CN109631764A - Size Measuring System and method based on RealSense camera - Google Patents
Size Measuring System and method based on RealSense camera Download PDFInfo
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- CN109631764A CN109631764A CN201811400371.3A CN201811400371A CN109631764A CN 109631764 A CN109631764 A CN 109631764A CN 201811400371 A CN201811400371 A CN 201811400371A CN 109631764 A CN109631764 A CN 109631764A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/213—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods
- G06F18/2135—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods based on approximation criteria, e.g. principal component analysis
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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
- G06T7/85—Stereo camera calibration
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- 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
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- Life Sciences & Earth Sciences (AREA)
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- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of Size Measuring System and method based on RealSense camera, measuring system include projector, RealSense camera, data processing module and measuring table；RealSense camera and projector are arranged above measuring table by bracket, tested article is placed on measuring table, the calibration pattern that projector is projected out on measuring table, for carrying out pose calibration to RealSense camera, RealSense camera acquires the tested article image on measuring table, and it is sent to data processing module, data processing module seeks the minimum package size of tested article.The present invention can rapid survey article minimum package size, adapt to the continuous productive process of higher speed, measurement accuracy with higher.
Description
Technical field
The present invention relates to the fields of measurement of application stereoscopic vision, and in particular to a kind of size based on RealSense camera
Measuring system and method.
Background technique
Under the consumption background of modernization, logistic industry it is with a very important position, the running efficiency of logistics directly influences
The efficiency of entire Industry Chain System.In recent years, as economic further development, the emergence of internet electronic business and consumption is new
The situation rapidly increased, the logistics capacity of high cost and surge, to automation, intelligence is presented in the appearance of mode, logistics capacity
Logistics management propose no small requirement.
Often it can be related to the packaging of cargo in logistic industry, for not of uniform size, different various goods
Object, logistics operation personnel usually rely on empiricism, choose the specification of packing box, and cause the serious wave of packing box material
Take.Starting point of the goods packing as logistics, it is particularly important for entire logistics progress.The flexibility for packing measuring system is direct
The utilization efficiency and the scope of application of measurement resource are affected, the precision and stability of measurement directly decides the reliable of follow-up management
Property, the speed of measurement directly decides the efficiency of logistics operating.One is flexibly stablized quickly high-precision article minimum package measurement
System can optimize for the cost management of logistics provides strong guarantee.
For the acquisition of article size information, the technological means that existing solution is relied at present mainly divides (infrared) light
Curtain measurement, ultrasonic measurement, laser measurement and four kinds of stereo-visiuon measurement.Wherein light curtain measurement is difficult to measure irregular items
Size, and it is complicated for operation；Ultrasonic measurement can only measurement rules article size, measure irregular product then need to by other auxiliary
Tool is completed, complicated for operation, higher to environmental requirement；Laser measurement can be suitable for rule and irregular items, but need according to
Rely higher-priced industrial sensor, equipment cost is high, it is difficult to universal to utilize.
In conclusion logistic industry, which is badly in need of one, can effectively measure minimum package size, packing specification is instructed to select
Automated system；And existing measuring technique, there are complexity height, and environmental suitability is poor, and it is high to the shape need of tested article,
The problems such as at high cost.
Summary of the invention
The purpose of the present invention is to provide a kind of Size Measuring System and method based on RealSense camera solve existing
There is the problems such as bad adaptability existing for technology, cost is high.
Realize the technical solution of the object of the invention are as follows: a kind of Size Measuring System based on RealSense camera, including throw
Shadow instrument, RealSense camera, data processing module and measuring table；
The RealSense camera and projector are arranged above measuring table by bracket, and tested article is placed on survey
It measures on platform, the calibration pattern that projector is projected out on measuring table, for carrying out pose calibration to RealSense camera,
RealSense camera acquires the tested article image on measuring table, and is sent to data processing module, and data processing module is asked
Take the minimum package size of tested article.
A kind of dimension measurement method based on RealSense camera, comprising the following steps:
Step 1, tessellated mode is projected on measuring table using projector to demarcate the pose of camera, is obtained
The homography matrix of camera and measuring table coordinate system；
Step 2, using intrinsic parameter-embedded of calibration result and RealSense camera, it is flat relative to measurement to acquire camera
The pose of platform；
Step 3, it using background difference algorithm, is partitioned into and belongs to from the picture depth data that RealSense camera acquires
The part of tested article, and switch to point cloud data, and point cloud data is transformed into measurement from camera coordinates system using position orientation relation
Platform coordinate system；
Step 4, the height dimension of tested article is obtained using the z-axis component of the point cloud data after transfer；
Step 5, plane where point cloud data being mapped to measuring table, switchs to two-dimentional point cloud data；
Step 6, down-sampled to two-dimentional point cloud data, obtain uniform data；
Step 7, the two-dimentional point cloud data after will be down-sampled moves to coordinate axis origin, obtains two-dimensional points using PCA algorithm
The principal component direction of cloud data, and as standard, by two-dimensional points cloud data rotation to the axis aligned position of coordinate；
Step 8, the length and width size of tested article is obtained using the x-axis component of two-dimentional point cloud data and y-axis component.
