CN109540033B - Closed-loop consistent binocular active vision automobile morphology global free reconstruction system and method - Google Patents
Closed-loop consistent binocular active vision automobile morphology global free reconstruction system and method Download PDFInfo
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Abstract
The invention discloses a global free reconstruction system and a global free reconstruction method for closed-loop consistent binocular active vision automobile morphology, and aims to solve the problem of global free reconstruction for closed-loop consistent binocular active vision automobile morphology. The closed-loop consistent binocular active vision automobile morphology global free reconstruction system mainly comprises a three-dimensional target (1), an external camera (2), a camera support (3), a right camera (4), a cylindrical target (5), a left camera (6), a threaded rod (7), a laser (8), a connecting rod (9) and a fixing seat (10). The closed-loop consistent binocular active vision automobile morphology global free reconstruction method comprises five steps of image acquisition, camera calibration, epipolar matching, laser plane solving and automobile morphology reconstruction, and provides a closed-loop consistent binocular active vision automobile morphology global free reconstruction system and method with simple structure and reliable performance.
Description
Technical Field
The invention relates to measuring equipment and a measuring method in the field of automobile detection, in particular to a closed-loop consistent binocular active vision automobile appearance global free reconstruction system and a closed-loop consistent binocular active vision automobile appearance global free reconstruction method.
Background
In recent years, topography measurement technology is one of the most important technologies in the fields of optical inspection and vision. At present, the acquisition of the automobile morphology information has important research significance and application value in the fields of automobile production and manufacturing, automobile maintenance, automobile detection and the like. However, only 2D images without depth information can be generated by using camera imaging, and how to conveniently and rapidly acquire the real morphology of the 3D space of the vehicle by using the camera is very important. In order to realize high-precision three-dimensional reconstruction of the automobile appearance and overcome the problem that the traditional structured light technology cannot accurately reconstruct the inner surface of the automobile which cannot be observed by a camera, a binocular active vision automobile appearance global free reconstruction system based on a cylindrical target is designed, a closed-loop consistent calibration principle of binocular active vision automobile appearance global free reconstruction is constructed, and the automobile appearance global free accurate reconstruction is realized.
Disclosure of Invention
The invention provides a closed-loop consistent binocular active vision automobile appearance global free reconstruction system and method, aiming at the problem that the traditional structured light technology cannot accurately reconstruct the automobile inner surface which cannot be observed by a camera. The system mainly comprises three industrial cameras, a cylindrical surface target, a surface structure light with the relative position unchanged with a left camera and a right camera and the like, and adopts a closed-loop consistent calibration reconstruction method to realize reconstruction and calculation of the appearance of the automobile on the basis of binocular vision and the structure light.
The invention is realized by adopting the following technical scheme by combining the attached drawings of the specification:
the closed-loop consistent binocular active vision automobile morphology global free reconstruction system comprises a three-dimensional target, an external camera, a camera bracket, a right camera, a cylindrical target, a left camera, a threaded rod, a laser, a connecting rod and a fixed seat;
the three-dimensional target is placed subaerial, camera support places subaerial, outside camera passes through the top of anchor clamps clamping at camera support, the cylinder target is placed subaerial, the threaded rod passes two screw holes on cylinder target upper portion and cylinder target threaded connection, left side camera and right camera are both ends about the threaded rod through screw thread fixed connection respectively, the fixing base passes through two U-shaped bolts and threaded rod fixed connection, the bulb of connecting rod is connected with the inboard interior sphere transition fit of the cylinder of fixing base, the short cylinder threaded connection of laser instrument and connecting rod.
The three-dimensional target in the technical scheme is a part formed by welding three rectangular steel plates, and texture pictures are adhered to the inner surface of the three-dimensional target.
The external camera in the technical scheme is a wide-angle camera with a narrow-band filter.
The right camera in the technical scheme is a wide-angle camera with a narrow-band filter.
The cylindrical target in the technical scheme is a hollow cylinder, the outer surface of the cylindrical target is pasted with a texture picture, and two threaded holes are processed at the upper part of the cylindrical target.
The left camera in the technical scheme is a wide-angle camera with a narrow-band filter.
The threaded rod in the technical scheme is a round rod with external threads.
The laser in the technical scheme is a cylindrical part capable of emitting laser on one surface, and the laser wavelength emitted by the laser is consistent with the band-pass wavelength of the narrow-band filters of the right camera, the left camera and the external camera.
