CN109754429A - A kind of deflection of bridge structure measurement method based on image - Google Patents
A kind of deflection of bridge structure measurement method based on image Download PDFInfo
- Publication number
- CN109754429A CN109754429A CN201811531900.3A CN201811531900A CN109754429A CN 109754429 A CN109754429 A CN 109754429A CN 201811531900 A CN201811531900 A CN 201811531900A CN 109754429 A CN109754429 A CN 109754429A
- Authority
- CN
- China
- Prior art keywords
- camera
- point
- image
- coordinate
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The deflection of bridge structure measurement method based on image that the invention discloses a kind of successively shoots one in position A and position B by a camera respectively and includes the picture of object construction, and records camera in the actual range of two positions；Two pictures are matched by SURF-BRISK Feature Correspondence Algorithm, the internal reference result for the camera system demarcated in advance is cooperated to carry out three-dimensionalreconstruction to object construction；Any characteristic point on object construction is obtained in the three-dimensional coordinate (X that the optical center of B location camera is world coordinate system, Y, Z), the target amplification coefficient S of corresponding measuring point has just been obtained by Z, camera is placed on position B and continues subsequent optical measurement, the a series of images before and after malformation is acquired, is displaced by the two-dimensional sub-pixel of SURF-BRISK Feature Points Matching algorithm measurement structure, converts actual displacement for Displacement using the target amplification coefficient S of measuring point.The present invention does not directly need artificial design object target surface using structure feature, has the advantages that non-contact low-cost and high-precision.
Description
Technical field
The present invention relates to structural health monitoring technology field, especially a kind of deflection of bridge structure measurement side based on image
Method.
Background technique
Two dimensional image measuring technique is widely used in engineering, is more succinctly operated compared to three-dimensional measurement technological system more square
Just.But still there are extensive use and practicabilities that some crucial problems hinder two dimensional image technology.One of major issue
It is exactly the Solve problems of amplification coefficient.Amplification coefficient is the tie for converting image pixel displacement to actual physics displacement, this is put
There are mainly two types of methods at present for the solution mode of big coefficient, first is that passing through the length in pixels of target proximity known length in the picture
An amplification coefficient is calculated, is substantially considered the amplification coefficient of measuring point, such known length is usually the length of a component
Degree, the thickness of a beam, if without known length, can also target proximity paste known dimensions target surface or erect one
Root steel ruler, waits obviously that this method news are in significant limitation, if it is measuring towering bridge tower, or the bridge across rivers,
Experimenter goes to place target again, will greatly increase work difficulty and risk.Second of common method is on camera system
Laser range finder is installed, the distance of measurement camera photocentre to measured point by camera national forest park in Xiaokeng, and passes through camera and mirror
The amplification coefficient of the calculation of design parameters measuring point of head, on the one hand, in order to easy to operate and take aim at convenient for accurately finding laser range finder
Quasi- measuring point, laser range finder needs to reequip by hardware to work together with camera system, and on the other hand during the day, laser is very
It is easy the interference accuracy decline by illumination, and is more not easy to capture the position of laser aiming, furthermore, telemeasurement
When, it to buy larger range and rangefinder that precision can equally guarantee, measurement cost can be greatly increased.It is existing method above
Limitation, and method disclosed in this patent then effectively prevents these problems.The knot in visual field there are known dimensions is not needed
Structure does not need directly to measure biggish object distance by the excellent hardware system of high price simply yet, is to make full use of image skill instead
Art and the distance between the two camera different locations for measuring smaller and very easy measurement indirectly.
Image measuring method is based on template matching technique earliest, and what is be widely used at present has digital picture correlation (DIC),
Optical flow method (optical flow), edge detection (edge detection), direction encoding match (orientation-code
Matching, OCM).Optical measurement method based on template matching is widely used in field of civil engineering.Template matching technique exists
There are limitations in practical structures application: template matching requires image that can only be moved in parallel, if the matching mesh in original image
Mark rotates or dimensional variation, and the algorithm is invalid, and engineering structure feature itself is not abundant enough, often in precision
Ideal effect is not achieved.Then be directed to different template matching algorithms, people determine in advance in body structure surface spray feature or
Artificial design, which has, compares strong target target surface so as to improve matching precision, but this has actually violated the contactless survey of flash ranging
The original intention of amount.
Different from template matching, tracing characteristic points then only need to have stabilized interest that is detectable and being effectively matched in image
Point.Tracing characteristic points include three steps: detection, description and matching.In recent ten years, there is the detection of series of features point
Device: SIFT, SURF and FAST；Describer SIFT, SURF, Harris Corner Detection, BRIEF, ORB, BRISK and FREAK.?
