CN109544634B - Method and device for calibrating linear array camera - Google Patents

Method and device for calibrating linear array camera Download PDF

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Publication number
CN109544634B
CN109544634B CN201811175472.5A CN201811175472A CN109544634B CN 109544634 B CN109544634 B CN 109544634B CN 201811175472 A CN201811175472 A CN 201811175472A CN 109544634 B CN109544634 B CN 109544634B
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calibration
calibration target
height
target
linear array
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CN109544634A (en
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毕德学
王敏雪
袁帅鹏
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Tianjin University of Science and Technology
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Tianjin University of Science and Technology
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30—Reactive power compensation

Abstract

The invention provides a method and a device for calibrating a linear array camera. Compared with the existing method, the method has the advantages that the requirements on hardware equipment are reduced, the calibration precision and stability are improved, the calibration cost is reduced, and the calibration process is simplified. Firstly, the invention provides a method, when a calibration target and a linear array camera are relatively static, characteristic points of the calibration target in at least three height states are obtained; and solving the internal parameters or the external parameters according to parameters corresponding to the characteristic points in the at least three height states. The second, the invention provides a device, the calibration device of the linear array camera, is formed by the calibration target and the height lifter of the calibration target. Thirdly, the invention provides an appliance for calibrating the linear array camera, which is used for changing the height of a calibration target of the linear array camera.

Description

Method and device for calibrating linear array camera
Technical Field
The invention relates to the field of machine vision, in particular to machine vision related to detection or measurement, in particular to machine vision adopting a linear array camera, which belongs to the field of linear array camera calibration, in particular to a calibration method and device of the linear array camera and an appliance.
Background
In the field of machine vision, camera calibration plays a vital role, and directly influences the accuracy of target object detection, measurement and positioning. The calibration of the area-array camera is widely applied in the practical environment, but because of the special structure of the linear-array camera, generally, only one-dimensional images can be obtained in each shooting, and all characteristic points in the calibration target can not be obtained, so that the method for calibrating the area-array camera can not be directly applied to the linear-array camera. Aiming at the particularity of a linear camera, in 1993, horaud et al accurately move through a precision platform by using a calibration target with four known straight lines to shoot an image so as to acquire the corresponding relation between an object point and an image point to finish the calibration of the linear camera by using cross ratio invariance, but the requirement on hardware equipment is extremely high, and the operation difficulty is large [1] The method comprises the steps of carrying out a first treatment on the surface of the The method of Luna et al in 2010 is improved by the method of Horaud, and the method utilizes a spatial three-dimensional calibration target to calibrate, so that errors caused by moving the calibration target are eliminated, but high requirements are put on the precision of the calibration target, and the calibration target and a linear array camera need to be kept highly parallel in plane [2] The method comprises the steps of carrying out a first treatment on the surface of the In 2011, drar et al proposed fixing a three-dimensional calibration target to a precision moving platform according to Luna's method, but it was necessary to ensure that the direction of movement of the platform was consistent with the Y-axis direction of the world coordinate system [3] . The calibration method of the linear array camera requires a high-precision calibration target or precise movementThe platform not only limits the calibration accuracy to a certain extent, but also increases the calibration difficulty.
The domestic research condition is that CN103065303B can be peeped, a photoelectric base, a first photoelectric theodolite and a second photoelectric theodolite (which are collectively called as a mobile platform) adopted by the dymin form a main part of a calibration system, the precision of a calibration result can be influenced by the precision of the mobile platform, and if the precision of the calibration is high, the high-precision mobile platform is required to be equipped similarly to the foreign research condition.
In view of the various shortcomings of the prior art, especially the outstanding problems that the precision of the calibration result is seriously dependent on the equipment precision, the cost is high and the operation is complex, the inventor specially provides the special proposal of the invention to be beneficial to progress.
Disclosure of Invention
The invention can obtain the effect of quite even higher calibration precision compared with the prior art without depending on high-precision equipment compared with the prior art, and the technical key points are as follows: acquiring characteristic points of the calibration target in at least 3 height states under the state that the calibration target and the linear array camera are in relative static states; and solving internal parameters or external parameters of the linear array camera according to parameters corresponding to the characteristic points in at least 3 height states.