The connecting rod in the technical scheme is formed by welding a steel ball head and a steel short cylinder, and threads are machined on the outer surface of the short cylinder.
The fixing seat in the technical scheme is formed by welding a circular base and a cylinder, an inner spherical surface is processed on the inner side of the cylinder, and four through holes are processed on the circular base.
The closed-loop consistent binocular active vision automobile morphology global free reconstruction method specifically comprises the following steps:
the first step is as follows: acquiring images of a closed-loop consistent binocular active vision automobile appearance global free reconstruction method:
the cylindrical surface target, the camera support and the three-dimensional target are placed on the ground, the external camera is fixed to the top of the camera support, the threaded rod penetrates through the two through holes in the upper portion of the cylindrical surface target, and the left camera and the right camera are respectively in threaded connection with the threaded rod. The fixing seat is connected with the threaded rod through a U-shaped bolt, and the laser is connected with the fixing seat through a connecting rod. And turning on the laser, wherein the laser plane emitted by the laser is intersected with the three-dimensional target. The external camera collects an image which comprises a three-dimensional target and cylindrical coordinates, the right camera collects a pair of images which comprise the three-dimensional target and a laser plane, and the left camera collects a pair of images which comprise the three-dimensional target and the laser plane.
The second step is that: calibrating a camera of a closed-loop consistent binocular active vision automobile appearance global free reconstruction method:
first, the external camera coordinate system is selected as the fixed global coordinate system. Calibrating an external camera by a DLT method and a three-dimensional target to obtain a conversion matrix P between the external camera and the three-dimensional targetⅠ,ⅤConversion matrix PⅠ,ⅤObtaining internal parameter K of external camera through RQ decompositionⅤA rotation matrix RⅠ,ⅤTranslation vector tⅠ,Ⅴ. Calibrating the external camera by a DLT method and the cylindrical target to obtain a conversion matrix P between the external camera and the cylindrical targetⅣ,ⅤConversion matrix PⅣ,ⅤObtaining internal parameter K of external camera through RQ decompositionⅤA rotation matrix RⅣ,ⅤTranslation vector tⅣ,Ⅴ。
The three-dimensional target, the external camera and the cylindrical surface target form a closed loop, and a conversion relation between the three-dimensional target and the cylindrical surface target is obtained according to the calibration result of the three-dimensional target and the cylindrical surface target on the external camera
RⅠ,Ⅳ＝RⅠ,ⅤRⅣ,Ⅴ
tⅠ,Ⅳ＝tⅠ,Ⅴ-tⅣ,Ⅴ
The transformation matrix between the three-dimensional target and the cylindrical target is
The conversion matrix P of the left camera can be obtained by calibrating the left camera through the three-dimensional targetⅠ,ⅡObtaining the internal parameter K of the left camera through RQ decompositionⅡA rotation matrix RⅠ,ⅡTranslation vector tⅠ,Ⅱ. In the same way, the method for preparing the composite material,
the three-dimensional target marks the right camera to obtain a conversion matrix P of the right camera 4Ⅰ,ⅢObtaining the internal parameter K of the right camera through RQ decompositionⅢA rotation matrix RⅠ,ⅢTranslation vector tⅠ,Ⅲ。
The three-dimensional target, the right camera and the left camera form a closed loop, the conversion relation between the right camera and the left camera can be obtained according to the calibration result of the three-dimensional target to the right camera and the left camera,
RⅡ,Ⅲ＝RⅠ,ⅡRⅠ,Ⅲ
tⅡ,Ⅲ＝tⅠ,Ⅲ-tⅠ,Ⅱ
the third step: the epipolar matching of the closed-loop consistent binocular active vision automobile morphology global free reconstruction method comprises the following steps:
the laser projection point on the image plane of the left camera is
Epipolar line on image plane of right camera
Is composed of
Where F is a fundamental matrix, and F ═ KⅢ)-T[tⅡ,Ⅲ]xRⅡ,Ⅲ(KⅡ)-1. Finding epipolar line from candidate point set
The point with the shortest distance is taken as the laser projection point on the image plane of the right camera
Is matched with
The fourth step: solving a laser surface of a closed-loop consistent binocular active vision automobile morphology global free reconstruction method:
from the known laser projection point on the image plane of the left camera
Laser projection point on right camera image plane
Known transformation matrix P for left cameraⅠ,ⅡAnd the conversion matrix P of the right cameraⅠ,ⅢThe coordinates of the laser point under the three-dimensional target 1 coordinate system can be obtained by the following two-way reconstruction
Wherein s isⅠ,ⅡAnd sⅠ,ⅢIs a scale factor.