There are some research conclusions for having very much reference, wherein the feature of SIFT algorithm detection positions more on space and scale
Accurately, but SIFT makes the process exception of feature point extraction spend the time because of its huge feature calculation amount；SURF algorithm
In the one third that the execution time for detecting same characteristic point abundant is SIFT, meanwhile, SURF also has preferable rotation not
Denaturation and scale invariability.FAST, BRIEF, ORB are best selections when paying the utmost attention to speed；ORB is detected using FAST
Operator, speed is fast, but does not have scale invariability；Bekele etc. is with regard to this 5 kinds of parts BRIEF, ORB, BRISK, FREAK and SIFT
The performance of feature descriptor compares, it is believed that BRISK feature descriptor possesses in this five kinds of binary features descriptors
Highest accuracy and maximum optimal match point number.
Summary of the invention
Technical problem to be solved by the present invention lies in, a kind of deflection of bridge structure measurement method based on image is provided,
It is easy to operate at low cost, image technique is made full use of, the non-contact thought of image measurement is more met, there is better engineer application
Prospect.
In order to solve the above technical problems, the present invention provides a kind of deflection of bridge structure measurement method based on image, including
Following steps:
(1) the about object distance for estimating engineering survey scene, gets out the camera and camera lens of proposed adoption；
(2) camera internal reference in laboratory is demarcated；The internal reference calibration of camera system is carried out using gridiron pattern scaling board；
(3) Image Acquisition；Suitable camera decorating position A is found, focuses to object construction imaging clearly, shoots a figure
Piece；The tripod of position A remains stationary, and camera frame is set to new position B, then shoots the picture of an object construction；Position B is most
May be roughly the same at a distance from the A distance objective structure of position, and do not have to re-focuse, the structure in two images is as more as possible
It must be overlapped；
(4) distance is measured；Using the distance of the tripod screw of two positions of tape measuring, mean value is taken measurement 3 times, it should be away from
From be approximately considered be camera at position A and position B when optical center with a distance from；
(5) characteristic matching seeks outer ginseng；Characteristic matching is carried out to two images using SURF-BRISK, finds out camera at two
The relationship RT of camera photocentre coordinate at position；
(6) three-dimensionalreconstruction three-dimensionalreconstruction: is carried out to object construction in conjunction with step (2)-(5)；
(7) unit conversion is carried out to three-dimensionalreconstruction result using the distance that step (4) measures, obtains the world of object construction
Coordinate (X, Y, Z), the coordinate system is using the optical center of B location camera as coordinate origin；
(8) its amplification coefficient is calculated according to the Z value of characteristic point world coordinates:
Wherein, (x0, y0) be measuring point initial pixel coordinate, (xc, yc) be picture centre pixel coordinate, lpsFor camera
Pixel dimension, f is lens focus, and β is the elevation angle of camera.
(9) deformation pattern sequence is acquired；Camera needs to change after being erected at B location, continue acquire malformation before and after
A series of images；
(10) displacement structure calculates；Image before deforming is as with reference to figure, using improved SURF-BRISK to change
Image before and after shape carries out Feature Points Matching, and then obtains the Displacement of structure, the s in conjunction with calculated by (8), by pixel position
Shifting is scaled actual displacement.
Preferably, step (2) is into step (8), using one camera three-dimensionalreconstruction principle solving structural object characteristic point
Object distance, and then amplification coefficient is found out, rather than the distance is directly measured using laser range finder, it also needs not rely on known to structure
Size calculates amplification coefficient.
Preferably, it in step (2), is demarcated using the internal reference that gridiron pattern scaling board carries out camera system specifically: use and open
The one camera scaling method of positive friend；Using the angle point of black and white chessboard as characteristic point, the photo of multiple angle shot scaling boards is simultaneously
Camera calibration, spy on image are carried out using the pixel coordinate information of characteristic point on these photos and known real space coordinate information
The pixel coordinate information of sign point is the pixel coordinate (x for the picture point that image recognition algorithm obtainss, ys), real space coordinate information
For the world coordinates (x of characteristic point known to processing scaling boardw, yw, zw)；By world coordinate system original point position in scaling board upper left
First characteristic point at angle, X, Y direction are respectively the horizontal and vertical direction of scaling board, then zwIt is equal to zero；It first finds out and singly answers
Property matrix, recycle spin matrix orthogonality provide two constraint solving camera internal reference initial values, then seek Camera extrinsic initial value,
Finally determine distortion initial value；Do not consider the camera imaging model of distortion, then each characteristic point meets following formula on scaling board:
In above formula, r1, r2, r33 column vectors of spin matrix R, t are translation matrix T, and K is internal reference matrix；In scaling board
On point and its picture point between establish a homography relationship, indicate are as follows:
Spatial point known at least needing 4 pairs in single-sheet photo and picture point can just solve homography matrix H, 8 equations
8 unknown numbers are solved, each picture has a homography matrix, next just to solve camera internal reference K by H.
Preferably, in step (3), using 1 camera, 2 tripods and tape measure one, tripod record camera is utilized
Position, using the distance between tape measuring tripod screw as the distance of camera photocentre.