Compared with prior art, remarkable advantage of the invention are as follows: (1) structure of RealSense camera and measuring table is closed
System is adapted to different measurement scenes, flexibly changes in a certain range by adjusting bracket；(2) Kalman filtering is used
For algorithm to measurement result predicting tracing, noise resisting ability is strong, and measuring system also can guarantee by biggish noise and steadily measure；
(3) can rapid survey size, adapt to the pipelining of higher speed；(4) chessboard is projected on measuring table by projector
The mode of lattice demarcates the pose of camera, eliminates in the previous mode using scaling board, right due to the thickness of scaling board
The error that the position orientation relation of system camera and measuring table introduces, effectively improves measurement accuracy；(5) once calibration is completed, as long as
The opposed configuration of camera and test platform does not change, and just without re-scaling, projector, which can be taken away, is sent as his use, maximum
Change resource utilization；(6) aging of mechanical structure can be successfully managed, the influence that artificially contacts leads to mechanical precision error, from
Caused by measurement error, effectively extend system service life.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of cargo item minimum package Size Measuring System.
Fig. 2 is the flexible transformation schematic diagram of camera pose.
Fig. 3 is the calibration schematic diagram of camera pose.
Fig. 4 is camera coordinates system and measuring table coordinate system schematic diagram.
Fig. 5 is the flow diagram of article minimum package dimensional measurement.
Fig. 6 is the pipelining schematic diagram for cooperating bar code identifying device.
Specific embodiment
Improper for packing specification selection in logistic industry, packaging consumptive material wastes serious problem, and the present invention devises one
Kind stereoscopic vision is used, there is the article minimum package Size Measuring System for flexibly stablizing quickly high-precision characteristic, to for logistics
Industry saves cost, improves efficiency.
As shown in Figure 1 and Figure 2, a kind of Size Measuring System based on RealSense camera, including projector,
RealSense camera, data processing module and measuring table；
The RealSense camera and projector are set to above measuring table by bracket, and tested article is placed on survey
It measures on platform, the calibration pattern that projector is projected out on measuring table is demarcated RealSense camera, RealSense
Camera is used to acquire the tested article image on measuring table, and is sent to data processing module, and data processing module obtains quilt
Survey the minimum package size of article.
As shown in figure 3, the calibration pattern is gridiron pattern.
As shown in figure 4, projector is located at the surface of measuring table, optical axis direction is perpendicular to measuring table plane, chessboard
Lattice are completely projected in measuring table plane, while RealSense camera can completely take projector and measure
Gridiron pattern in platform plane.The bracket for carrying RealSense camera is position-adjustable bracket.
As shown in figure 5, the present invention also provides a kind of dimension measurement method based on RealSense camera, including following step
It is rapid:
Step 1, tessellated mode is projected on measuring table using projector to demarcate the pose of camera, is obtained
The homography matrix of camera and measuring table coordinate system；
Step 2, using intrinsic parameter-embedded of calibration result and RealSense camera, it is flat relative to measurement to acquire camera
The pose of platform；
Step 3, it using background difference algorithm, is partitioned into and belongs to from the picture depth data that RealSense camera acquires
The part of tested article, and switch to point cloud data, and point cloud data is transformed into measurement from camera coordinates system using position orientation relation
Platform coordinate system；
Step 4, the height dimension of tested article is obtained using the z-axis component of the point cloud data after transfer；
Step 5, point cloud data is mapped to the plane of measuring table and switchs to two-dimentional point cloud data that is, in x0y plane；
Step 6, down-sampled to two-dimentional point cloud data, obtain uniform data；
Step 7, the two-dimentional point cloud data after will be down-sampled moves to coordinate axis origin, obtains two-dimensional points using PCA algorithm
The principal component direction of cloud data, and as standard, by two-dimensional points cloud data rotation to the axis aligned position of coordinate；
Step 8, the length and width size of tested article is obtained using the x-axis component of two-dimentional point cloud data and y-axis component.
