CN109544634A - The method and apparatus and utensil of line-scan digital camera calibration - Google Patents
The method and apparatus and utensil of line-scan digital camera calibration Download PDFInfo
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Abstract
The present invention provides the method and apparatus and utensil of a kind of line-scan digital camera calibration.Error caused by overcoming because of movement, the experimental results showed that, this method is contrasted for existing method, and the requirement to hardware device is reduced, and stated accuracy and stability are also improved, and more reduce calibration cost, also makes the process simplification of calibration.First, the present invention provides a kind of method, when demarcating target and line-scan digital camera is in opposing stationary, characteristic point of the calibration target under at least three height condition is obtained；Go out the internal reference or outer ginseng with the corresponding parametric solution of characteristic point under at least three height condition.Second, the present invention provides a kind of device, the caliberating device of line-scan digital camera is made of the elevated height device of calibration target and calibration target.Third, the present invention provides a kind of utensil, for the utensil of line-scan digital camera calibration, for changing the height of line-scan digital camera calibration target.
Description
Technical field
It is the machine vision in relation to detecting or measuring, especially with line-scan digital camera the present invention relates to field of machine vision
Machine vision, it should say belong to line-scan digital camera calibration field more particularly to line-scan digital camera scaling method and device and device
Tool.
Background technique
In field of machine vision, camera calibration play the role of it is vital, directly influence to target object detection,
The precision of measurement and positioning.The calibration of area array cameras is widely used in the actual environment, but due to line-scan digital camera
Special construction, it is however generally that, shooting can only obtain one dimensional image every time, all characteristic point in calibration target can not be obtained, because
The method of this area array cameras calibration can be not applied directly in line-scan digital camera.For the particularity of line-scan digital camera, 1993,
Horaud et al. accurately moves the shooting for carrying out image by precision surface plate using the calibration target for having four known straight lines, with
It with Cross ration invariability, obtains corresponding relationship between object point and picture point and completes line-scan digital camera calibration, but is high to hardware device requirement,
Operation difficulty is big[1]；Luna in 2010 et al. is improved for the method for Horaud, propose to demarcate using space multistory target into
Rower is fixed, eliminates the bring error because of mobile calibration target, but propose very high requirement to the precision of calibration target, and mark
Targeting needs plane to keep height parallel with line-scan digital camera[2]；2011, Drar et al. was proposed according to the method for Luna three-dimensional
Calibration target is fixed with precise mobile platform, but must assure that the Y axis direction of the mobile direction of platform and world coordinate system is protected
It holds consistent[3].The scaling method of above-mentioned line-scan digital camera needs the mobile platform of high-precision calibration target or precision, not only one
Determine to limit the precision of calibration in degree, and increases the difficulty of calibration.
Domestic research conditions have CN103065303B that can catch a glimpse of, and wear photoelectricity pedestal, the first photoelectricity longitude and latitude of bright use
Instrument, the second electro-optic theodolite (being referred to as mobile platform) constitute the major part of calibration system, and the result accuracy of calibration can be by
It is similar with external research conditions, it is also desirable to be equipped with high-precision shifting if thinking stated accuracy height to the influence of mobile platform precision
Moving platform.
In view of many deficiencies of the prior art, especially to the precision heavy dependence equipment precision of calibration result, cost
Outstanding problem high, complicated for operation, the present inventor provide special project of the present invention with benefit progress.
Summary of the invention
The present invention without relying on according to high precision apparatus for the prior art, can be obtained according in the prior art and
Speech has the effect of quite even higher stated accuracy, and technical points are such as right: being in opposite in calibration target and line-scan digital camera
In the state of static, characteristic point of the calibration target under at least three height condition is obtained；With the spy under this at least three height condition
The corresponding parametric solution of sign point goes out the internal reference of the line-scan digital camera or joins outside.
Its solution procedure relies in mathematical computations, will demonstrate a kind of available mathematical computations in a specific embodiment.