Preferably, in step (5), characteristic matching is carried out to two images using SURF-BRISK, finds out camera at two
The relationship RT of camera photocentre coordinate at position specifically: with camera 1 be world coordinate system, solve the opposite of camera 1 and camera 2
Posture；Relative orientation is to determine that the process of the relative bearing between photo is opened in a cubic phase centering two, between two photos
Relative bearing relationship is described with 6 variables between relative bearing, that is, camera, nx, ny, nz, tx, ty, tzThink cubic phase centering
The projection matrix of left images is respectively as follows:
P1=K [I 0], P2=K [R T]
As shown in figure 3, O1、O2The respectively optical center of camera 1,2, point p are spatial point, p1And p2Respectively its corresponding phase
Picture point in machine 1,2, vectorWithThree vectors are coplanar, then coplanarity equation:
Under 1 coordinate system of camera, O1(0,0,0), if p1(x1, y1, f), under 2 coordinate system of camera, O2(0,0,0), if p2
(x2, y2, f), the focal length approximation of f camera replaces；The wherein x under optical center coordinate system1, y1, x2, y2The unit of value is mm, with
Know that pixel coordinate is replaced, relationship such as following formula:
(u in above formula1, v1) it is p1The pixel coordinate of point, (u2, v2) it is p2The pixel coordinate of point, both passes through figure
The known quantity directly obtained as processing；(u0, v0) it is camera optical axis and the pixel coordinate as plane angle point；dx、dyRespectively sense
Device pixel dimension is wide and high；
According to coordinate system transformation relationship it is found that point O1, p1Coordinate representation under 2 coordinate system of camera are as follows:
O1=R [0 0 0]T+ T, p1=R [x1 y1 f]T+T
Then vectorWithIt respectively indicates are as follows:
Unknown quantity in above formula is nx, ny, nz, tx, ty, tzIf nonlinear function F are as follows:
F(nx, ny, nz, tx, ty, tz)=Tx(Y1Z2-Y2Z1)+Ty(X2Z1-X1Z2)+Tz(X1Y2-X2Y1)
N such equatioies are just obtained when there are n point p, according to non-linear least square principle, then nonlinear function is excellent
The objective function of change are as follows:
It is practical just to have lacked a unknown quantity due to ignoring the influence of scale bar during relative orientation, therefore at least need
5 corresponding points in two images are to solution spin matrix and translation matrix；Nonlinear iteration is carried out using L-M iterative algorithm
Optimization；That ask here is relative orientation (tx, ty, tz), if the actual range of camera photocentre is L/mm,Due to Tx∶Ty∶Tz=tx∶ty∶ty, thus acquire relativeness R, T of left and right camera.
Preferably, it in step (10), using SURF detector detection structure itself textural characteristics, is then retouched using BRISK
It states device and binary system description is carried out to characteristic point, and then matched using characteristic point of the KNN matching strategy to two images, passed through
RANSEC purification proposes the erroneous matching for being unsatisfactory for condition.The Displacement of structure is obtained based on the above operation.It does not need
Body structure surface setting compares clearly demarcated target target surface.
The invention has the benefit that the present invention does not require that size has been arranged near measuring point when amplifying coefficient calibration
The target known, do not need yet measurement measuring point arrive camera photocentre distance, but measurement camera two positions distance；It does not need
Buy the measuring instrument of distant-range high-precision, common tape measure or other inexpensive ranging tools；Compared to single detection
Device can detecte characteristic point more abundant using Harris-SURF detector, overcome large scale structure local feature rareness unfavorable
In the limitation of images match；This method is easy to operate at low cost, makes full use of image technique, more meets the non-of image measurement and connects
Touch thought；The application range of two dimensional image measuring technique in practical projects is widened, compared to the side for having solution amplification coefficient
Method has better future in engineering applications.
Detailed description of the invention
Fig. 1 is method flow schematic diagram of the invention.
Fig. 2 is measuring system arrangement schematic diagram of the invention.
Fig. 3 is coordinate system schematic diagram of the invention.
Fig. 4 is the cantilever beam three-dimensionalreconstruction point cloud result schematic diagram of case of the present invention.
Fig. 5 (a) is that the cantilever beam measuring point 1 in case of the present invention moves displacement result contrast schematic diagram.
Fig. 5 (b) is that the cantilever beam measuring point 4 in case of the present invention moves displacement result contrast schematic diagram.