Same article is taken multiple measurements, with Kalman filtering algorithm, predicting tracing is measured size, and keeps its convergence steady
Surely size true value is arrived.
Further, in step 2, it is known that RealSense camera is parameter-embedded, in conjunction with calibration obtain homography matrix,
Acquire camera coordinates system to measuring table coordinate system transfer matrixWherein M is the interior of camera
Ginseng, H3And H1The respectively first three columns of calibration gained homography matrix H and the 4th column.
Further, in step 3, using background difference algorithm, from the picture depth data that RealSense camera acquires
Be partitioned into the part for belonging to tested article, and switch to point cloud data, matrix indicate shaped likeAnd it utilizes
Point cloud data is transformed into measuring table coordinate system from camera coordinates system by position orientation relation,
Below by embodiment, the present invention will be further described.
Embodiment
A kind of article minimum package Size Measuring System mainly includes four parts, RealSense camera, projector, survey
Measure platform and PC computer.RealSense camera and projector all pass through USB interface and are connected with PC computer, and PC computer is controlled by USB
Projector processed receives the image data of RealSense camera acquisition by USB.When testee is put measuring table,
RealSense camera can collect rapidly visual image data, and be transmitted to the end PC, using the software algorithm at the end PC carry out into
The data processing of one step, rapid survey obtain the Package size of testee.
It is divided by functional module, article minimum package Size Measuring System of the present invention is divided into five modules, projector control
Module, data acquisition module, data processing module, camera calibration module and mechanically supported module.Projector control module is by PC
Computer and projector composition, for providing human-computer interaction interface, gridiron pattern needed for control projector gets calibration, data acquisition
Module is made of RealSense camera, and for picture depth data needed for acquiring measurement, data processing module is by PC computer group
At the data come for handling the transmission of RealSense camera obtain the Package size of tested article, camera calibration module is by throwing
Shadow instrument and RealSense camera composition, for obtaining the pose of RealSense camera, so as to data processing later；Machinery is held
It carries module to be made of measuring table and bracket, measuring table is used to carry tested article and provides the carrier of calibration pattern, bracket
For installing RealSense camera and projector.
As shown in Fig. 2, the pose of RealSense camera can flexibly change, every time after variation, it need to only cooperate projector
Re-calibration can once come into operation again immediately.
As shown in figure 3, projector is located at the surface of measuring table, optical axis direction is perpendicular to measuring table plane, from survey
The height of amount platform plane can be adjusted freely, but must assure that gridiron pattern is completely projected in measuring table plane, be protected simultaneously
Card, RealSense camera can completely take gridiron pattern of the projector in measuring table plane.
As shown in figure 4, camera coordinates system and measuring table coordinate system are rectangular coordinate system.
Camera coordinates system is using camera photocentre as origin, and camera optical axis is as z-axis, and just using camera positive direction as z-axis
Direction, using camera up and down direction as y-axis, and using below camera as positive direction of the y-axis, using camera left and right directions as x-axis, and
Using camera forward direction side right direction as positive direction of the x-axis；
The gridiron pattern most upper left angle point that measuring table coordinate system is launched using projector is as origin, with gridiron pattern rectangle both sides
X-axis and y-axis, and the positive direction as x-axis and y-axis are established in direction, while establishing measuring table coordinate system z-axis, with right-handed scale (R.H.scale)
It is that principle determines z-axis positive direction.
Article minimum package Size Measuring System of the present invention devises a kind of article minimum package dimension measurement method, method
Process is as shown in Figure 5 comprising the steps of:
(1) tessellated mode is projected on measuring table using projector to demarcate the pose of camera, obtains phase
The homography matrix H of machine and measuring table coordinate system；
(2) using intrinsic parameter-embedded of calibration result and RealSense camera, camera is acquired relative to measuring table
Pose, in conjunction with the homography matrix that calibration obtains, acquires camera seat in the case where known RealSense camera is parameter-embedded
Mark system arrives the transfer matrix of measuring table coordinate systemWherein M is the internal reference of camera, H3And H1
The respectively first three columns of calibration gained homography matrix H and the 4th column；
(3) utilize background difference algorithm, from RealSense camera acquire picture depth data in be partitioned into belong to it is tested
The part of article, and switch to point cloud data, matrix indicate shaped likeAnd cloud will be put using position orientation relation
Data are transformed into measuring table coordinate system from camera coordinates system,
(4) height dimension is obtained using the z-axis component of the point cloud data after transfer；
(5) point cloud data is mapped to the plane of measuring table and switchs to two-dimentional point cloud data that is, in x0y plane；
(6) down-sampled to two-dimentional point cloud data, obtain uniform data；
(7) the two-dimentional point cloud data after will be down-sampled moves to coordinate axis origin, obtains two-dimensional points cloud number using PCA algorithm
According to principal component direction, and as standard, by two-dimensional points cloud data rotation to the axis aligned position of coordinate.
(8) length and width size is obtained using the x-axis component and y-axis component of two-dimentional point cloud data；
(9) in the multiple measurement to same article, with Kalman filtering algorithm, predicting tracing is measured size, and makes it
Convergence is stabilized to size true value.
Fig. 6 is a kind of application schematic diagram of the invention, and cooperation bar code identifying device carries out pipelining.
Claims (10)
1. a kind of Size Measuring System based on RealSense camera, which is characterized in that including projector, RealSense phase
Machine, data processing module and measuring table；
The RealSense camera and projector are arranged above measuring table by bracket, and it is flat that tested article is placed on measurement
On platform, the calibration pattern that projector is projected out on measuring table, for carrying out pose calibration to RealSense camera,
RealSense camera acquires the tested article image on measuring table, and is sent to data processing module, and data processing module is asked
Take the minimum package size of tested article.
2. the item sizes measuring system according to claim 1 based on RealSense camera, which is characterized in that described
Calibration pattern is gridiron pattern.
3. the Size Measuring System according to claim 2 based on RealSense camera, which is characterized in that projector position
In the surface of measuring table, optical axis direction is completely projected in measuring table plane perpendicular to measuring table plane, gridiron pattern,
RealSense camera can completely take gridiron pattern of the projector in measuring table plane simultaneously.
4. the Size Measuring System according to claim 1,2 or 3 based on RealSense camera, which is characterized in that carrying
The bracket of RealSense camera is position-adjustable bracket.
5. a kind of dimension measurement method based on RealSense camera, which comprises the following steps:
Step 1, tessellated mode is projected on measuring table using projector to mark the pose of RealSense camera
It is fixed, obtain the homography matrix of camera and measuring table coordinate system；
Step 2, using intrinsic parameter-embedded of calibration result and RealSense camera, camera is acquired relative to measuring table
Pose；
Step 3, using background difference algorithm, be partitioned into from the picture depth data that RealSense camera acquires belong to it is tested
The part of article, and switch to point cloud data, and point cloud data is transformed into measuring table from camera coordinates system using position orientation relation
Coordinate system；
Step 4, the height dimension of tested article is obtained using the z-axis component of the point cloud data after transfer；
Step 5, plane where point cloud data being mapped to measuring table, switchs to two-dimentional point cloud data；
Step 6, down-sampled to two-dimentional point cloud data, obtain uniform data；
Step 7, the two-dimentional point cloud data after will be down-sampled moves to coordinate axis origin, obtains two-dimensional points cloud number using PCA algorithm
According to principal component direction, and as standard, by two-dimensional points cloud data rotation to the axis aligned position of coordinate；
Step 8, the length and width size of tested article is obtained using the x-axis component of two-dimentional point cloud data and y-axis component.
6. the article minimum package dimension measurement method according to claim 5 based on RealSense camera, feature exist
In being taken multiple measurements to same article, with Kalman filtering algorithm, predicting tracing is measured size, and is stabilized to its convergence
Size true value.
7. the article minimum package dimension measurement method according to claim 5 based on RealSense camera, feature exist
In in step 2, it is known that RealSense camera is parameter-embedded, in conjunction with the homography matrix that calibration obtains, acquires camera coordinates system
To the transfer matrix of measuring table coordinate systemWherein M is the internal reference of camera, H3And H1Respectively
The first three columns and the 4th column of calibration gained homography matrix H.
8. the article minimum package dimension measurement method according to claim 7 based on RealSense camera, feature exist
In, in step 3, using background difference algorithm, be partitioned into from the picture depth data that RealSense camera acquires belong to it is tested
The part of article, and switch to point cloud data, matrix indicate shaped likeAnd cloud will be put using position orientation relation
Data are transformed into measuring table coordinate system from camera coordinates system,
9. the article minimum package dimension measurement method according to claim 5 based on RealSense camera, feature exist
In projector is located at the surface of measuring table, and optical axis direction is completely projected in survey perpendicular to measuring table plane, gridiron pattern
Platform plane is measured, while RealSense camera can completely take chessboard of the projector in measuring table plane
Lattice.
10. the article minimum package dimension measurement method according to claim 5 based on RealSense camera, feature
It is, the bracket of carrying RealSense camera is position-adjustable bracket.
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