From laser spots
II on laser surfaceⅠIn the above, then
Calculating the coordinate pi of the laser surface under the three-dimensional target coordinate system by the above formula and SVD decomposition methodⅠ。
The conversion relation between the three-dimensional target and the cylindrical coordinates obtained by the second step
The coordinate of the laser plane under the cylindrical coordinate system is
The rotation matrix R of the cylindrical target and the external camera obtained by the second stepⅣ,ⅤTranslation vector tⅣ,ⅤObtaining the conversion relation between the cylindrical target and the external camera
The coordinates of the laser plane in the external camera coordinate system are
The fifth step: the automobile appearance reconstruction of the closed-loop consistent binocular active vision automobile appearance global free reconstruction method comprises the following steps:
when the automobile drives into the visual fields of the left camera and the right camera, the laser plane emitted by the laser and the automobile are intersected in a curve, and the three-dimensional reconstruction point of the three-dimensional point on the intersected curve under the coordinate system of the external camera is
Second step, obtaining transformation matrix between three-dimensional target and cylindrical target
Three-dimensional target and leftRotation matrix R of cameraⅠ,ⅡTranslation vector tⅠ,ⅡRotation matrix R of three-dimensional target and right cameraⅠ,ⅢTranslation vector tⅠ,Ⅲ. The three-dimensional target, the cylindrical target and the left camera form a closed loop system, and the conversion relation between the left camera and the cylindrical target can be obtained according to the closed loop consistency
RⅡ,Ⅳ＝RⅠ,ⅡRⅠ,Ⅳ
tⅡ,Ⅳ＝tⅠ,Ⅳ-tⅠ,Ⅱ
Similarly, because the three-dimensional target, the cylindrical target and the right camera form a closed-loop system, the conversion relation between the right camera and the cylindrical target can be obtained according to the closed-loop consistency
RⅢ,Ⅳ＝RⅠ ⅢRⅠ,Ⅳ
tⅢ,Ⅳ＝tⅠ,Ⅳ-tⅠ Ⅲ
Three-dimensional reconstruction coordinates of laser points under unified to cylindrical target coordinate system
The method is obtained by SVD decomposition method and the following three formulas:
the conversion relation between the cylindrical target and the external camera obtained in the fourth step
Three-dimensional reconstruction coordinates of body laser points in external camera coordinate system
Is composed of
The invention has the beneficial effects that:
(1) the method mainly adopts closed-loop consistency to solve, and laser points under a three-dimensional target 1 coordinate system are converted through closed-loop conversion
Converting to an external camera 2 coordinate system for three-dimensional coordinates
And (4) reconstructing. Four closed loops are shared in the solution, wherein the closed loop one comprises a three-dimensional target 1, an external camera 2 and a cylindrical target 5, the closed loop two comprises the three-dimensional target 1, a right camera 4 and a left camera 6, the closed loop three comprises the three-dimensional target 1, the right camera 4 and the cylindrical target 5, and the closed loop four comprises the three-dimensional target 1, the left camera 6 and the cylindrical target 5. The closed loops are constrained with each other, so that the resolving precision is improved.
(2) The invention adds a third camera, namely an external camera 2, on the basis of binocular vision. The advantage is that the coordinates of the laser intersection point can be reconstructed in the coordinate system of the external camera 2 only by knowing the translation relationship with the cylindrical target 5 of the external camera 2. The combination body consisting of the right camera 4, the cylindrical target 5, the left camera 6 and the laser 8 can be moved and scanned, the reconstructed visual field is wider, the scannable position is wider, the area outside the visual field range of the external camera 2 can be scanned and reconstructed, and the reconstruction effect on the area which is not easy to be directly observed by the external camera 2 in the automobile body is remarkable.
(3) The invention adopts a method of combining binocular stereo matching with laser active vision, adopts the cylindrical target 5 with image plane projection and uniform directions as a reference object of the external camera 2, realizes high-precision extraction of characteristic points of the cylindrical target 5, and combines and assembles the cylindrical target 5, the left camera 6, the right camera 4 and the laser 8, so that the universality of the equipment is improved, and the occupied area and the operation program of the equipment are reduced.