Specific embodiment
Fig. 1 shows operating processes of the invention: after camera lens needed for getting out outdoor measurement, first having in progress
Ginseng calibration, the present invention use ZhangShi scaling method；Scene has been arrived, left images, camera decorating position A, focusing to mesh are acquired
It is clear to mark structure imaging, shoots a picture, referred to as right image.Camera frame is set to new position B, then shoots an object construction
Picture, become left image.Here it is as roughly the same at a distance from the A distance objective structure of position as possible to require position B, and does not have to
It re-focuses.It is also important to note that the structure in two images must be mostly overlapped as far as possible, as shown in Figure 2.Then, Harris- is utilized
SURF detector carries out characteristic point detection to two width pictures respectively, carries out feature point description using BRISK describer, then passes through
Hamming distance is solved, is purified using KNN matching (threshold value takes 0.6) and RANSEC, and finds out the rotation translation of two postures of camera
Matrix.Based on the three-dimensionalreconstruction that can be realized above to object construction.But a known dimensions are also needed at this time.It measures at this time
The distance of two camera positions: the present invention is measured 3 times and is taken using the distance of the tripod screw of two positions of tape measuring
The distance, is approximately considered the distance for being camera at the AB of position by value.In conjunction with the known length, 3 points of three-dimensional coordinate is just assigned
Given real physical length, also just obtained the physics of the camera photocentre of each characteristic point distance and position B on object construction away from
From.By the physical distance, combining camera imaging model calculates the amplification coefficient S (mm/pixel) of measuring point.Pass through SURF-
BRISK characteristic matching tracks the Displacement of structure, and then is converted to actual physics displacement by S.
It is logical that the feature of the method for the present invention maximum, which is the acquisition of object distance, it can be seen from the process of above-mentioned the method for the present invention
It crosses a camera and shoots two images progress three-dimensionalreconstruction acquisitions comprising object construction in different location；The three-dimensionalreconstruction passes through
Two positions of the tripod record camera additionally added, and pass through the distance of two positions of a common tape measuring；
The physical distance makes the coordinate of three-dimensionalreconstruction be endowed actual physical meaning.Thus each spy above object construction is obtained indirectly
Sign point arrives the distance of camera photocentre, and calculates the amplification coefficient of measuring point.Secondly, being that used sub-pix tracer technique is compared
Other detection algorithms can detecte more abundant characteristic point quantity.
Illustrate the most important innovation of the present invention below with a case, that is, is based on one camera three-dimensionalreconstruction
Amplification coefficient method for solving implementation steps.The hardware system of present case use is introduced first: including one piece of 50mm
Ceramic gridiron pattern scaling board is demarcated for internal reference；As shown in figure 3, high speed camera resolution ratio is 1024pixel*1024pixel, adopt
Set frame rate is set as 1000Hz；High precision displacement meter is placed sequentially in below 6 measuring points；LED light source 1；Girder steel length is about
1.5 meters,
Step 1: laying the Position Approximate of two tripods in advance
Tripod is respectively A and B.
Step 2: the calibration of camera internal reference
Camera is erected at position A, shoots at least 15 tessellated pictures, artificially that gridiron pattern is certain in each freedom degree
Rigid body displacement.Camera internal reference is solved by Zhang Shi scaling method.
Step 3: shooting left images
Gridiron pattern placement is motionless, then as object construction object.
When camera is mounted on A tripod, the picture of an object is shot, as right image；Keep camera A motionless, it will
Camera is mounted on B tripod, keeps camera aperture focusing motionless, moves tripod B and makes left image imaging clearly, shoots one
Left image.
Step 4: measurement tripod screw distance
Using the distance of common tape measuring tripod both the above screw, since camera system and tripod pass through screw
Be connected to instrument, moreover, threaded portion is close to camera photocentre, taking human as the distance of two screws be exactly camera photocentre away from
From.This part generate error can be ignored compared to camera actual distance.Here d=1.2 meters of the distance are measured.
Step 4: images match being carried out to left images and brings d into completing three-dimensionalreconstruction, as a result as shown in Figure 4.In this way may be used
To obtain on beam all characteristic points to the distance of camera photocentre.
Step 5: calculating the calculating amplification coefficient of each measuring point.
Step 6: acquisition calculates image, solves girder steel under the effect of power hammer by SURF-BRISK tracing characteristic points algorithm
Dynamic displacement response, and convert the displacement of journey actual physics.It is that the displacement of measuring point 1 and measuring point 4 calculates as shown in Fig. 5 (a) and Fig. 5 (b)
Comparative result.The displacement result and displacement meter meter result that the method for the present invention is calculated are coincide preferable.
This example demonstrates the reliabilities of this method.
The maximum improvement of the present invention is, in conjunction with the limitation for calculating measuring point amplification coefficient existing in practical engineering application
Property, it is proposed based on Harris-SURF double characteristic point detection algorithm and BRISK feature point description a kind of three-dimensional based on one camera
The method of reconstruction calculations measuring point amplification coefficient.On the one hand this method does not need to require that structure known dimensions are known in advance, be convenient for work
Journey is widely used, and does not on the other hand need additionally to purchase new professional distance mearuring equipment, but more relies on image measurement technology drop
Low measurement cost.