The solution process relies on mathematical calculations, and in particular embodiments one of the available mathematical calculations will be demonstrated.
The characteristic points are the intersection points of the line of sight (light plane) of the linear array camera and the calibration target, the characteristic points are obtained through shooting of the linear array camera, and the geometric height information or geometric spacing information or pixel position information of the characteristic points are extracted.
In the technical points, because the characteristic points of the calibration targets in different height states relative to the linear array camera in the static state are obtained, the method is different from the prior art, the error caused by movement is overcome, and compared with the prior art, the experimental result shows that the method reduces the requirement on hardware equipment, improves the calibration precision and stability, reduces the calibration cost, and simplifies the calibration process.
In the improvement scheme based on the technical key points of the invention, a method of placing a gauge block with nominal thickness under the calibration target can be adopted so as to enable the calibration target to be in a corresponding height state; this improved method may eliminate the need for equipment to implement the change in elevation, e.g., eliminating the need for dedicated lifting equipment to successively lift the blocks to achieve different elevation conditions.
In a further improvement, the nominal thickness of each gauge block is the same, and the height state that the height difference is equal to the integer multiple of the nominal thickness can be obtained by superposing the gauge blocks, so that the mathematical calculation is simplified, and especially, when the gauge blocks are sequentially superposed, the condition that the equidifference number is the nominal thickness is obtained.
In view of the calibration method provided by the invention, the calibration system is required to be built for implementing the key points of the calibration process, and the invention also provides a device for calibration, and the technical key points are as follows: the calibration device consists of a calibration target and a height lifter. The height lifter refers to a device or equipment for changing the height of the calibration target.
The calibration device provided by the invention is used as a part of a calibration system, high-precision positioning, moving, rotating and calibrating equipment for calibrating a target can be omitted, and a calibration system simplified compared with the prior art is built. If the height lifter is a gauge block with a nominal thickness, the height lifter can be further simplified.
In view of the calibration method provided by the invention, the need of constructing a calibration system for implementing the key points of the calibration process is provided, and the invention also provides a calibration device, the technical key points of which are as follows: the device is used for changing the height of the calibration target relative to the linear array camera.
Further simplifying the process and equipment accuracy requirements of the meter for calibrating the height state of the target, and better reducing the calibration cost, the device has a nominal thickness, and the nominal thickness is used for changing the height of the calibration target. Thus, calibrating the target with a bump-like object raised is a good choice, which, due to its nominal thickness, may be referred to as a gauge block.
Drawings
Fig. 1: an existing linear array camera detection system schematic diagram;
fig. 2: the embodiment of the invention provides a calibration pattern diagram of a calibration target;
fig. 3: schematic of the relationship between coordinate systems in the embodiment of the invention
Fig. 4: the embodiment of the invention provides a schematic diagram of a calibration device of a linear array camera in a calibration environment;
fig. 5: the linear array camera of the embodiment of the invention is a schematic diagram of imaging on an image plane;
fig. 6: schematic diagrams of corresponding positions of feature points in a calibration target world coordinate system and an image coordinate system are provided;
fig. 7: the embodiment of the invention calibrates a schematic diagram of a target in a first height state;
fig. 8: the embodiment of the invention calibrates the schematic diagram of the target in the second height state;
fig. 9: the embodiment of the invention calibrates the schematic diagram of the target in the third height state;
fig. 10: the cross ratio invariance principle schematic diagram of the embodiment of the invention;
fig. 11: the embodiment of the invention calibrates a target world coordinate system and a world coordinate system schematic diagram;
fig. 12: according to the embodiment of the invention, the internal parameters and external parameters of the linear array camera are solved;
fig. 13: the embodiment of the invention calibrates the schematic diagram of the target in the camera coordinate system under different height states.
Detailed Description
In the conventional linear camera detection system illustrated in fig. 1, a detected object sequentially passes under a linear camera, the linear camera transmits a shot detection image to a computing device, the computing device converts the shot image into detection data, the linear camera needs to be calibrated in advance before the process, and the computing device can accurately complete the work of converting the image data into the detection data after the internal parameters and the external parameters of the linear camera in the detection environment are acquired.