Drawings
FIG. 1 is a calibration axonometric view of a closed-loop consensus binocular active vision automobile topography global free reconstruction system;
FIG. 2 is a reconstruction axonometric view of a closed-loop consensus binocular active vision automobile topography global free reconstruction system;
FIG. 3 is an isometric view of a camera mount 3 in a closed-loop consensus binocular active vision global free reconstruction system of an automobile topography;
FIG. 4 is an isometric view of a cylindrical target 5 in a closed-loop consensus binocular active vision global free reconstruction system of an automobile topography;
fig. 5 is an axonometric view of the threaded rod 7 in the closed-loop coherent binocular active vision global free reconstruction system of the vehicle topography;
FIG. 6 is an isometric view of a laser 8 in a closed-loop coherent binocular active vision global free reconstruction system for vehicle topography;
FIG. 7 is an isometric view of a connecting rod 9 in a closed-loop consensus binocular active vision global free reconstruction system for automobile topography;
FIG. 8 is an isometric view of a holder 10 in a closed-loop consensus binocular active vision global free reconstruction system for vehicle topography;
FIG. 9 is a flow chart of external camera 2 calibration in a closed-loop uniform binocular active vision global free reconstruction system for automobile topography;
FIG. 10 is a flowchart of the calibration of the right camera 4 and the left camera 6 in the closed-loop uniform binocular active vision automobile morphology global free reconstruction method;
FIG. 11 is a flow chart of the epipolar matching of the right camera 4 and the left camera 6 in the closed-loop consistent binocular active vision automobile morphology global free reconstruction method;
FIG. 12 is a diagram illustrating a method for global free reconstruction of the binocular active vision vehicle morphology with closed-loop consistency, in which the coordinate pi of the laser plane under the external camera 2 is solvedⅤA flow chart of (1);
FIG. 13 is a closed-loop consistent binocular active vision automobile morphology global free reconstruction methodCoordinates of the medium reconstruction laser spot under the external camera 2
A flow chart of (1);
in the figure: 1. the camera comprises a three-dimensional target, 2. an external camera, 3. a camera bracket, 4. a right camera, 5. a cylindrical target, 6. a left camera, 7. a threaded rod, 8. a laser, 9. a connecting rod and 10. a fixed seat.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1 to 8, the closed-loop binocular active vision based global free reconstruction system for automobile morphology comprises a three-dimensional target 1, an external camera 2, a camera support 3, a right camera 4, a cylindrical target 5, a left camera 6, a threaded rod 7, a laser 8, a connecting rod 9 and a fixing seat 10.
The three-dimensional target 1 is a part formed by welding three rectangular steel plates, texture pictures are pasted on the inner surface, and the three-dimensional target 1 is placed on the ground. The external camera 2, the right camera 4, and the left camera 6 are wide-angle cameras having narrow band filters. The camera support 3 is placed on the ground, and the external camera 2 is clamped on the top of the camera support 3 through a clamp. The cylindrical surface target 5 is a hollow cylinder, the outer surface of the cylindrical surface target is pasted with a texture picture, two threaded holes are processed at the upper part of the cylindrical surface target, and the cylindrical surface target 5 is placed on the ground. The threaded rod 7 is a round rod with external threads, the threaded rod 7 penetrates through two threaded holes in the upper portion of the cylindrical target 5 to be in threaded connection with the cylindrical target 5, and the left camera 6 and the right camera 4 are fixedly connected to the left end and the right end of the threaded rod 7 through threads respectively. Fixing base 10 is formed by a circular base and a cylinder welding, the inboard processing of cylinder has interior sphere, circular base processing has four through-holes, fixing base 10 is through two U-shaped bolts and 7 fixed connection of threaded rod, connecting rod 9 is formed by a steel bulb and the welding of steel short cylinder, short cylinder surface processing is threaded, the bulb of connecting rod 9 is connected with the inboard interior sphere transition fit of cylinder of fixing base 10, laser instrument 8 is the cylindrical part of a emittable face laser, the laser wavelength and the right camera 4 that laser instrument 8 sent, left camera 6, the band-pass wavelength of the narrowband optical filter of outside camera 2 is unanimous, laser instrument 8 and the short cylinder threaded connection of connecting rod 9.