Claims (6)
1. a kind of deflection of bridge structure measurement method based on image, which comprises the steps of:
(1) the about object distance for estimating engineering survey scene, gets out the camera and camera lens of proposed adoption；
(2) camera internal reference in laboratory is demarcated；The internal reference calibration of camera system is carried out using gridiron pattern scaling board；
(3) Image Acquisition；Suitable camera decorating position A is found, focusing to object construction imaging clearly shoots a picture；
The tripod of position A remains stationary, and camera frame is set to new position B, then shoots the picture of an object construction；Position B to the greatest extent may be used
Can be roughly the same at a distance from the A distance objective structure of position, and do not have to re-focuse, the structure in two images as far as possible more to be obtained
Overlapping；
(4) distance is measured；It using the distance of the tripod screw of two positions of tape measuring, measures 3 times and takes mean value, the distance is close
Seemingly it is considered optical center distance when camera is at position A and position B；
(5) characteristic matching seeks outer ginseng；Characteristic matching is carried out to two images using SURF-BRISK, finds out camera two positions
The relationship RT of the camera photocentre coordinate at place；
(6) three-dimensionalreconstruction three-dimensionalreconstruction: is carried out to object construction in conjunction with step (2)-(5)；
(7) unit conversion is carried out to three-dimensionalreconstruction result using the distance that step (4) measures, obtains the world coordinates of object construction
(X, Y, Z), the coordinate system is using the optical center of B location camera as coordinate origin；
(8) its amplification coefficient is calculated according to the Z value of characteristic point world coordinates:
Wherein, (x0, y0) be measuring point initial pixel coordinate, (xc, yc) be picture centre pixel coordinate, lpsFor the picture of camera
Elemental size, f are lens focus, and β is the elevation angle of camera.
(9) deformation pattern sequence is acquired；Camera needs to change after being erected at B location, continues to acquire the system before and after malformation
Column image；
(10) displacement structure calculates；Image before deforming as with reference to figure, using improved SURF-BRISK to deformation before
Image afterwards carries out Feature Points Matching, and then obtains the Displacement of structure, and the s in conjunction with calculated by (8) changes pixel displacement
Calculating is actual displacement.
2. the deflection of bridge structure measurement method based on image as described in claim 1, which is characterized in that step (2) to step
Suddenly in (8), using the object distance of one camera three-dimensionalreconstruction principle solving structural object characteristic point, and then amplification coefficient is found out.
3. the deflection of bridge structure measurement method based on image as described in claim 1, which is characterized in that in step (2), adopt
The internal reference calibration of camera system is carried out with gridiron pattern scaling board specifically: using the one camera scaling method of Zhang Zhengyou；Using black
The angle point of white plate is sat as characteristic point, the photo of multiple angle shot scaling boards and using the pixel of characteristic point on these photos
It marks information and known real space coordinate information carries out camera calibration, the pixel coordinate information of characteristic point is that image is known on image
Pixel coordinate (the x for the picture point that other algorithm obtainss, ys), real space coordinate information is the generation for processing characteristic point known to scaling board
Boundary coordinate (xw,yw,zw)；By world coordinate system original point position in first characteristic point in the scaling board upper left corner, X, Y direction point
Not Wei the horizontal and vertical direction of scaling board, then zwIt is equal to zero；Homography matrix is first found out, the orthogonality of spin matrix is recycled
Two constraint solving camera internal reference initial values are provided, Camera extrinsic initial value is then sought, finally determine distortion initial value；Do not consider distortion
Camera imaging model, then each characteristic point meets following formula on scaling board:
In above formula, r1,r2,r33 column vectors of spin matrix R, t are translation matrix T, and K is internal reference matrix；On scaling board
A homography relationship is established between point and its picture point, is indicated are as follows:
Spatial point known at least needing 4 pairs in single-sheet photo and picture point can just solve homography matrix H, 8 equation solutions 8
A unknown number, each picture have a homography matrix, next just to solve camera internal reference K by H.
4. the deflection of bridge structure measurement method based on image as described in claim 1, which is characterized in that in step (3), adopt
Tape measuring tripod screw is utilized using the position of tripod record camera with 1 camera, 2 tripods and tape measure one
The distance between distance as camera photocentre.