The calibration pattern of the calibration target 02 is made as shown in fig. 2, a right triangle is drawn on the A4 drawing by CAD drawing software, no filler is present inside,and 19 are arrayed in a row arrangement. To distinguish the direction of the target, a rectangle of equal height is drawn at the end of the last triangle, and the interior is distinguished by a reverse diagonal line. The long right-angle side of each triangle has a side length of 20mm, the short right-angle side has a side length of 5mm, and the line width is 0.2mm. The longest right-angle side of the first triangle is defined as the y axis of the calibration target world coordinate system, the shortest right-angle side is defined as the x axis of the calibration target world coordinate system, and the intersection point of the longest side and the shortest side of the triangle is defined as the origin of the calibration target world coordinate system. The linear equation for the right-angle side and hypotenuse of each triangle is: l (L) 1 、l 2 、…、l 40 . The equation for a straight line is:
the calibration device implemented according to the spirit of the present invention is constructed, as shown in fig. 4, the line camera 01 is located right above the calibration target 02, the object distance from the line camera 01 to the calibration target 02 is adjusted, it is determined that the calibration target 02 is located in the light plane 011 of the line camera when shooting each time, and a certain small angle should be formed between the calibration target 02 and the horizontal plane 05 (equivalent to the transmission belt in the detection system shown in fig. 1) when the calibration target 02 is placed. In this embodiment, the line camera 01 selects DALSA SWORDFISH SF with a resolution of 2048×1 and a phase element size of 14um×14um; the lens selects Nikon AF 50mm F-Mount F/1.8D, the focal length is 50mm, the included angle between the calibration target and the horizontal plane is about 5 degrees to 8 degrees, and the object distance of the line camera 01 is determined to be 450mm.
The requirements in respect of the light source are not a feature of the invention and are not particularly illustrated in fig. 4 as part of the prior art calibration technique. In this embodiment, the light source is Ai Feite photo LLS-174-W, so that the illumination is uniform and high on the calibration target 02. The computing device is also not a feature of the present invention and is not shown.
In this embodiment, the calibration target 02 is located in the optical plane 011 of the line camera 01, and by continuously adjusting the position of the calibration target 02 in the optical plane 011, 40 black lines without overlapping phenomenon in the optical plane 011 are ensured, and by internal triggering of the line camera 01, the line camera 01 photographs the calibration target 02, and the photographed image is shown in fig. 5.
As shown in fig. 3, the coordinate system used in the present embodiment is illustrated. The origin of the pixel coordinate system (o-uv) is o, and the abscissa u and the ordinate v are the row and column, respectively, where the image is located; image coordinate system (o) 1 -xy) origin is o 1 The horizontal coordinate x and the vertical coordinate y are respectively parallel to the horizontal coordinate and the vertical coordinate in the pixel coordinate system; camera coordinate system (O) c -X c Y c Z c ) Origin of (1) is optical center O of linear camera c Axis and X c Y c The abscissa and the ordinate in the axis and pixel coordinate system are parallel to each other, Z c The axis is the optical axis of the linear array camera and is perpendicular to the image plane, and in the embodiment, the linear array camera 01 of the embodiment is referred to by a camera coordinate system for explanation; world coordinate system (O) w -X w Y w Z w ) Is the first point (P 1 ) By O w Representing the origin of the camera coordinate system, X w The axis is the intersection line of the plane of the linear array camera and the calibration target, Y w Axis and X w The axes being perpendicular to each other and lying in the plane of the target, Z w The axis is perpendicular to the calibration target plane; calibrating a target world coordinate system (O' w -X' w Y w 'Z' w ) The origin of (2) is the intersection point O 'of the longest side and the shortest side of the first triangle in the target' w ，X' w The axis coincides with the shortest right-angle side of the triangle, Y w The 'axis and the longest right-angle side of the triangle are mutually overlapped, Z' w The axis being perpendicular to the nominal target plane, i.e. Z in the world coordinate system w The axes are parallel to each other.
As shown in fig. 4, the line of sight (optical plane 011) of the line camera 01 intersects the target surface of the calibration target 02 at a straight line 04 (corresponding to the intersection line L in fig. 6). As shown in FIG. 6, the intersection point of the straight line 04 and each triangle in the calibration target 02 is the implementation of the characteristic point according to the spirit of the present invention in this embodiment, denoted as P 1 . In the present embodiment, as shown in fig. 7, the feature set in the first height state where the calibration target 02 is placed under the gauge block 03 is described as:using software of image processing to find feature point P 1 And corresponding pixel coordinates on the image. The method is characterized by comprising the following steps: />Wherein each image point u 1 The abscissa value of (2) is obtained by extracting the edge of the image, obtaining the pixel value of the edge, and averaging two adjacent pixel values, namely each image point u 1 Is expressed in pixels (Pix).
As shown in fig. 7, 8 and 9, characteristic points of the calibration target 02 in at least two other height states are acquired; the number of the gauge blocks 03 is sequentially increased, so that the calibration targets 02 are sequentially located at two other different height states, and in the embodiment, the thickness of the gauge blocks 03 is 9mm. In each height state, the feature point P is acquired. Thus, three sets of feature points are obtained, namely:and corresponding image points, namely: />
And calculating coordinates of the feature point P in a calibration target world coordinate system. According to the obtained three sets of characteristic point information under different height states, the abscissa value of the image point u corresponding to the characteristic point P in the image coordinate system is also known because when the characteristic point P is positioned on the right-angle side of the triangle in the calibration target, the abscissa value of the characteristic point P in the calibration target world coordinate system is also known. As shown in fig. 10, the mapping relationship using the cross-ratio invariance is combined with the actual situation to see: the image point u and the feature point P intersect at a point S, i.e. the optical center of the line camera. According to the principle of cross ratio invariance, the method is as follows:
wherein CR is an intersection coefficient, x j 、x j+1 、x j+2 、x j+4 (j=1, 3,) 35 is a spatial point P j 、P j+1 、P j+2 、P j+4 And x is the abscissa of (2) j 、x j+2 、x j+4 Is known, u j 、u j+1 、u j+2 、u j+4 Is the coordinates corresponding to the image points.
Solving P on the bevel edge in the calibration target according to the formula (1) j+1 The abscissa value x of the point j+1 Dissolving:
wherein the method comprises the steps of
Will x j+1 Triangle hypotenuse l brought into calibration target 02 i In equation y= -4 (x-5 i), we can get P j+1 Coordinates (x) in the world coordinate system of the calibration target 02 j+1 ,y j+1 ). By straight-line fitting the point P on the straight line L by the least square method, the equation thereof is y= k x +b, as shown in fig. 11.
And (5) converting coordinates of the feature points. Let line 04 be the x-axis of the world coordinate system, point P 1 The Z axis of the 01 coordinate of the linear camera is parallel to the Z axis of the world coordinate system as the origin of the world coordinate system. Therefore, the characteristic points P are all on the x axis of the world coordinate system, and the positions of the characteristic points P in the world coordinate system are obtained according to coordinate conversion and are recorded as: x is x w1 、x w2 、…、x w40 . And respectively carrying out the same processing on the information of the calibration targets 02 shot in different height states to obtain corresponding data.
By the position x of the feature point P in the world coordinate system w And the coordinate values and the corresponding image point u coordinate values in the image coordinate system establish the relationship between the world coordinate system and the image coordinate system, and acquire the internal parameters and the external parameters of the linear camera. According to the relation between the internal reference and the external reference of the linear camera 01, as shown in FIG. 12, a world coordinate system, an image coordinate system and a camera coordinate system are obtainedMatrix relationship:
function definition in equation (3): z is Z c : scaling factor
u, v: the position of the point P in the image coordinate system, and a unit pixel;
r, T: a rotation and translation matrix of the world coordinate system and the camera coordinate system;
X w 、Y w 、Z w : the position of the point P in the world coordinate system, in millimeters;
F u 、F v : focal length of linear array camera;
u 0 、v 0 : center point coordinates of the image;
since the linear camera is composed of photosensitive wafers arranged in rows, the photographed linear image is located on the XZ plane of the linear camera, so F v 、V 0 、r 12 、r 22 、r 32 、t y 、y w All are 0, and the solution formula (3) is obtained:
the conversion from equation (4) to equation is:
(F u r 11 +u 0 r 31 )*x w -r 31 x w u-t z u+u 0 t z +F u t x =0 (5)
For convenience of program calculation, simple instructions:
by combining the formula (5) with the formula (6), the formula (5) is solved as follows:
k 1 x w +k 2 x w u+k 3 ＝u
according to formula (6), the resolution yields:
according to the mapping relation (shown in fig. 13) under the calibration target world coordinate system, the following steps are obtained:
i. j: the calibration targets are at different height positions.