Referring to fig. 9 to 13, the closed-loop consistent binocular active vision global free reconstruction method for the automobile morphology can be divided into the following five steps:
the first step is as follows: acquiring images of a closed-loop consistent binocular active vision automobile appearance global free reconstruction method:
the cylindrical surface target 5, the camera support 3 and the three-dimensional target 1 are placed on the ground, the external camera 2 is fixed to the top of the camera support 3, the threaded rod 7 penetrates through the two through holes in the upper portion of the cylindrical surface target 5, and the left camera 6 and the right camera 4 are respectively in threaded connection with the threaded rod 7. The fixing seat 10 is connected with the threaded rod 7 through a U-shaped bolt, and the laser 8 is connected with the fixing seat 10 through a connecting rod 9. The laser 8 is turned on, and the laser plane emitted by the laser 8 intersects the three-dimensional target 1. The external camera 2 collects an image which comprises the three-dimensional target 1 and the cylindrical coordinates 5, the right camera 4 collects a pair of images which comprise the three-dimensional target 1 and the laser plane, and the left camera 6 collects a pair of images which comprise the three-dimensional target 1 and the laser plane.
The second step is that: calibrating a camera of a closed-loop consistent binocular active vision automobile appearance global free reconstruction method:
first, the external camera 2 coordinate system is selected as the fixed global coordinate system. Calibrating an external camera 2 by a DLT method and a three-dimensional target 1 to obtain a conversion matrix P between the external camera 2 and the three-dimensional target 1Ⅰ,ⅤConversion matrix PⅠ,ⅤObtaining the internal parameter K of the external camera 2 through RQ decompositionⅤA rotation matrix RⅠ,ⅤTranslation vector tⅠ,Ⅴ. Calibrating the external camera 2 by a DLT method and the cylindrical target 5 to obtain a conversion matrix P between the external camera 2 and the cylindrical target 5Ⅳ,ⅤConversion matrix PⅣ,ⅤObtaining the internal parameter K of the external camera 2 through RQ decompositionⅤA rotation matrix RⅣ,ⅤTranslation vector tⅣ,Ⅴ。
The three-dimensional target 1, the external camera 2 and the cylindrical surface target 5 form a closed loop, and the conversion relation between the three-dimensional target 1 and the cylindrical surface target 5 is obtained according to the calibration result of the three-dimensional target 1 and the cylindrical surface target 5 to the external camera 2
RⅠ,Ⅳ＝RⅠ,ⅤRⅣ,Ⅴ
tⅠ,Ⅳ＝tⅠ,Ⅴ-tⅣ,Ⅴ
The transformation matrix between the three-dimensional target 1 and the cylindrical target 5 is
The left camera 6 is calibrated through the three-dimensional target 1, and a transformation matrix P of the left camera 6 can be obtainedⅠ,ⅡObtaining the internal parameter K of the left camera 6 through RQ decompositionⅡA rotation matrix RⅠ,ⅡTranslation vector tⅠ,Ⅱ. Similarly, the three-dimensional target 1 calibrates the right camera 4 to obtain the transformation matrix P of the right camera 4Ⅰ,ⅢObtaining the internal parameter K of the right camera 4 through RQ decompositionⅢA rotation matrix RⅠ,ⅢTranslation vector tⅠ,Ⅲ。
The three-dimensional target 1, the right camera 4 and the left camera 6 form a closed loop, the conversion relation between the right camera 4 and the left camera 6 can be obtained according to the calibration result of the three-dimensional target 1 to the right camera 4 and the left camera 6,
RⅡ,Ⅲ＝RⅠ,ⅡRⅠ,Ⅲ
tⅡ,Ⅲ＝tⅠ,Ⅲ-tⅠ,Ⅱ
the third step: the epipolar matching of the closed-loop consistent binocular active vision automobile morphology global free reconstruction method comprises the following steps:
the laser projection point on the image plane of the left camera 6 is
On the basis of the corresponding matching relation of epipolar geometric constraint, an epipolar line exists on the image plane of the right camera 4
Correspondingly matched thereto, there is thus a singular mapping from points to straight lines, the epipolar lines being constructed to determine the corresponding points on the right camera 4
Corresponding matching point
The correspondence relationship is as follows,
where F is a fundamental matrix, and F ═ KⅢ)-T[tⅡ,Ⅲ]xRⅡ,Ⅲ(KⅡ)-1。
Laser projection point on image plane of resolving left camera 6
Counter electrode wire
Then, the epipolar line is found from the alternative point set
The point with the shortest distance is taken as the matching point of the laser projection point on the image plane of the right camera 4
The fourth step: solving a laser surface of a closed-loop consistent binocular active vision automobile morphology global free reconstruction method:
the left camera 6 and the right camera 4 form binocular vision, and after the epipolar relation is matched in the previous step, the known laser projection point on the image plane of the left camera 6 forms
On the image plane of the right camera 4Laser projection point
Known transformation matrix P of the left camera 6Ⅰ,ⅡAnd the transformation matrix P of the right camera 4Ⅰ,ⅢThe coordinates of the laser point under the three-dimensional target 1 coordinate system can be obtained by the following two-way reconstruction
Wherein s isⅠ,ⅡAnd sⅠ,ⅢIs a scale factor.