5. the deflection of bridge structure measurement method based on image as described in claim 1, which is characterized in that in step (5), ask
The relationship RT of camera photocentre coordinate of the camera at two positions out specifically: with camera 1 be world coordinate system, solve camera 1
With the relative attitude of camera 2；Relative orientation is to determine that the process of the relative bearing between photo is opened in a cubic phase centering two, two
It opens relative bearing relationship between relative bearing, that is, camera between photo to be described with 6 variables, nx,ny,nz,tx,ty,tzThink
The projection matrix of the left images of cubic phase centering is respectively as follows:
P1=K [I 0], P2=K [R T]
O1、O2The respectively optical center of camera 1,2, point p are spatial point, p1And p2Picture point respectively in its corresponding camera 1,2, to
AmountWithThree vectors are coplanar, then coplanarity equation:
Under 1 coordinate system of camera, O1(0,0,0), if p1(x1, y1, f), under 2 coordinate system of camera, O2(0,0,0), if p2(x2,
y2, f), the focal length approximation of f camera replaces；The wherein x under optical center coordinate system1, y1, x2, y2The unit of value is mm, with known picture
Plain coordinate is replaced, relationship such as following formula:
(u in above formula1, v1) it is p1The pixel coordinate of point, (u2, v2) it is p2The pixel coordinate of point, both by image
Manage the known quantity directly obtained；(u0, v0) it is camera optical axis and the pixel coordinate as plane angle point；dx、dyRespectively sensor picture
Elemental size is wide and high；
According to coordinate system transformation relationship it is found that point O1, p1Coordinate representation under 2 coordinate system of camera are as follows:
O1=R [0 0 0]T+ T, p1=R [x1 y1 f]T+T
Then vectorWithIt respectively indicates are as follows:
Unknown quantity in above formula is nx, ny, nz, tx, ty, tzIf nonlinear function F are as follows:
F(nx, ny, nz, tx, ty, tz)=Tx(Y1Z2-Y2Z1)+Ty(X2Z1-X1Z2)+Tz(X1Y2-X2Y1)
N such equatioies are just obtained when there is n point p, according to non-linear least square principle, then nonlinear function optimization
Objective function are as follows:
It is practical just to have lacked a unknown quantity due to ignoring the influence of scale bar during relative orientation, therefore at least need two width
5 corresponding points in image are to solution spin matrix and translation matrix；It is excellent that nonlinear iteration is carried out using L-M iterative algorithm
Change；That ask here is relative orientation (tx, ty, tz), if the actual range of camera photocentre is L/mm,Due to Tx∶Ty∶Tz=tx∶ty∶ty, thus acquire relativeness R, T of left and right camera.
6. the deflection of bridge structure measurement method based on image as described in claim 1, which is characterized in that in step (10),
Using SURF detector detection structure itself textural characteristics, binary system description is then carried out to characteristic point using BRISK describer,
And then matched using characteristic point of the KNN matching strategy to two images, it is purified by RANSEC, proposes the mistake for being unsatisfactory for condition
Matching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531900.3A CN109754429A (en) | 2018-12-14 | 2018-12-14 | A kind of deflection of bridge structure measurement method based on image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531900.3A CN109754429A (en) | 2018-12-14 | 2018-12-14 | A kind of deflection of bridge structure measurement method based on image |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109754429A true CN109754429A (en) | 2019-05-14 |
Family
ID=66403880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811531900.3A Pending CN109754429A (en) | 2018-12-14 | 2018-12-14 | A kind of deflection of bridge structure measurement method based on image |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109754429A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132159A (en) * | 2019-06-06 | 2019-08-16 | 深圳市鹰眼在线电子科技有限公司 | Measurement method, device and the computer readable storage medium of deflection of bridge span |
| CN110186383A (en) * | 2019-05-31 | 2019-08-30 | 上海大学 | Monocular camera deflection metrology method based on the variation of the target point elevation angle |
| CN110702343A (en) * | 2019-09-20 | 2020-01-17 | 武汉中岩科技股份有限公司 | Deflection measurement system and method based on stereoscopic vision |
| CN111047552A (en) * | 2019-11-06 | 2020-04-21 | 深圳大学 | Three-dimensional deflection measuring method and related product |
| CN111076880A (en) * | 2020-01-11 | 2020-04-28 | 东南大学 | Multi-point deflection measuring method of long-span bridge considering camera attitude change |
| CN111238374A (en) * | 2020-03-16 | 2020-06-05 | 天目爱视（北京）科技有限公司 | Three-dimensional model construction and measurement method based on coordinate measurement |
| CN111272366A (en) * | 2020-03-02 | 2020-06-12 | 东南大学 | Bridge displacement high-precision measurement method based on multi-sensor data fusion |
| CN112288853A (en) * | 2020-10-29 | 2021-01-29 | 字节跳动有限公司 | Three-dimensional reconstruction method, three-dimensional reconstruction device, and storage medium |