Characteristic point is the sight (optical plane) of line-scan digital camera and the intersection point of calibration target, obtains characteristic point and is through linear array phase
Machine shooting obtains, and extracts the geometric height information or geometry pitch information or picture element position information of characteristic point.
In above-mentioned technical essential, what it is due to acquisition is with respect to the calibration target under line-scan digital camera stationary state in different height shape
Characteristic point under state, is different from existing scheme, overcome because movement caused by error, the experimental results showed that, this method contrast in
For existing method, reduce the requirement to hardware device, stated accuracy and stability are also improved, more reduce calibration at
This, also makes the process simplification of calibration.
In improvement project on the basis of above-mentioned technical essential of the invention, there can be public affairs using setting in calibration target underlay
Claim the method for the gauge block of thickness, so that calibration target is in corresponding height condition；This improved method, which can be saved, changes implementation
The device requirement of And of Varying Depth state, for example, saving Special-purpose lifting equipment promotes gauge block gradually to obtain different height conditions.
In further improvement project, the nominal thickness of each gauge block is identical, and difference in height etc. can be obtained by being superimposed each gauge block
In the height condition of integral multiple nominal thickness, such case is conducive to simplify mathematical computations, when being especially gradually superimposed gauge block,
The case where differences such as acquisition are nominal thickness.
In view of scaling method proposed by the invention, for aforementioned calibration process main points implementation and build the need of calibration system
It wants, the present invention also proposes the device for calibration, and technical points are such as right: the caliberating device is by calibration target and elevated height device structure
At.Elevated height device described herein refers to the device or equipment for changing calibration target height.
There is above-mentioned caliberating device proposed by the present invention, is used as a part of calibration system, use can be saved
In high accuracy positioning, movement, rotation, the calibrator (-ter) unit of calibration target, one is built compared with the calibration system that the prior art simplifies.If
Elevated height device is the gauge block with nominal thickness, moreover it is possible to be further simplified elevated height device.
In view of scaling method proposed by the invention, for aforementioned calibration process main points implementation and build the need of calibration system
It wants, the present invention also proposes the utensil for calibration, and technical points are such as right: the utensil is for changing calibration target relative to linear array phase
The height of machine.
Be further simplified the table calibration target height condition process and equipment precision requirement, preferably reduce calibration at
This, above-mentioned utensil is with a nominal thickness, and the nominal thickness is for changing the height of the calibration target.In this way, with block
The padded calibration target of shape object is good selection, this block objects is due to the gauge block that with nominal thickness, is.
Detailed description of the invention
A kind of Fig. 1: existing line-scan digital camera detecting system schematic diagram；
Fig. 2: the calibration pattern schematic diagram of calibration target of the embodiment of the present invention；
Fig. 3: the relation schematic diagram between coordinate system of the embodiment of the present invention
Fig. 4: schematic diagram of the caliberating device of line-scan digital camera of the embodiment of the present invention in calibration environment；
Fig. 5: schematic diagram of the line-scan digital camera of the embodiment of the present invention in the imaging as plane；
Fig. 6: the signal of characteristic point of embodiment of the present invention corresponding position in calibration target world coordinate system and image coordinate system
Figure；
Fig. 7: the embodiment of the present invention demarcates target in the schematic diagram of the first height condition；
Fig. 8: the embodiment of the present invention demarcates target in the schematic diagram of the second height condition；
Fig. 9: the embodiment of the present invention demarcates target in the schematic diagram of third height state；
Figure 10: Cross ration invariability schematic illustration of the embodiment of the present invention；
Figure 11: the embodiment of the present invention demarcates target world coordinate system and world coordinate system schematic diagram；
Figure 12: line-scan digital camera of embodiment of the present invention internal reference and outer ginseng solve schematic diagram；
Figure 13: the embodiment of the present invention demarcates target under different height state in the schematic diagram of camera coordinates system.
Specific embodiment
Fig. 1 signal a kind of existing line-scan digital camera detection system, detected object the lower section of line-scan digital camera successively
Pass through, the detection image of shooting is transferred to calculating equipment by line-scan digital camera, and captured image is converted to inspection by calculating equipment
Measured data needs to demarcate the line-scan digital camera in advance before this process, is obtaining the line-scan digital camera in the detection environment
After internal reference and outer ginseng, the work that conversion image data is detection data could accurately be completed by calculating equipment.
The calibration pattern of production calibration target 02 as shown in Figure 2, draws a right angle trigonometry with CAD graphics software on A4 drawing
Shape, it is internal without any filler, and array 19 in a manner of row arrangement.To distinguish the direction for demarcating target, last one
A triangle shaped tip draws a contour rectangle, and inside is simultaneously distinguished with backslash.The long right-angle side of each triangle
Side length is 20mm, and the side length of short right-angle side is 5mm, line width 0.2mm.Provide the longest right-angle side of first triangle for calibration
The y-axis of target world coordinate system, most short right-angle side are to demarcate the x-axis of target world coordinate system, the longest edge of triangle and most short side
Intersection point is the origin for demarcating target world coordinate system.So the linear equation of each right side of the triangle and bevel edge are as follows: l1、
l2、…、l40.The wherein equation of straight line are as follows:
Build according to the present invention spirit implement caliberating device, as shown in figure 4, line-scan digital camera 01 be located at calibration target 02 just on
Side adjusts line-scan digital camera 01 to the object distance of calibration target 02, and when determining shooting every time, the light that calibration target 02 is respectively positioned on line-scan digital camera is flat
It, should be with horizontal plane 05 (being equivalent to the transmission belt in detection system shown in Fig. 1) Cheng Yiding's when calibration target 02 is put in face 011
Low-angle.In the present embodiment, line-scan digital camera 01 selects DALSA SWORDFISH SF, resolution ratio 2048*1, phase elemental size
14um×14um；Camera lens selects Nikon AF 50mm F-Mount f/1.8D, focal length 50mm, and the angle for demarcating target and horizontal plane is big
About 5 ° -8 °, it is determined that the object distance of line-scan digital camera 01 is 450mm.
Requirement in terms of light source is not feature of present invention, belongs to a part of existing calibration technique, is not made in Fig. 4 especially
Signal.In the present embodiment, light source selects Ai Feite photoelectricity LLS-174-W, and making illumination is uniform and highlighted on calibration target 02.
The feature of equipment also non-present invention is calculated, also illustration omitted.
In the present embodiment, calibration target 02 is located in the optical plane 011 of line-scan digital camera 01, by constantly adjusting calibration target
02 position in optical plane 011 guarantees occur passing through line without 40 black lines for being overlapped phenomenon in optical plane 011
The internal trigger of array camera 01 shoots 01 pair of calibration target 02 of line-scan digital camera, and the image of shooting is as shown in Figure 5.
Such as Fig. 3, explanation is shown to the coordinate system used in the present embodiment.The origin of pixel coordinate system (o-uv) is
O, abscissa u and ordinate v are the row and column where image respectively；Image coordinate system (o1- xy) origin be o1, sat for pixel
The midpoint of system is marked, abscissa x and ordinate y are parallel to each other with the abscissa in pixel coordinate system with ordinate respectively；Camera is sat
Mark system (Oc-XcYcZc) origin be line-scan digital camera optical center Oc, axis and Xc YcAbscissa and vertical seat in axis and pixel coordinate system
Mark is parallel to each other, ZcAxis is line-scan digital camera optical axis, vertical with the plane of delineation, in the present embodiment, is all made of camera coordinates and means
It is illustrated for the present embodiment line-scan digital camera 01；World coordinate system (Ow-XwYwZw) origin be line-scan digital camera plane and calibration target
First point (P of intersection1), use OwIndicate the origin of its camera coordinates system, XwAxis is the friendship of line-scan digital camera plane and calibration target
Line, YwAxis and XwAxis is mutually perpendicular to, and is located in the plane of calibration target, ZwAxis is mutually perpendicular to calibration target plane；Demarcate target generation
Boundary coordinate system (O'w-X'wYw'Z'w) origin be demarcate target in first triangle longest edge and most short side intersection point O'w, X'w
Axis overlaps with triangle most short right-angle side, Yw' axis overlaps with triangle longest right-angle side, Z'wAxis and calibration target are flat
Face is mutually perpendicular to, i.e., with the Z of world coordinate systemwAxis is parallel to each other.