As shown in fig. 13, at h 1 、h 2 、h 3 Under three groups of different heights, obtaining characteristic point information: u (u) 1 、u 2 、/>u 3 、/>Handle u, x w Substituting into formula (7) to obtain ∈ ->(i=1.2.3), according to the principle of cross-ratio invariance, the formula (4) to formula (10) can be combined to obtain u 0 From the thickness relationship of the gauge 03, r can be found 11 ，F 0 ，r 31 Deriving t for calibration targets of different heights x 、t z The calibration of the internal parameters and the external parameters of the line camera 01 in the implementation is completed.
Comparing fig. 7, 8 and 9, in this embodiment, on the normal axis perpendicular to the horizontal plane 05, the angular position of the calibration target 02 of fig. 8 with respect to this axis is significantly different from the corresponding angular position in fig. 7 or 9, as can be seen from the fact that the line 04 of fig. 8 has a more pronounced inclination with respect to the calibration target 02 than in fig. 7 or 9. The calibration method does not require the angular position of the calibration target relative to the normal axis on the further surface of the characteristic, and does not need to consider errors caused by the movement of the calibration target.
In this embodiment, a calibration process implemented according to the spirit of the present invention is described, and a calibration device implemented according to the spirit of the present invention and a corresponding calibration apparatus are described, where the calibration device required in this embodiment does not need a precision moving platform or a positioning or measuring device such as those used in the existing calibration technology, and the requirements on hardware devices are significantly reduced.
This example is intended to illustrate embodiments that are lower in the spirit of the invention and those of ordinary skill in the art will be able to understand the invention for other embodiments that are described herein. It will be apparent to those skilled in the art from this disclosure that the scope of the invention is defined by the claims and that any modification of the features based on the embodiments described herein to avoid the invention is to be limited only by the scope of the claims.
Any person who implements the present invention for business or profit should be given the authorization to do so-! Otherwise, it would be at risk of patenting the right of the present invention to enjoy the claimed law.
The following references are cited merely to aid one of ordinary skill in the art in understanding the prior art means and effects of the present invention as set forth before:
[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 (6)

1. the calibration method of the linear array camera calculates internal parameters or external parameters of the linear array camera by acquiring characteristic points of a calibration target, and is characterized in that the characteristic points of the calibration target are acquired when the calibration target and the linear array camera are in at least 3 relatively static height states; the calibration pattern of the calibration target consists of two groups of parallel lines with equal intervals, and the two groups of parallel lines form an included angle with each other; one of the two groups of parallel lines is a right angle side of a right triangle, and the other group is a hypotenuse of the right triangle; obtaining characteristic points at each height by using cross ratio invariance; combining at least 3 groups of characteristic points in the height state to obtain the internal parameters or the external parameters; the height is a nominal height, and is realized by arranging a gauge block under the calibration target; an included angle is formed between the calibration target and the calibrated surface.
2. Calibration method according to claim 1, characterized in that the nominal heights of the masses are identical.
3. The method of calibrating according to claim 1, wherein the calibration target and the surface to be calibrated form an angle of 5 ° or more and 8 ° or less.
4. The calibrating device of the linear array camera is used as a component part of a calibrating system of the linear array camera and is characterized by comprising a calibrating target and a height transducer of the calibrating target; the calibration pattern of the calibration target consists of two groups of parallel lines with equal intervals, and the two groups of parallel lines form an included angle with each other; one of the two groups of parallel lines is a right angle side of a right triangle, and the other group is a hypotenuse of the right triangle; the height lifter is a gauge block having a nominal thickness; and an included angle is formed between the pattern surface of the calibration target and the bottom surface of the calibration target.
5. The apparatus of claim 4, wherein the height transducer is a gauge block having a nominal thickness for elevating the calibration target.
6. The apparatus of claim 4, wherein the patterned surface of the calibration target and the bottom surface of the calibration target form an angle of 5 ° or more and 8 ° or less.
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Citations (4)

* Cited by examiner, † Cited by third party
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
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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