From laser spots
On the laser plane, then
Solving the coordinate pi of the laser surface under the three-dimensional target 1 coordinate system by an SVD decomposition methodⅠ。
The conversion relation between the three-dimensional target 1 and the cylindrical coordinates 5 obtained by the second step
The coordinate of the laser plane under the cylindrical coordinate 5 coordinate system is
The rotation matrix R of the cylindrical target 5 and the external camera 2 determined in the second stepⅣ,ⅤTranslation vector tⅣ,ⅤObtaining cylindrical targets 5 and external cameras 2Transforming relationships
The coordinates of the laser plane in the coordinate system of the external camera 2 are
The fifth step: the automobile appearance reconstruction of the closed-loop consistent binocular active vision automobile appearance global free reconstruction method comprises the following steps:
when the automobile drives into the visual fields of the left camera 6 and the right camera 4, the laser plane emitted by the laser 8 intersects with the automobile on a curve, and the three-dimensional reconstruction point of the three-dimensional point on the intersecting curve under the coordinate system of the external camera 2 is
The second step is to find the transformation matrix between the three-dimensional target 1 and the cylindrical target 5
Rotation matrix R of three-dimensional target 1 and left camera 6Ⅰ,ⅡTranslation vector tⅠ,ⅡRotation matrix R of three-dimensional target 1 and right camera 4Ⅰ,ⅢTranslation vector tⅠ,Ⅲ. Because the three-dimensional target 1, the cylindrical target 5 and the left camera 6 form a closed-loop system, the conversion relation between the left camera 6 and the cylindrical target 5 can be obtained according to the closed-loop consistency
RⅡ,Ⅳ＝RⅠ,ⅡRⅠ,Ⅳ
tⅡ,Ⅳ＝tⅠ,Ⅳ-tⅠ,Ⅱ
Similarly, because the three-dimensional target 1, the cylindrical target 5 and the right camera 4 form a closed-loop system, the conversion relation between the right camera 4 and the cylindrical target 5 can be obtained by the closed-loop consistency
RⅢ,Ⅳ＝RⅠⅢRⅠ,Ⅳ
tⅢ,Ⅳ＝tⅠ,Ⅳ-tⅠ Ⅲ
Three-dimensional reconstruction coordinates of laser points under 5 coordinate systems unified to cylindrical target
The method is obtained by SVD decomposition method and the following three formulas:
the conversion relation between the cylindrical target 5 and the external camera 2 determined in the fourth step
Three-dimensional reconstruction coordinates of vehicle body laser point in external camera 2 coordinate system
Is composed of
Claims (9)
1. A global free reconstruction method for the appearance of a closed-loop consistent binocular active vision automobile is characterized by comprising a three-dimensional target (1), an external camera (2), a camera support (3), a right camera (4), a cylindrical target (5), a left camera (6), a threaded rod (7), a laser (8), a connecting rod (9) and a fixed seat (10);
the three-dimensional target (1) is placed on the ground, the camera support (3) is placed on the ground, an external camera (2) is clamped at the top of the camera support (3) through a clamp, the cylindrical target (5) is placed on the ground, the threaded rod (7) penetrates through two threaded holes in the upper portion of the cylindrical target (5) to be in threaded connection with the cylindrical target (5), the left camera (6) and the right camera (4) are respectively and fixedly connected to the left end and the right end of the threaded rod (7) through threads, the fixing seat (10) is fixedly connected with the threaded rod (7) through two U-shaped bolts, the ball head of the connecting rod (9) is in transition fit connection with the inner spherical surface on the inner side of the cylinder of the fixing seat (10), and the laser (8) is;
the method comprises the following specific steps:
the first step is as follows: acquiring images of a closed-loop consistent binocular active vision automobile appearance global free reconstruction method:
