacement measurement method based on binocular vision Download PDFInfo
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- CN109373912A CN109373912A CN201811567836.4A CN201811567836A CN109373912A CN 109373912 A CN109373912 A CN 109373912A CN 201811567836 A CN201811567836 A CN 201811567836A CN 109373912 A CN109373912 A CN 109373912A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The present invention relates to a kind of non-contact six-freedom displacement measurement method based on binocular vision.Firstly, designing two-dimensional encoded sequence and generating checkerboard codes, checkerboard codes are fixed on object under test surface and obtain cylindrical body to be measured；Then, the inside and outside parameter of binocular camera is demarcated；Then, the target for shooting resulting two groups of images to left and right camera respectively is split, and extracts clarification of objective angle point；Then, the two dimensional image coordinate of feature angle point is converted to three-dimensional world coordinate by inside and outside parameter matrix and imaging model based on camera；Finally, the three-dimensional coordinate point to feature angle point group carries out cylinder fitting, and calculates cylinder translation and rotation information, finally calculates and obtain six-degree of freedom displacement information.The present invention is not necessarily to contact target, it is only necessary to can calculate the six-degree-of-freedom informations such as translation, rotation using the information of the characteristic point of target object in two groups of input pictures of left and right camera shooting.
Description
Technical field
The present invention relates to a kind of non-contact six-freedom displacement measurement method based on binocular vision.
Background technique
In traditional displacement measuring technology framework, usually use multiple degrees of freedom detection platform or coordinate measuring machine into
Row measurement.Coordinate measuring machine is the main all purpose instrument measured to workpiece profile, morpheme size etc..Since freedom degree detects
Structure is complicated for platform, system is huge, expensive and needs are directly contacted with testee, and application scenarios are restricted.
Therefore need to develop the non-contact type displacement measurement method of a kind of high-performance, high performance-price ratio, to replace multiple degrees of freedom detection platform,
All more can be advantageously applicable under several scenes.The displacement measurement method of view-based access control model is built upon at digital picture
Manage a kind of technical contactless measurement, may replace it is traditional, on working standard face by driving mechanism and grating scale
The system of driving and the positioning of composition has the characteristics that flexible, high performance-price ratio.
Summary of the invention
In view of this, the present invention is intended to provide a kind of non-contact six-freedom displacement measurement side based on binocular vision
Method, it is only necessary to stick two-dimensional encoded cylinder on object under test surface, and utilize target in two groups of input pictures of left and right camera shooting
The characteristic point information of object can calculate the six-degree of freedom displacement information such as displacement, rotation angle.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of non-contact six-freedom displacement measurement method based on binocular vision, comprising the following steps:
Step S1: designing two-dimensional encoded sequence and generates checkerboard codes, and checkerboard codes are fixed on object under test surface and are obtained
To cylindrical body to be measured；
Step S2: binocular camera is installed, and the inside and outside parameter of binocular camera is demarcated；
Step S3: cylindrical body image to be measured is acquired by binocular camera, cylindrical body target is then carried out respectively to this image
Segmentation extracts the two dimensional image coordinate of feature angle point in target on the basis of segmentation；
Step S4: inside and outside parameter matrix and camera imaging model based on binocular camera, by the two dimensional image of feature angle point
Coordinate is converted to three-dimensional world coordinate；
Step S5: cylinder fitting is carried out to the three-dimensional world coordinate of feature angle point, and calculates cylindrical center's point and direction
Vector, to obtain the translation and rotation information of object under test, i.e. six-degree of freedom displacement information.
Further, the step S3 specifically:
Step S31: binocular image acquisition is carried out to cylindrical body to be measured and obtains iml1, imr1, iml2, imr2；
Step S32: according in the image of binocular camera acquisition, it is partitioned into target x automaticallyl1、xr1And xl2、xr2；
Step S33: to the target x being partitioned intol1、xr1And xl2、xr2Feature corner extraction is carried out, respective feature angle point is obtained
Two-dimensional image coordinate xl11..., xl1n、xr11..., xr1nAnd xl21..., xl2n、xr21..., xr2n, and the two-dimensional coordinate constituted
Collect Xl1、Xr1And Xl2、Xr2；
Step S34: to two-dimensional image coordinate set Xl1, Xr1And Xl2, Xr2The optimization of gridiron pattern constraint is carried out, generates final two
Tie up coordinate set Yl1、Yr1And Yl2、Yr2；
Step S35: binary-coding information B is restored using gray threshold1、B2。
Further, the step S4 specifically:
Step S41: binocular calibration obtains binocular camera internal reference Mleft、Mright, outer ginseng matrix H；
Step S42: according to obtained camera inside and outside parameter matrix, two-dimensional coordinate collection Y is utilizedl1、Yr1And Yl2、Yr2It reconstructs
Three-dimensional world coordinate collection G1And G2；
Step S43: to discrete three-dimensional world coordinate collection G1And G2The optimization of line constraint is carried out, coordinate set is generated
group1And group2。
Further, the step S5 specifically:
Step S51: according to obtained binary-coding B1And B2, judge coordinate set group1And group2Present in public affairs
The coordinate set g of feature angle point altogether1And g2；
Step S52: coordinate set group is utilized1And group2Cylinder fitting is respectively carried out, the centre coordinate of the two can be obtained
C1、C2With radius R1、R2And direction vector V1, V2；
Step S53: centre coordinate C is utilized1、C2It carries out difference and calculates available displacement information, meanwhile, utilization orientation vector
V1, V2, and Euler's angle formula is turned according to spin matrix can calculate the Eulerian angles of rotation.
Compared with the prior art, the invention has the following beneficial effects:
When the present invention handles six-degree of freedom displacement information, it is only necessary to utilize mesh in two groups of input pictures of binocular camera shooting
The information for marking the characteristic point of object can calculate the freedom degrees information such as displacement, rotation angle, and measuring device equipment is without direct
Contact target object, even if in the case where rotary motion, occur it is also applicable in the case where blocking.The easily operated reality of this method
It is existing, different demands can be coped with by less parameter regulation.
Detailed description of the invention
Fig. 1 is overview flow chart of the present invention.
Fig. 2 is one embodiment of the invention six-degree of freedom displacement instrumentation plan.
Fig. 3 is the binary-coding cylindrical drum schematic diagram of one embodiment of the invention.
Fig. 4 is the Target Segmentation flow diagram of one embodiment of the invention.
Fig. 5 is the Corner Detection flow diagram of one embodiment of the invention.
Fig. 6 is the relational graph between four kinds of camera coordinates system, image coordinate system, pixel coordinate system, world coordinate system coordinate systems.
Fig. 7 is the target cylinder with characteristic point that one embodiment of the invention is rebuild.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
Fig. 1 is please referred to, Fig. 2 present invention provides a kind of non-contact six-freedom displacement measurement side based on binocular vision
Method, Fig. 1, Fig. 2 are that the present invention implements example, comprising the following steps:
Step S1: designing two-dimensional encoded sequence and generates checkerboard codes, and is fixed as checkerboard codes on object under test surface
Cylinder.Unduplicated binary coding is affixed on periphery, periphery location information is represented with coding, obtains cylindrical body
C；
The surface location of rolling body is represented in order to use specific available information, is devised a kind of with obvious characteristic
The coding cylinder of angle point, this coding cylinder are to represent periphery position using no duplicate binary-coding in periphery
Information.In addition to binary-coding of the invention, other binary-codings can also be changed into.As shown in figure 3,0 is represented with white square, black square generation
Table 1, a coding can correspond to row's black and white lattice, can have apparent angle point between the black and white lattice that two adjacent encoders are constituted,
We take these points as clarification of objective angle point.Since binary-coding is without repeatability, it can indicate round using some coding
The a certain specific position of damaged surface.It, can be according to mesh in two groups of the front and back image that binocular camera captures in rotation and movement
The variation of public characteristic point obtains rotation and the displacement information of cylindrical body on mark object.
Step S2: the inside and outside parameter of binocular camera is demarcated；
Step S3: Image Acquisition is carried out to cylindrical body according to calibrated binocular camera, then binocular camera is clapped respectively
The target for taking the photograph two groups of images of gained cylindrical body is split, and extracts the two dimensional image coordinate of clarification of objective angle point；
Step S31: binocular image acquisition is carried out to cylindrical body C and obtains iml1, imr1, iml2, imr2；
Step S32: according in the image of binocular camera acquisition, it is partitioned into target x automaticallyl1、xr1And xl2、xr2；
Since the target to be detected used is the cylindrical body with obvious black and white grid search-engine, gray difference is obvious, institute
(but being not limited to) traditional partitioning scheme based on threshold value can be used to carry out Target Segmentation.By threshold decision by gray level image
It is converted into after bianry image, it is also necessary to bianry image be corroded and expanded, corrosion can the certain pixels in delete target boundary
Small connected region is removed, expansion can add pixel to the object boundary in image to remove hole.And then by connected region
The search in domain and the style characteristic of cylindrical body are the position that can determine cylindrical body in picture and are split, such as Fig. 4 institute
Show.
Step S33: to the target x being partitioned intol1、xr1And xl2、xr2Feature corner extraction is carried out, respective feature angle point is obtained
Two-dimensional image coordinate xl11..., xl1n、xr11..., xr1nAnd xl21..., xl2n、xr21..., xr2n, and the two-dimensional coordinate constituted
Collect Xl1、Xr1And Xl2、Xr2；
Step S34: to two-dimensional image coordinate set Xl1, Xr1And Xl2, Xr2The optimization of gridiron pattern constraint is carried out, generates final two
Tie up coordinate set Yl1、Yr1And Yl2、Yr2；
The corner location extracted in step s 35, which is still rolled etc., to be influenced there are nearmis, for this error,
We first use angle point merge and screening, to neighbor distance be less than grid back gauge 1/2 angle point merge, choosing wherein feature compared with
For apparent point, delete the nearest black surround of son out of place with for extra angle point.Then, according to cylindrical body roll in present it is oval
Feature of the characteristic point that section and each row respectively arrange on same straight line fits arc using the discrete point by merging and screening
Shape gridiron pattern, as shown in Figure 5.On this basis, the tessellated angle point of arc is set as final accurate angle point.
Step S36: binary-coding information B is restored using gray threshold1、B2。
To two-dimensional coordinate collection Yl1And Yl2Known to being judged in the point in 45,135 degree of angles using the method for gray threshold
Around the black and white lattice situation of the point, binary-coding information B is restored on this basis1、B2, inverse process as shown in Figure 2.
Step S4: inside and outside parameter matrix and imaging model based on binocular camera, by the two dimensional image coordinate of feature angle point
Be converted to three-dimensional world coordinate；
Step S41: binocular calibration obtains binocular camera internal reference Mleft、Mright, outer ginseng matrix H；
Binocular calibration tool box is carried using MATLAB, and binocular calibration is carried out to the scaling board image that left and right cameras acquires,
It can get left and right camera respectively internal reference Mleft、MrightAnd two it is outer between camera join H, be made of spin matrix and transposed matrix.
Step S42: according to obtained camera inside and outside parameter matrix, two-dimensional coordinate collection Y is utilizedl1、Yr1And Yl2、Yr2It reconstructs
Three-dimensional world coordinate collection G1And G2；
Utilize the pass in Fig. 6 between four kinds of camera coordinates system, image coordinate system, pixel coordinate system, world coordinate system coordinate systems
System, it is known that the conversion process of 3-D image coordinate is converted to by two dimensional image coordinate.It calculates by left and right camera features angle point
The equation of two-dimensional image coordinate and two space lines of corresponding camera optical center, the intersecting point coordinate of two straight lines are characteristic point
Three-dimensional world coordinate.There may be various errors when due to practical calculating, and two straight lines are very possible and non-intersecting, so making
It can be solved with least square method and reconstruct discrete three-dimensional world coordinate collection G1And G2。
Step S43: to discrete three-dimensional world coordinate collection G1And G2The optimization of line constraint is carried out, coordinate set is generated
group1And group2。
Step S5: carrying out cylinder fitting to the three-dimensional world coordinate of feature angle point, and calculates cylinder translation and rotation letter
Breath obtains six-degree of freedom displacement information.
Step S51: according to obtained binary-coding B1And B2, judge coordinate set group1And group2Present in public affairs
The coordinate set g of feature angle point altogether1And g2；
Binary-coding information B is restored in step S261And B2Later, and then the cylinder in current input image can be learnt
Body target relative camera is which surface location shown as.For two groups of input pictures of binocular camera shooting, they are divided
Not carry out feature Corner Detection and binary-coding reduction after, if may determine that the binary-coding B of two groups of images1And B2In extremely
After a rare identical coding, then it can regard this corresponding feature angle point of identical coding as public characteristic angle point, it can also
In two coordinate set group1And group2In find the coordinate set g of the corresponding public characteristic angle point of two groups of images1And g2。
Step S52: coordinate set group is utilized1And group2Cylinder fitting is respectively carried out, the centre coordinate of the two can be obtained
C1、C2, radius R1、R2And direction vector V1, V2；
Step S53: centre coordinate C is utilized1、C2It carries out difference and calculates available displacement information, meanwhile, it is based on direction vector
V1, V2, the Eulerian angles of rotation can be calculated by turning Euler's angle formula according to spin matrix.
Embodiment 1:
The present embodiment devises a kind of unduplicated binary coding cylinder as shown in Figure 3, which is about
It 3.4140cm, is highly 15cm, surface is covered by 8 binary codings.Acquisition hardware uses model ALLIED
The CCD camera of Gige GT1910C and the camera lens of model Computar FA M2518, wherein the resolution ratio of CCD camera be
1920 × 1080, maximum frame per second is 57fps, and camera lens then possesses 5,000,000 pixels, and focal length f is 25mm, aperture F is 1.8.It is right
Four-degree-of-freedom measurement result of the invention is compared with practical rotation angle with displacement.Table 1 gives displacement of the invention
Measurement method is in the comparison in known practical rotation angle and displacement.
Table 1:
As it can be seen from table 1 the method for the present invention can measure the displacement and the rotation angle of a specific direction in three directions
The 4DOF information of composition.It can thus be appreciated that method proposed by the present invention only needs to input using two groups of groups of left and right camera shooting
The information of the characteristic point of target object can calculate the freedom degrees information such as displacement, rotation angle in image, in rotation angle quilt
It is also applicable in the case where blocking, it can be generalized to the displacement measurement of the six degree of freedom including three-dimensional translating and Three dimensional rotation.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (4)
1. a kind of non-contact six-freedom displacement measurement method based on binocular vision, which comprises the following steps:
Step S1: designing two-dimensional encoded sequence and generates checkerboard codes, by checkerboard codes be fixed on object under test surface obtain to
Survey cylindrical body；
Step S2: binocular camera is installed, and the inside and outside parameter of binocular camera is demarcated；
Step S3: acquiring cylindrical body image to be measured by binocular camera, then carry out cylindrical body Target Segmentation respectively to this image,
On the basis of segmentation, the two dimensional image coordinate of feature angle point in target is extracted；
Step S4: inside and outside parameter matrix and camera imaging model based on binocular camera, by the two dimensional image coordinate of feature angle point
Be converted to three-dimensional world coordinate；
Step S5: carrying out cylinder fitting to the three-dimensional world coordinate of feature angle point, and calculate cylindrical center's point and direction vector,
To obtain the translation and rotation information of object under test, i.e. six-degree of freedom displacement information.
2. a kind of non-contact six-freedom displacement measurement method based on binocular vision according to claim 1, special
Sign is: the step S3 specifically:
Step S31: binocular image acquisition is carried out to cylindrical body to be measured and obtains iml1, imr1, iml2, imr2；
Step S32: according in the image of binocular camera acquisition, it is partitioned into target x automaticallyl1、xr1And xl2、xr2；
Step S33: to the target x being partitioned intol1、xr1And xl2、xr2Feature corner extraction is carried out, the figure of respective feature angle point is obtained
As two-dimensional coordinate xl11..., xl1n、xr11..., xr1nAnd xl21..., xl2n、xr21..., xr2n, and the two-dimensional coordinate collection constituted
Xl1、Xr1And Xl2、Xr2；
Step S34: to two-dimensional image coordinate set Xl1, Xr1And Xl2, Xr2The optimization of gridiron pattern constraint is carried out, final two dimension is generated and sits
Mark collection Yl1、Yr1And Yl2、Yr2；
Step S35: binary-coding information B is restored using gray threshold1、B2。
3. a kind of non-contact six-freedom displacement measurement method based on binocular vision according to claim 2, special
Sign is: the step S4 specifically:
Step S41: binocular calibration obtains binocular camera internal reference Mleft、Mright, outer ginseng matrix H；
Step S42: according to obtained camera inside and outside parameter matrix, two-dimensional coordinate collection Y is utilizedl1、Yr1And Yl2、Yr2Reconstruct three-dimensional
World coordinates collection G1And G2；
Step S43: to discrete three-dimensional world coordinate collection G1And G2The optimization of line constraint is carried out, coordinate set group is generated1With
group2。
4. a kind of non-contact six-freedom displacement measurement method based on binocular vision according to claim 3, special
Sign is: the step S5 specifically:
Step S51: according to obtained binary-coding B1And B2, judge coordinate set group1And group2Present in public characteristic
The coordinate set g of angle point1And g2；
Step S52: coordinate set group is utilized1And group2Cylinder fitting is respectively carried out, the centre coordinate C of the two can be obtained1、C2
With radius R1、R2And direction vector V1, V2；
Step S53: centre coordinate C is utilized1、C2It carries out difference and calculates available displacement information, meanwhile, utilization orientation vector V1, V2,
And it Euler's angle formula is turned according to spin matrix can calculate the Eulerian angles of rotation.
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| CN113639761A (en) * | 2021-08-25 | 2021-11-12 | 吉林大学 | Two-dimensional translation and rotation displacement and speed synchronous non-contact measurement method by utilizing black and white grid image codes |
| CN113639761B (en) * | 2021-08-25 | 2023-11-10 | 吉林大学 | Two-dimensional translation and rotation displacement and speed synchronous non-contact measurement method using black-and-white grid pattern code |
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