| CN112419425A (en) * | 2020-11-20 | 2021-02-26 | 南京理工大学 | Anti-disturbance high-precision camera group measuring method for structural deformation measurement |
| CN112419287A (en) * | 2020-11-27 | 2021-02-26 | 杭州鲁尔物联科技有限公司 | Building deflection determination method and device and electronic equipment |
| CN112577437A (en) * | 2020-10-22 | 2021-03-30 | 湖北特种设备检验检测研究院 | Hoisting machinery deflection measuring device based on stereoscopic vision and measuring method thereof |
| CN113421309A (en) * | 2021-07-29 | 2021-09-21 | 北京平恒智能科技有限公司 | Single-camera cross-visual-field distance measurement platform calibration method, distance measurement method and system |
| CN113959341A (en) * | 2021-10-14 | 2022-01-21 | 江苏科技大学 | Optical structure displacement measuring method, system and storage medium |
| CN114018167A (en) * | 2021-10-14 | 2022-02-08 | 东南大学 | Bridge deflection measuring method based on monocular three-dimensional vision |
| CN114088063A (en) * | 2021-10-19 | 2022-02-25 | 青海省交通工程技术服务中心 | Pier local scour terrain measurement method based on mobile terminal |
| CN114509018A (en) * | 2021-05-07 | 2022-05-17 | 中国地质大学（北京） | Full-field real-time bridge deflection measurement method |
| CN114543684A (en) * | 2022-04-26 | 2022-05-27 | 中国地质大学（北京） | Structural displacement measuring method |
| CN115096191A (en) * | 2022-02-22 | 2022-09-23 | 中南大学 | Bridge multi-point displacement monitoring method based on tilt-shift camera |
| CN116379937A (en) * | 2023-06-06 | 2023-07-04 | 武汉大学 | Method and device for monitoring shaking of power transmission tower |
| CN113959341B (en) * | 2021-10-14 | 2024-04-26 | 江苏科技大学 | Optical structure displacement measuring method, system and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102645173A (en) * | 2011-02-16 | 2012-08-22 | 张文杰 | Multi-vision-based bridge three-dimensional deformation monitoring method |
| CN103400388A (en) * | 2013-08-06 | 2013-11-20 | 中国科学院光电技术研究所 | Method for eliminating Brisk (binary robust invariant scale keypoint) error matching point pair by utilizing RANSAC (random sampling consensus) |
| US20160068114A1 (en) * | 2014-09-03 | 2016-03-10 | Sharp Laboratories Of America, Inc. | Methods and Systems for Mobile-Agent Navigation |
| CN106012778A (en) * | 2016-05-18 | 2016-10-12 | 东南大学 | Digital image collection and analysis method for freeway pavement strain measurement |
-
2018
- 2018-12-14 CN CN201811531900.3A patent/CN109754429A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102645173A (en) * | 2011-02-16 | 2012-08-22 | 张文杰 | Multi-vision-based bridge three-dimensional deformation monitoring method |
| CN103400388A (en) * | 2013-08-06 | 2013-11-20 | 中国科学院光电技术研究所 | Method for eliminating Brisk (binary robust invariant scale keypoint) error matching point pair by utilizing RANSAC (random sampling consensus) |
| US20160068114A1 (en) * | 2014-09-03 | 2016-03-10 | Sharp Laboratories Of America, Inc. | Methods and Systems for Mobile-Agent Navigation |
| CN106012778A (en) * | 2016-05-18 | 2016-10-12 | 东南大学 | Digital image collection and analysis method for freeway pavement strain measurement |
Non-Patent Citations (3)
| Title |
|---|
| BING PAN，ET AL.: "Real-time, non-contact and targetless measurement of vertical deflection of bridges using off-axis digital image correlation", 《NDT & E INTERNATIONAL》 * |
| 张瑾琳: "单相机测量系统的精度分析及应用", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 * |
| 惠记庄 等: "基于SURF-BRISK的目标识别匹配与定位方法研究", 《长安大学学报（自然科学版）》 * |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186383A (en) * | 2019-05-31 | 2019-08-30 | 上海大学 | Monocular camera deflection metrology method based on the variation of the target point elevation angle |
| CN110186383B (en) * | 2019-05-31 | 2020-06-23 | 上海大学 | Monocular camera deflection measuring method based on target point elevation angle change |
| CN110132159A (en) * | 2019-06-06 | 2019-08-16 | 深圳市鹰眼在线电子科技有限公司 | Measurement method, device and the computer readable storage medium of deflection of bridge span |
| CN110702343B (en) * | 2019-09-20 | 2021-06-08 | 武汉中岩科技股份有限公司 | Deflection measurement system and method based on stereoscopic vision |
| CN110702343A (en) * | 2019-09-20 | 2020-01-17 | 武汉中岩科技股份有限公司 | Deflection measurement system and method based on stereoscopic vision |
| CN111047552A (en) * | 2019-11-06 | 2020-04-21 | 深圳大学 | Three-dimensional deflection measuring method and related product |
| CN111047552B (en) * | 2019-11-06 | 2023-03-24 | 深圳大学 | Three-dimensional deflection measuring method and related product |
| CN111076880A (en) * | 2020-01-11 | 2020-04-28 | 东南大学 | Multi-point deflection measuring method of long-span bridge considering camera attitude change |
| CN111272366A (en) * | 2020-03-02 | 2020-06-12 | 东南大学 | Bridge displacement high-precision measurement method based on multi-sensor data fusion |
| CN111272366B (en) * | 2020-03-02 | 2021-12-07 | 东南大学 | Bridge displacement high-precision measurement method based on multi-sensor data fusion |
| WO2021185220A1 (en) * | 2020-03-16 | 2021-09-23 | 左忠斌 | Three-dimensional model construction and measurement method based on coordinate measurement |
| CN111238374B (en) * | 2020-03-16 | 2021-03-12 | 天目爱视（北京）科技有限公司 | Three-dimensional model construction and measurement method based on coordinate measurement |