placing a cylindrical target (5), a camera support (3) and a three-dimensional target (1) on the ground, fixing an external camera (2) at the top of the camera support (3), enabling a threaded rod (7) to pass through two through holes in the upper part of the cylindrical target (5), enabling a left camera (6) and a right camera (4) to be in threaded connection with the threaded rod (7) respectively, enabling a fixed seat (10) to be connected with the threaded rod (7) through a U-shaped bolt, enabling a laser (8) to be connected with the fixed seat (10) through a connecting rod (9), opening the laser (8), enabling a laser plane emitted by the laser (8) to be intersected with the three-dimensional target (1), acquiring an image by the external camera (2), wherein the image comprises the three-dimensional target (1) and a cylindrical coordinate (5), acquiring an image by the right camera (4) and comprising the three-dimensional target (1) and a laser, comprises a three-dimensional target (1) and a laser plane;
the second step is that: calibrating a camera of a closed-loop consistent binocular active vision automobile appearance global free reconstruction method:
firstly, selecting an external camera (2) coordinate system as a fixed global coordinate system, calibrating the external camera (2) by a DLT method and a three-dimensional target (1), and obtaining a transformation matrix P between the external camera (2) and the three-dimensional target (1)Ⅰ,ⅤConversion matrix PⅠ,ⅤObtaining an internal parameter K of the external camera (2) through RQ decompositionⅤA rotation matrix RⅠ,ⅤTranslation vector tⅠ,ⅤCalibrating the external camera (2) by using a DLT method and the cylindrical target (5) to obtain a conversion matrix P between the external camera (2) and the cylindrical target (5)Ⅳ,ⅤConversion matrix PⅣ,ⅤDeriving external cameras by RQ decomposition (RQ)2) Internal parameter KⅤA rotation matrix RⅣ,ⅤTranslation vector tⅣ,Ⅴ；
The three-dimensional target (1), the external camera (2) and the cylindrical surface target (5) form a closed loop, and the conversion relation between the three-dimensional target (1) and the cylindrical surface target (5) is obtained according to the calibration result of the three-dimensional target (1) and the cylindrical surface target (5) on the external camera (2)
RⅠ,Ⅳ＝RⅠ,ⅤRⅣ,Ⅴ
tⅠ,Ⅳ＝tⅠ,Ⅴ-tⅣ,Ⅴ
The transformation matrix between the three-dimensional target (1) and the cylindrical target (5) is
The left camera (6) is calibrated through the three-dimensional target (1), and a transformation matrix P of the left camera (6) can be obtainedⅠ,ⅡObtaining the internal parameter K of the left camera (6) through RQ decompositionⅡA rotation matrix RⅠ,ⅡTranslation vector tⅠ,ⅡIn the same way, the three-dimensional target (1) calibrates the right camera (4) to obtain the transformation matrix P of the right camera (4)Ⅰ,ⅢObtaining the internal parameter K of the right camera (4) through RQ decompositionⅢA rotation matrix RⅠ,ⅢTranslation vector tⅠ,Ⅲ；
The three-dimensional target (1), the right camera (4) and the left camera (6) form a closed loop, and the conversion relation between the right camera (4) and the left camera (6) can be obtained according to the calibration result of the three-dimensional target (1) to the right camera (4) and the left camera (6),
RⅡ,Ⅲ＝RⅠ,ⅡRⅠ,Ⅲ
tⅡ,Ⅲ＝tⅠ,Ⅲ-tⅠ,Ⅱ
the third step: the epipolar matching of the closed-loop consistent binocular active vision automobile morphology global free reconstruction method comprises the following steps:
the laser projection point on the image plane of the left camera (6) is
Epipolar line on the image plane of the right camera (4)
Is composed of
Where F is a fundamental matrix, and F ═ KⅢ)-T[tⅡ,Ⅲ]xRⅡ,Ⅲ(KⅡ)-1Finding epipolar line from candidate point set
The point with the shortest distance is taken as the laser projection point on the image plane of the right camera (4)
Is matched with
The fourth step: solving a laser surface of a closed-loop consistent binocular active vision automobile morphology global free reconstruction method:
from the known laser projection point on the image plane of the left camera (6)
Laser projection point on image plane of right camera (4)
Known transformation matrix P of the left camera (6)Ⅰ,ⅡAnd a transformation matrix P of the right camera (4)Ⅰ,ⅢThe coordinates of the laser point under the coordinate system of the three-dimensional target (1) can be obtained by the following two-way reconstruction
Wherein s isⅠ,ⅡAnd sⅠ,ⅢIs a scale factor;
from laser spots
II on laser surfaceⅠIn the above, then
Calculating the coordinate pi of the laser surface under the coordinate system of the three-dimensional target (1) by the above formula and the SVD decomposition methodⅠ；
The conversion relation between the three-dimensional target (1) and the cylindrical coordinates (5) obtained by the second step
The coordinate of the laser plane under the cylindrical coordinate (5) coordinate system is
The rotation matrix R of the cylindrical target (5) and the external camera (2) is obtained by the second stepⅣ,ⅤTranslation vector tⅣ,ⅤTo obtain the conversion relation between the cylindrical target (5) and the external camera (2)
The coordinate of the laser plane under the coordinate system of the external camera (2) is
The fifth step: the automobile appearance reconstruction of the closed-loop consistent binocular active vision automobile appearance global free reconstruction method comprises the following steps:
when the automobile drives into the visual fields of the left camera (6) and the right camera (4), the laser plane emitted by the laser (8) and the automobile are intersected on a curve, and the three-dimensional reconstruction point of the three-dimensional point on the intersected curve under the coordinate system of the external camera (2) is the three-dimensional reconstruction point
Secondly, a transformation matrix between the three-dimensional target (1) and the cylindrical target (5) is obtained
Rotation matrix R of three-dimensional target (1) and left camera (6)Ⅰ,ⅡTranslation vector tⅠ,ⅡRotation matrix R of the three-dimensional target (1) and the right camera (4)Ⅰ,ⅢTranslation vector tⅠ,ⅢThe three-dimensional target (1), the cylindrical target (5) and the left camera (6) form a closed-loop system, and the conversion relation between the left camera (6) and the cylindrical target (5) can be obtained according to the closed-loop consistency
RⅡ,Ⅳ＝RⅠ,ⅡRⅠ,Ⅳ
tⅡ,Ⅳ＝tⅠ,Ⅳ-tⅠ,Ⅱ
In the same way, because the three-dimensional target (1), the cylindrical target (5) and the right camera (4) form a closed-loop system, the conversion relation between the right camera (4) and the cylindrical target (5) can be obtained according to the closed-loop consistency
RⅢ,Ⅳ＝RⅠⅢRⅠ,Ⅳ
tⅢ,Ⅳ＝tⅠ,Ⅳ-tⅠⅢ
Three-dimensional reconstruction coordinates of laser points under a coordinate system unified to a cylindrical target (5)
Obtained by SVD decomposition method and the following three formulas：
The conversion relation between the cylindrical target (5) and the external camera (2) obtained in the fourth step
Three-dimensional reconstruction coordinates of the laser spot of the vehicle body in the coordinate system of the external camera (2)
Is composed of
2. The closed-loop coherent binocular active vision global free reconstruction method according to claim 1, wherein the external camera (2) is a wide-angle camera with a narrow-band filter.
3. The closed-loop coherent binocular active vision global free reconstruction method according to claim 1, wherein the right camera (4) is a wide-angle camera with a narrow-band filter.
4. The closed-loop uniform binocular active vision global free reconstruction method for the automobile morphology according to claim 1, wherein the cylindrical target (5) is a hollow cylinder, a texture picture is pasted on the outer surface of the cylindrical target, and two threaded holes are processed in the upper part of the cylindrical target.
5. The closed-loop coherent binocular active vision global free reconstruction method according to claim 1, wherein the left camera (6) is a wide-angle camera with a narrow-band filter.
6. The closed-loop uniform binocular active vision automobile morphology global free reconstruction method according to claim 1, characterized in that the threaded rod (7) is a round rod processed with external threads.
7. The closed-loop uniform binocular active vision global free reconstruction method according to claim 1, wherein the laser (8) is a cylindrical part capable of emitting one-surface laser, and the laser wavelength emitted by the laser (8) is consistent with the band-pass wavelength of the narrow-band filters of the external camera (2), the right camera (4) and the left camera (6).
8. The closed-loop binocular active vision consistent automobile morphology global free reconstruction method according to claim 1, characterized in that the connecting rod (9) is formed by welding a steel ball head and a steel short cylinder, and threads are machined on the outer surface of the short cylinder.
9. The closed-loop uniform binocular active vision global free reconstruction method for the automobile morphology according to claim 1, wherein the fixed seat (10) is formed by welding a circular base and a cylinder, an inner spherical surface is processed on the inner side of the cylinder, and four through holes are processed on the circular base.
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