Such as Fig. 4, the sight (optical plane 011) of line-scan digital camera 01 and the target surface of calibration target 02 intersect at the (corresponding diagram 6 of straight line 04
Middle intersecting lens L).Such as Fig. 6, the intersection point of the straight line 04 and each triangle in calibration target 02, is according to spirit of that invention institute
The characteristic point stated is denoted as in the implementation of the present embodiment as P1.Such as Fig. 7, in the present embodiment, demarcates under target 02 and be lined with a gauge block
Feature group when 03 under the first locating height condition is denoted as:Using the software of image procossing, spy is found out
Levy point P1Corresponding picpointed coordinate on the image.It is denoted as are as follows:Wherein each picture point u1Abscissa value, lead to
It crosses and edge extracting is carried out to image, obtain the pixel value at edge, average to two adjacent pixel values, as each picture point u1
Abscissa value, unit be pixel (Pix).
As shown in Fig. 7,8,9, characteristic point of the calibration target 02 under at least other two height condition is obtained；The amount of successively increasing
The quantity of block 03 makes to demarcate target 02 thickness of gauge block 03 successively in other two different height condition, the present embodiment
For 9mm.Under each height condition, characteristic point P is obtained.Then, three groups of characteristic points are obtained, it may be assumed thatAnd corresponding picture point, it may be assumed that
Calculate coordinate of the characteristic point P in calibration target world coordinate system.According under the three groups of different height states obtained
Characteristic point information, abscissa value of the corresponding picture point u of characteristic point P in image coordinate system, and because being located at as characteristic point P
It demarcates on the right-angle side of target intermediate cam shape, abscissa value of the characteristic point P in calibration target world coordinate system is known.Such as figure
Shown in 10, using the mapping relations of Cross ration invariability and according to actual conditions: picture point u and characteristic point P can intersect at point S,
That is the optical center of line-scan digital camera.According to Cross ration invariability principle, obtain:
Wherein, CR is double ratio coefficient, xj、xj+1、xj+2、xj+4(j=1,3 ..., 35) it is spatial point Pj、Pj+1、Pj+2、
Pj+4Abscissa, and xj、xj+2、xj+4Abscissa value be known, uj、uj+1、uj+2、uj+4For the corresponding coordinate of picture point.
P on bevel edge is solved in calibration target according to formula (1)j+1The abscissa value x of pointj+1, neutralizing:
Wherein
By xj+1Bring calibration 02 intermediate cam shape bevel edge l of target intoiEquation y=-4 (x-5i) in, we available Pj+1?
Demarcate the coordinate (x in the world coordinate system of target 02j+1,yj+1).By carrying out straight line to the point P on straight line L with least square method
Fitting, equation are y=k x+b, as shown in figure 11.
The conversion of characteristic point coordinate.Enabling straight line 04 is the x-axis of world coordinate system, point P1For the origin of world coordinate system, linear array
The Z axis of 01 coordinate of camera and the Z axis of world coordinate system are parallel to each other.Therefore characteristic point P is in the x-axis of world coordinate system, root
It is converted according to coordinate, obtains characteristic point P in the position of world coordinate system, be denoted as are as follows: xw1、xw2、…、xw40.Respectively in different height
02 information of calibration target shot under degree state is similarly handled, and obtains corresponding data.
By characteristic point P world coordinate system position xwCoordinate value and the corresponding picture point u coordinate value in figure coordinate system,
The relationship between world coordinate system and image coordinate system is established, the inner parameter and external parameter of line-scan digital camera are obtained.According to line
Relationship between 01 internal reference of array camera and outer ginseng obtains world coordinate system, image coordinate system and camera coordinates as shown in figure 12
Matrix relationship between system:
Function defines in formula (3): Zc: proportionality coefficient
U, v: point P is in the position of image coordinate system, unit pixel；
R, T: the rotation of world coordinate system and camera coordinates system, translation matrix；
Xw、Yw、Zw: point P is in the position of world coordinate system, unit millimeter；
Fu、Fv: line-scan digital camera focal length；
u0、v0: the center point coordinate of image；
Because line-scan digital camera is made of the photosensitive chip with row arrangement, the XZ that the linear image of shooting is located at line-scan digital camera is flat
Face, so Fv、V0、r12、r22、r32、ty、ywIt is 0, neutralizing formula (3):
Equation is converted by formula (4) are as follows:
(Fur11+u0r31)*xw-r31xwu-tzu+u0tz+Futx=0 formula (5)
Simple enable is calculated for convenience of program:
Pass through formula (5) and formula (6) simultaneous, formula (5) neutralizing are as follows:
k1xw+k2xwu+k3=u
According to formula (6), neutralizing is obtained:
According to the mapping relations (as shown in figure 13) under calibration target world coordinate system, obtain:
I, j: calibration target is in the position of different height.
As shown in figure 13, in h1、h2、h3Under three groups of different heights, characteristic point information: u is obtained1、u2、u3、
U, xwSubstitution formula (7), obtains(i=1 2 3), according to Cross ration invariability principle, joint type (4) to formula (10),
It can be concluded that u0, according to the thickness relationship of gauge block 03, r can be found out11, F0, r31And it is obtained for the calibration target of different height
tx、tz, that is, complete calibration of this implementation to the inner parameter and external parameter of line-scan digital camera 01.
Compare Fig. 7,8,9, in the present embodiment, on the normal direction axis perpendicular to horizontal plane 05, Fig. 8 demarcate target 02 relative to
There is significantly different, this point in the angle position of the axis with the corresponding angle position in Fig. 7 or Fig. 9, can be from the straight line of Fig. 8
04 relative to calibration target 02 have the inclination more more obvious than Fig. 7 or Fig. 9 in find out.The further surface of the feature, it is of the invention
Angle position when scaling method puts calibration target relative to aforementioned normal direction axis is not required, without considering the fortune of calibration target
Error caused by dynamic.
A kind of calibration process that spirit is implemented according to the present invention is described in the present embodiment, is described smart according to the present invention
The caliberating device and corresponding calibration utensil that mind is implemented, caliberating device needed for the present embodiment is without in such as existing calibration technique
Precise mobile platform or positioning used or measuring device, hence it is evident that reduce the requirement to hardware device.
What the present embodiment citing was implemented is that more the next embodiment under spiritual guidance, this field are common according to the present invention
Technical staff is it will be appreciated that the other embodiments pointed out in the present invention.The people of any reading present invention, which works as, to be known, guarantor of the invention
Shield range is subject to claims, it is any attempt to modify technical characteristic based on the present embodiment evade the present invention's to reach
Purpose person will be hampered by covering for the claims in the present invention.
It is any to implement present inventor for the purpose of managing or make a profit, the authorization of the present invention should be obtained！Otherwise, it will face
Patent Law gives the obligee of the present invention legal risk for enjoying opinion.
Below with reference to document be only help those of ordinary skill in the art to the present invention propose before when the prior art it
The understanding of means and effect and quote:
[1]Horaud R,Mohr R,Lorecki B.On Single-Scanline Camera Calibration
[J]. IEEE Transactions on Robotics&Automation,1993,9(1):71-75.
[2]Luna C A,Mazo M,Lazaro J L,et al.Calibration of Line-Scan Cameras
[J]. IEEE Transactions on Instrumentation&Measurement,2010,59(8):2185-2190.
[3]Drar,Ni J,Roy S,et al.Plane-Based Calibration for Linear Cameras
[J]. International Journal of Computer Vision,2011,91(2):146-156.
Claims (10)
1. the scaling method of line-scan digital camera is to calculate the internal reference or outer of the line-scan digital camera by the characteristic point for obtaining calibration target
Ginseng, which is characterized in that in the state that the calibration target and the line-scan digital camera are in opposing stationary, obtain the calibration target and exist
Characteristic point under at least three height condition；Gone out with the corresponding parametric solution of characteristic point under at least three height condition described
Internal reference or outer ginseng.
2. scaling method according to claim 1, which is characterized in that by setting in the calibration target underlay with nominal thickness
The gauge block of degree, so that the calibration target is in corresponding height condition.
3. scaling method according to claim 2, which is characterized in that the nominal thickness of each gauge block is identical.
4. scaling method according to claim 1, which is characterized in that the line-scan digital camera shoots the calibration target, shooting
Resulting image includes the acquisition to the characteristic point.
5. scaling method according to claim 1, which is characterized in that the parameter includes the geometric height letter of characteristic point
Breath, geometry pitch information, picture element position information.
6. the caliberating device of line-scan digital camera, the component part as line-scan digital camera calibration system, which is characterized in that by calibration target and
The elevated height device for demarcating target is constituted.
7. device according to claim 6, which is characterized in that the elevated height device is the gauge block with nominal thickness.
8. device according to claim 6, which is characterized in that the calibration pattern of the calibration target is put down by equidistant two groups
Line composition, and two groups of parallel lines mutually have angle.
9. the utensil for line-scan digital camera calibration, which is characterized in that the utensil demarcates the height of target for changing line-scan digital camera.
10. utensil according to claim 9, which is characterized in that the utensil has a nominal thickness, which uses
In the height for changing the calibration target.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103065303A (en) * | 2012-12-25 | 2013-04-24 | 中国科学院长春光学精密机械与物理研究所 | Device and method capable of rapidly achieving line-scan digital camera standardization |
| CN106982370A (en) * | 2017-05-03 | 2017-07-25 | 武汉科技大学 | A kind of camera high-precision calibration scaling board of many line-scan digital camera detecting systems and the method for realizing calibration |
| CN206743459U (en) * | 2017-05-03 | 2017-12-12 | 武汉科技大学 | A kind of camera high-precision calibration scaling board of more line-scan digital camera detecting systems |
| CN108198224A (en) * | 2018-03-15 | 2018-06-22 | 中国铁道科学研究院 | A kind of line-scan digital camera caliberating device and scaling method for stereo-visiuon measurement |
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- 2018-10-10 CN CN201811175472.5A patent/CN109544634B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103065303A (en) * | 2012-12-25 | 2013-04-24 | 中国科学院长春光学精密机械与物理研究所 | Device and method capable of rapidly achieving line-scan digital camera standardization |
| CN106982370A (en) * | 2017-05-03 | 2017-07-25 | 武汉科技大学 | A kind of camera high-precision calibration scaling board of many line-scan digital camera detecting systems and the method for realizing calibration |
| CN206743459U (en) * | 2017-05-03 | 2017-12-12 | 武汉科技大学 | A kind of camera high-precision calibration scaling board of more line-scan digital camera detecting systems |
| CN108198224A (en) * | 2018-03-15 | 2018-06-22 | 中国铁道科学研究院 | A kind of line-scan digital camera caliberating device and scaling method for stereo-visiuon measurement |
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