| CN111238374A (en) * | 2020-03-16 | 2020-06-05 | 天目爱视（北京）科技有限公司 | Three-dimensional model construction and measurement method based on coordinate measurement |
| CN112577437A (en) * | 2020-10-22 | 2021-03-30 | 湖北特种设备检验检测研究院 | Hoisting machinery deflection measuring device based on stereoscopic vision and measuring method thereof |
| CN112288853A (en) * | 2020-10-29 | 2021-01-29 | 字节跳动有限公司 | Three-dimensional reconstruction method, three-dimensional reconstruction device, and storage medium |
| CN112288853B (en) * | 2020-10-29 | 2023-06-20 | 字节跳动有限公司 | Three-dimensional reconstruction method, three-dimensional reconstruction device, and storage medium |
| CN112419425A (en) * | 2020-11-20 | 2021-02-26 | 南京理工大学 | Anti-disturbance high-precision camera group measuring method for structural deformation measurement |
| CN112419425B (en) * | 2020-11-20 | 2022-10-28 | 南京理工大学 | Anti-disturbance high-precision camera group measuring method for structural deformation measurement |
| CN112419287A (en) * | 2020-11-27 | 2021-02-26 | 杭州鲁尔物联科技有限公司 | Building deflection determination method and device and electronic equipment |
| CN114509018A (en) * | 2021-05-07 | 2022-05-17 | 中国地质大学（北京） | Full-field real-time bridge deflection measurement method |
| CN113421309A (en) * | 2021-07-29 | 2021-09-21 | 北京平恒智能科技有限公司 | Single-camera cross-visual-field distance measurement platform calibration method, distance measurement method and system |
| CN114018167A (en) * | 2021-10-14 | 2022-02-08 | 东南大学 | Bridge deflection measuring method based on monocular three-dimensional vision |
| CN113959341A (en) * | 2021-10-14 | 2022-01-21 | 江苏科技大学 | Optical structure displacement measuring method, system and storage medium |
| CN113959341B (en) * | 2021-10-14 | 2024-04-26 | 江苏科技大学 | Optical structure displacement measuring method, system and storage medium |
| CN114088063A (en) * | 2021-10-19 | 2022-02-25 | 青海省交通工程技术服务中心 | Pier local scour terrain measurement method based on mobile terminal |
| CN114088063B (en) * | 2021-10-19 | 2024-02-02 | 青海省交通工程技术服务中心 | Pier local scour terrain measurement method based on mobile terminal |
| CN115096191A (en) * | 2022-02-22 | 2022-09-23 | 中南大学 | Bridge multi-point displacement monitoring method based on tilt-shift camera |
| CN115096191B (en) * | 2022-02-22 | 2023-06-06 | 中南大学 | Bridge multi-point displacement monitoring method based on axis displacement camera |
| CN114543684A (en) * | 2022-04-26 | 2022-05-27 | 中国地质大学（北京） | Structural displacement measuring method |
| CN116379937A (en) * | 2023-06-06 | 2023-07-04 | 武汉大学 | Method and device for monitoring shaking of power transmission tower |
| CN116379937B (en) * | 2023-06-06 | 2023-11-24 | 武汉大学 | Method and device for monitoring shaking of power transmission tower |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109754429A (en) | A kind of deflection of bridge structure measurement method based on image | |
| Prescott et al. | Line-based correction of radial lens distortion | |
| CN102376089B (en) | Target correction method and system | |
| CN105069743B (en) | Detector splices the method for real time image registration | |
| CN109341668B (en) | Multi-camera measuring method based on refraction projection model and light beam tracking method | |
| CN106971408B (en) | A kind of camera marking method based on space-time conversion thought | |
| Song et al. | Survey on camera calibration technique | |
| CN105701827A (en) | Method and device for jointly calibrating parameters of visible light camera and infrared camera | |
| Carr et al. | Point-less calibration: Camera parameters from gradient-based alignment to edge images | |
| JP2015111101A (en) | Information processing apparatus and method | |
| CN111047649A (en) | Camera high-precision calibration method based on optimal polarization angle | |
| CN110223355B (en) | Feature mark point matching method based on dual epipolar constraint | |
| Bleier et al. | Low-cost 3d laser scanning in air orwater using self-calibrating structured light | |
| CN106500625B (en) | A kind of telecentricity stereo vision measurement method | |
| Chen et al. | A self-recalibration method based on scale-invariant registration for structured light measurement systems | |
| CN106651957B (en) | Monocular vision object space localization method based on template | |
| CN111210478A (en) | Method, medium and system for calibrating external parameters of common-view-free multi-camera system | |
| CN115540775A (en) | 3D video extensometer of CCD single-phase machine | |
| CN103424087A (en) | Three-dimensional measurement splicing system and method for large-scale steel plate | |
| WO2008032375A1 (en) | Image correcting device and method, and computer program | |
| CN107424194A (en) | The detection method of keyboard profile tolerance | |
| CN112686960B (en) | Method for calibrating entrance pupil center and sight direction of camera based on ray tracing | |
| Wang et al. | Facilitating PTZ camera auto-calibration to be noise resilient with two images | |
| CN115345942A (en) | Space calibration method and device, computer equipment and storage medium | |
| CN114170321A (en) | Camera self-calibration method and system based on distance measurement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |