CN109827521A - A kind of quick multi-line structured light vision measurement system scaling method - Google Patents
A kind of quick multi-line structured light vision measurement system scaling method Download PDFInfo
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Abstract
A kind of scaling method of quick multi-line structured light vision measurement system, steps are as follows: (1) two optical planes of calibration head and the tail (first and the last one) respectively obtain its optical plane unit normal vector and distance parameter；(2) rotation angle and rotating vector of two optical planes are calculated using the normal vector that step (1) obtains head and the tail optical plane；(3) using multi-line structured light equidistant parallel and the feature of straight line is intersected at and rotation angle that step (2) calculates calculates angle between each adjacent optical plane；(4) rotating vector that angle and step (2) calculate between each optical plane calculated using step (3) constructs the spin matrix between each optical plane；(5) unit normal vector of the spin matrix and first optical plane obtained according to step (4) calculates the unit normal vector of intermediate each optical plane；(6) the head and the tail optic plane equations obtained using step (1), calculate the shared intersection of each optical plane, and sample multiple points first, then calculate separately the distance parameter of intermediate each optic plane equations.
Description
Technical field
The problem of calibrating of vision measurement system the present invention relates to computer vision application field based on structure light, especially relates to
And a kind of perpendicular projection its intersection image when imaging plane has the Vision Measuring System With Structured Light Stripe of equidistant parallel characteristic fast
Fast scaling method.
Background technique
Line-structured light measurement is a kind of by target surface incident line structure light plane, to obtain the plane in be measured
The three-dimensional coordinate of point at target surface intersection.In practical applications, by increasing third axis motion information for intersection Contours connection
Get up, is able to detect the three-dimension curved surface profile on complex target surface.Multi-line structured light is that opening up for single line structure light is wide, avoids increasing
Third dimension motion information can once obtain the three-dimensional coordinate of target surface, have high speed, high-precision, strong interference immunity etc. excellent
Point, is widely used in recent years.Multiple line structure light projector is commonly used by light source and the lens group for being carved with equidistant parallel line
At when being vertically projected to plane target, its intersection image has the characteristics that parallel equidistant (as shown in Figure 1).Go out on the market at present
The line number that existing multiple line structure light projector can project is from as many as 7 lines to 81 lines (ordinary circumstance is odd number item), but its is calibrated
Cheng Yizhi continues to use the calibration strategy of single line structure light, i.e., detects, indexes one by one first, estimating each optical plane and target intersection figure
As upper characteristic point, the maximum stated accuracy for then obtaining optic plane equations, complex steps, and system is flat depending on individual light
The calibrated error in face.
Summary of the invention
Based on the above issues, the present invention is directed to the characteristics of common multi-line structured light equidistant parallel, proposes a kind of quickly multi-thread
Structure light vision measuring systems scaling method, no matter how many a optical planes, need to only demarcate head and the tail (first and the last one) two
A optic plane equations, so that it may extrapolate the parameter of other optical planes, overall precision depends on the stated accuracy of head and the tail optical plane, fastly
It is prompt, practical, there is good application value.
It is an object of the present invention to what is be achieved through the following technical solutions.
A kind of scaling method of quick multi-line structured light vision measurement system, comprising the following steps:
(1) two optical planes of calibration head and the tail (first and the last one) respectively, obtain its optical plane unit normal vector with
Distance parameter；
(2) rotation angle and rotating vector of two optical planes are calculated using the normal vector that step (1) obtains head and the tail optical plane；
(3) using multi-line structured light equidistant parallel and intersect at straight line feature and step (2) calculate rotation angle
Calculate the angle between each adjacent optical plane；
(4) it is flat to construct each light for the rotating vector that angle and step (2) calculate between each optical plane calculated using step (3)
Spin matrix between face；
(5) unit normal vector of the spin matrix and first optical plane obtained according to step (4) calculates intermediate each light
The unit normal vector of plane；
(6) the head and the tail optic plane equations obtained using step (1), calculate the shared intersection of each optical plane, and sample first
It is multiple, then calculate separately the distance parameter of intermediate each optic plane equations.
The scaling method of above-mentioned quick multi-line structured light vision measurement system, the scaling method are regarded based on multi-line structured light
Feel Measuring System Models, calibration process calibration includes camera parameter calibration and Light-plane calibration, camera model are as follows:
Wherein: s is normal proportionality coefficient, and (u, v) is the image coordinate put on target and counter structure optical plane intersection, and K is
Projection matrix, fx and fy are respectively camera in the direction x, y focal length parameter, and Cx and Cy are into principal point, [xc,yc,zc]TIt is camera
The three-dimensional coordinate of point under coordinate system；
Multi-line structured light areal model are as follows:
Wherein: 2N+1 is the number of optical plane, [ni,x,ni,y,ni,z]TIndicate the unit normal vector of i-th of optical plane, [xc,
yc,zc]TIt is any three-dimensional coordinate on the optical plane of the point under camera coordinates system, | di| it is camera coordinates origin to laser plane
Vertical range.
The scaling method of above-mentioned quick multi-line structured light vision measurement system, head and the tail single structure light is flat in the step (1)
Face is based on camera projection matrix and homography matrix and carries out Fast Calibration, and homography matrix is according to the upper all characteristic points and correspondence of target
Image pixel coordinates determined by following formula:
Wherein, H is homography matrix, [u, v]TFor projection coordinate, [xw,yw]TTo correspond to world coordinates in target plane；Root
After homography matrix, optical plane world coordinates corresponding with any pixel on plane target intersection can be found out, then camera is sat
Characteristic point three-dimensional coordinate under mark system are as follows:
The scaling method of above-mentioned quick multi-line structured light vision measurement system, head and the tail single structure Light-plane calibration operation in,
Each plane of motion target twice, is sought the corresponding three-dimensional coordinate of pixel on two straight lines respectively, is obtained using least square fitting
To head and the tail two optic plane equations:
n1,xx+n1,yy+n1,zZ=d1
n2N+1,xx+n2N+1,yy+n2N+1,zZ=d2N+1
Wherein: [n1,x,n1,y,n1,z]T[n2N+1,x,n2N+1,y,n2N+1,z]TFor the unit normal vector of head and the tail optical plane, | d1|
With | d2N+1| it is respectively distance of the camera coordinates system origin to two optical planes of head and the tail.
The scaling method of above-mentioned quick multi-line structured light vision measurement system, the step (2) two optical planes of middle head and the tail
Between rotation angle θ be based on its unit normal vector inner product obtained by following formula:
Cos θ=n1,x·n2N+1,x+n1,y·n2N+1,y+n1,z·n2N+1,z
Its unit rotating vector is obtained by following formula:
Also, the spin matrix R of angle, θ is rotated around rotating vector are as follows:
The scaling method of above-mentioned quick multi-line structured light vision measurement system, in the step (3) each adjacent optical plane it
Between angle are as follows:
And:
θ2N+1-i=θi, i=1,2 ..., N.
The scaling method of above-mentioned quick multi-line structured light vision measurement system is flat according to each adjacent light in the step (4)
Angle between face obtains rotating vector and spin matrix R between each optical planei,i+1, in the step (5), intermediate each light is flat
The unit normal vector in face is obtained by the unit normal direction vector basis of first optical plane in following formula:
The scaling method of above-mentioned quick multi-line structured light vision measurement system in the step (6), passes through simultaneous head and the tail light
Plane equation obtains each optical plane and shares intersection are as follows:
Wherein:For the direction vector (aforementioned unit rotating vector) of intersection, [x0,y0,z0] it is on straight line
Any point；By sampling M point [x on straight linei,yi,zi], i=1,2 ..., M obtain intermediate optical plane distance parameter di
Are as follows:
The scaling method of above-mentioned quick multi-line structured light vision measurement system, the scaling method are applied to contactless automobile
The modeling of four-wheel aligner tire.
The beneficial effects of the present invention are:
1. the vision measurement system of the method according to the invention construction, worst error is by first and the last one optical plane
Error determine, therefore, as long as accurately having demarcated the parameter of head and the tail optical plane, so that it may guarantee the precision of whole system；
2. method of the invention compares traditional by-line calibration algorithm, it is not necessary to detect and handle and index intermediate each optical plane
Optical strip image significantly reduces the tedious steps and precision burden of image procossing, quick, efficient, stable；
3., in the measurement distance of distance 500mm, worst error can be controlled the experimental results showed that the method according to the invention
System is in 0.15mm hereinafter, fully meeting practical modelling application；
4. method of the invention obtains good validation in the applications such as contactless automobile four-wheel positioning tire modeling, side
Just, fast, calibration cost is low, there is good promotion prospect.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, the scheme of the application and advantage skill common for this field
Art personnel will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to of the invention
Limitation.In the accompanying drawings:
Fig. 1 is parallel lines structure light perpendicular projection imaging schematic diagram.
Fig. 2 is parallel lines structure light measurement system working principle.
Fig. 3 is homography matrix plane projection schematic diagram.
Fig. 4 is experimental calibration operation chart.
Fig. 5 is Structured Light perpendicular projection diagrammatic cross-section.
Specific embodiment
The exemplary embodiment party of the disclosure is more fully described below in conjunction with the principle on which of the present invention and attached drawing
Formula.
Multi-thread vision measurement system model is introduced first:
Vision Measuring System With Structured Light Stripe is mainly made of line laser transmitter and camera, wherein in order to guarantee measurement essence
Degree, camera imaging direction and optical plane projecting direction angle are advisable between 30-60.Pass through laser transmitter projects laser plane
And body surface is projected, according to the image pixel coordinates of the laser intersection formed in body surface, so that it may calculate object table
The three-dimensional coordinate of all the points on face and laser plane intersection, establishes threedimensional model to measured target, as shown in Figure 2.
The calibration of line-structured light measuring system is made of camera parameter calibration and Light-plane calibration two parts.One camera demarcates mesh
Before generally use the algorithm of Zhang Zhengyou and can be demarcated in advance, major parameter has camera projection matrix and lens distortion parameter,
Camera projection measurement model is as follows:
In above formula, s is a normal proportionality coefficient, and (u, v) is the image coordinate put on target and counter structure optical plane intersection,
K is projection matrix, also referred to as internal reference matrix, wherein fx and fy is respectively camera in the direction x, y focal length parameter, and Cx and Cy are imaging
Principal point (optical axis and imaging plane intersection point).[xc,yc,zc]TIt is the three-dimensional coordinate of the point under camera coordinates system.
Multi-line structured light areal model can be expressed from the next:
Wherein 2N+1 is the number of optical plane, [ni,x,ni,y,ni,z]TIndicate the unit normal vector of i-th of optical plane, [xc,
yc,zc]TIt is any three-dimensional coordinate on the optical plane of the point under camera coordinates system, | di| it is camera coordinates origin to laser plane
Vertical range.In fact, above formula diIt is exactly that the three-dimensional vector that any three-dimensional point is constituted under camera coordinates system on optical plane exists
Projection (inner product) on the unit normal vector of corresponding flat.Since camera and laser sensor angle are fixed, diIt is constant, referred to as
Distance parameter.
It is initially noted that when calculating the three-dimensional coordinate of optical plane and target intersection, due to containing a normal ratio system in formula (1)
Number s, thus obtained three-dimensional coordinate point have it is numerous, but can be constrained by corresponding optic plane equations (with reference to formula (2),
diIt is constant), proportionality coefficient is removed, true three-dimensional coordinate is obtained.
Therefore, the calibration process of line-structured light measuring system is mainly the calibration of optic plane equations, non-by obtaining one group
Three-dimensional point (>=3) on conllinear optical plane, so that it may achieve the goal.
Equidistant parallel line-structured light plane reference method is described below:
Due to introducing a kind of stable single line first below the present invention relates to calibration head and the tail single line structure optical plane
Then calibration method provides the fast method that the present invention calculates remaining optical plane.
Single structure Light-plane calibration method
Under normal circumstances, the calibration of single structure optical plane is related to obtaining one group of non-colinear three-dimensional feature point (>=3), generally
Using plane target and cross ratio invariability principle, but complex steps, the characteristic point of acquisition is less, and stability dependency is in part target spy
Levy the acquisition precision of point.A kind of quick steady scaling method based on camera projection matrix and homography matrix described herein.
Homography matrix indicates a plane to the projection mapping of another plane, i.e., for multiple coplanar characteristic points, warp
It crosses after homograph, corresponding imaging features point is also coplanar.Therefore square can be projected by camera according to imaging point
Battle array and homography matrix restore its three-dimensional coordinate.As shown in figure 3, A, B, C, D point on gridiron pattern respectively correspond in projected image
A, b, c, d point, corresponding relationship can be represented by the formula:
Wherein, H is known as homography matrix, [u, v]TFor projection coordinate, [xw,yw]TFor the world corresponding in target plane seat
Mark.
Consider the camera imaging model of plane target:
Wherein, K is projection matrix, [r1,r2,r3]TIt is the rotation and translation of target with t.[xw,yw]TFor corresponding target
The world coordinates of upper point.It is not difficult to find out that H is exactly homography matrix of the plane target to the plane of delineation.In actually calibration, according to mark
Upper all characteristic points of target and corresponding image pixel coordinates can once determine homography matrix H according to formula (3).Singly answered square
After battle array, the corresponding world coordinates of pixel coordinate can be calculated according to formula (4) by following formula in any image space:
Characteristic point three-dimensional coordinate under its corresponding camera coordinates system can be obtained by formula (4):
According to above-mentioned algorithm, any three-dimensional coordinate on optical plane intersecting straight lines can disposably be estimated, furthermore, it is noted that
It (is singly answered for calculating to whole characteristic points on target are utilized when calculating characteristic point three-dimensional coordinate on optical plane in aforementioned manners
Matrix), therefore, the robustness of algorithm is more preferable.The practical proving operation of single structure optical plane is as shown in Figure 4.Plane of motion target
Twice, the corresponding three-dimensional coordinate of (straight line L1 and straight line L2) pixel is sought on two straight lines according to above-mentioned algorithm, utilizes minimum
Two, which multiply fitting, can be obtained optic plane equations.In principle, according to above-mentioned algorithm, the three-dimensional coordinate of any pixel can all be obtained on straight line
It arrives, when practical application need to only sample enough characteristic points.Moreover, it is noted that in above-mentioned optical plane characteristic point
Distortion correction is done to image according to the distortion parameter of camera before acquisition.
Equidistant parallel line calibration method
Equidistant parallel line-structured light refers to light source emitter when projecting perpendicular to imaging plane, and intersection image is equidistant
In parallel, and all optical planes intersect at straight line, most commonly seen in videogrammetry field.Ordinary circumstance flowering structure
Light projection line number is that odd number item can be chosen from 7 lines to mostly as many as 81 according to the purpose of application.When line number is more,
It is low that efficiency of algorithm is determined using traditional single structure cursor, it is wide to be primarily due to the parallel multistriplines structure light vision measuring systems visual field
It is wealthy, need to make the high-precision target of large scale, it is at high cost, but also need to detect, index what every structure light intersected with target
Straight line image handles cumbersome, the bad control of precision.
The present invention need to only demarcate two structure optical planes of head and the tail, so that it may extrapolate remaining optical plane according to its inherent feature
Equation.Its advantage is that target size need not be at low cost, it is not necessary to which that detection is every very greatly (begining-end structure optical plane can be demarcated individually)
Intersection image, speed are fast.In addition, overall stated accuracy depends on the stated accuracy of head and the tail optical plane, the optical plane of middle layer
It is to depend on the first Light-plane calibration error in calibrated error principle.Method of the invention is described below.
By aforementioned single line calibration method, available head and the tail optic plane equations:
n1,xx+n1,yy+n1,zZ=d1 (7)
n2N+1,xx+n2N+1,yy+n2N+1,zZ=d2N+1
Wherein [n1,x,n1,y,n1,z]T[n2N+1,x,n2N+1,y,n2N+1,z]TFor the unit normal vector of head and the tail optical plane, | d1|
With | d2N+1| it is respectively distance of the camera coordinates system origin to two optical planes of head and the tail.In addition, in order to guarantee to calculate head and the tail two
The angle of optical plane, unit normal vector will keep principal direction consistent, i.e., inner product meets: n1,xn2N+1,x+n1,yn2N+1,y+n1, zn2N+1,z>0.Angle between two optical planes can be obtained by its unit normal vector inner product:
Cos θ=n1,x·n2N+1,x+n1,y·n2N+1,y+n1,z·n2N+1,z (8)
It can be appreciated that optical plane 1 rotate angle, θ (unit is radian) be overlapped afterwards with optical plane 2N+1, unit rotate to
Amount can be obtained by following formula:
It is converted according to Rodrigues, the spin matrix R of angle, θ is rotated around rotating vector are as follows:
So head and the tail optical plane normal vector has following relationship:
Imaging section schematic diagram when Fig. 5 is parallel multistriplines structure light perpendicular projection.Assuming that optical plane number is 2N+1, throw
Penetrating height is h, and optical plane incident line spacing is d, then d/h=constant, that is to say, that for certain equidistant parallel cable architecture
Light, the angle of head and the tail optical plane are fixed, are also constant, and the angle of head and the tail optical plane has following relationship:
Angle theta between optical plane 1 and optical plane 21(referring to Fig. 5) can be calculated by following formula:
That is:
Similarly, the angle between i-th of optical plane and i+1 and optical plane can be calculated by following formula:
That is:
Symmetry when due to optical plane perpendicular projection, the angle between remaining available half optical plane:
θ2N+1-i=θi, i=1,2 ..., N (17)
With the θ estimated abovei, i=1,2 ... the θ in 2N alternate form (10), the rotation between available each optical plane
Matrix Ri,i+1, similar to formula (11), there is following relationship between each optical plane normal vector:
By formula (18), the unit normal vector of intermediate each optical plane can be obtained by the unit normal vector of first optical plane
It arrives.
So far, the unit normal vector of intermediate each optical plane can according to first optical plane normal line vector by formula
(18) it is calculated, also needs calculating camera coordinates origin to projection (inner product) d of each optical plane normal line vectori, i=2,
3,...2N-1.Since each optical plane intersects at straight line, this straight line can be obtained by simultaneous solution formula (7):
WhereinIt is the direction vector (unit rotating vector) of the intersection calculated by formula (9), [x0,y0,z0]
It is any point on straight line, it can be by taking fixed any x0(for example take x0=0) value, simultaneous solution formula (7) obtain y0And z0?
Value.M point [x is sampled on straight linei,yi,zi], i=1,2 ..., M, diIt can be estimated by following formula:
The vector that point in above formula on i-th of optical plane of each single item expression is constituted in camera coordinates system is in its normal line vector
On projection (all should be equal in principle), take the flat stability for being for calculating of M point.
It is summarized as follows in conclusion integral calibrating is crossed:
Step 1: according to above-mentioned algorithm (or other algorithms), two light of calibration head and the tail (first and the last one) are put down respectively
Face equation；
Step 2: using the unit normal vector for two optical planes of head and the tail that step 1 obtains, it is flat that two light are calculated according to formula (8)
The angle theta (rotation angle) in face.
Step 3: the feature of the rotation angle θ being calculated using step 2 and equidistant parallel structure light (with reference to formula (12) and is schemed
5) rotation angle θ of adjacent optical plane, is calculated to formula (17) according to formula (13)i, i=1,2 ... 2N.
Step 4: according to the rotation angle for the adjacent optical plane that step 3 obtains, the unit of adjacent optical plane is calculated using formula (9)
Rotating vector, and spin matrix R is converted by formula (10)i,i+1；
Step 5: intermediate optical plane is obtained using the spin matrix that the unit normal vector and step 4 of first optical plane calculate
Unit normal vector；
Step 6: the characteristic of straight line (rotating vector that direction is above-mentioned calculating), benefit are intersected at using all optical planes
Intersection (referring to formula (19)) is calculated with head and the tail optical plane, and samples M point, and calculate the distance of intermediate optical plane according to formula (20)
Parameter di, i=2,3 ..., 2N.
According to above method, according to first and the last one optic plane equations calibration result, so that it may obtain in other
Between optical plane parameter.
Although it is worth noting that, the above method calculate be project line number be odd number (2N+1) structure light, it is right
Slightly adjusting in the structure light that projection line number is even number (2N) can equally demarcate.
It is not difficult to find out that the vision measurement system worst error constructed according to the method described above is put down by first and the last one light
The error in face determines, therefore, as long as accurately having demarcated the parameter of head and the tail optical plane, so that it may guarantee the essence of whole system
Degree.This method compares traditional by-line calibration algorithm, it is not necessary to detection and the optical strip image for handling and indexing intermediate each optical plane, significantly
The tedious steps and precision burden of image procossing are alleviated, it is quick, efficient, stable.The experimental results showed that distance 500mm's
Distance is measured, worst error can control in 0.15mm hereinafter, fully meeting practical modelling application.In addition, this method is in nothing
It is verified in contact automobile four-wheel positioning tire modelling application, convenient, fast, calibration cost is low, there is good promotion prospect.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Subject to enclosing.
Claims (9)
1. a kind of scaling method of quick multi-line structured light vision measurement system, which comprises the following steps:
(1) two optical planes of calibration head and the tail (first and the last one) respectively, obtain its optical plane unit normal vector and distance
Parameter；
(2) rotation angle and rotating vector of two optical planes are calculated using the normal vector that step (1) obtains head and the tail optical plane；
(3) using multi-line structured light equidistant parallel and intersect at straight line feature and step (2) calculate rotation angle calculate
Angle between each adjacent optical plane；
(4) rotating vector that angle and step (2) calculate between each optical plane calculated using step (3) construct each optical plane it
Between spin matrix；
(5) unit normal vector of the spin matrix and first optical plane obtained according to step (4) calculates intermediate each optical plane
Unit normal vector；
(6) the head and the tail optic plane equations obtained using step (1), calculate the shared intersection of each optical plane, and sample multiple first
Then point calculates separately the distance parameter of intermediate each optic plane equations.
2. a kind of scaling method of quick multi-line structured light vision measurement system according to claim 1, which is characterized in that
Vision measurement system calibration includes camera parameter calibration and multiple line structure Light-plane calibration, camera projection measurement model are as follows:
Wherein: s is normal proportionality coefficient, and (u, v) is the image coordinate put on target and counter structure optical plane intersection, and K is projection
Matrix, fx and fy are respectively camera in the direction x, y focal length parameter, and Cx and Cy are into principal point, [xc,yc,zc]TIt is camera coordinates
The three-dimensional coordinate of point under system；
Multi-line structured light areal model are as follows:
Wherein: 2N+1 is the number of optical plane, [ni,x,ni,y,ni,z]TIndicate the unit normal vector of i-th of optical plane, [xc,yc,
zc]TIt is any three-dimensional coordinate on the optical plane of the point under camera coordinates system, | di| it is camera coordinates origin to laser plane
Vertical range.
3. a kind of scaling method of quick multi-line structured light vision measurement system according to claim 2, which is characterized in that
Head and the tail single structure optical plane is based on camera projection matrix in the step (1) and homography matrix carries out Fast Calibration, homography matrix
It is determined according to upper all characteristic points of target and corresponding image pixel coordinates by following formula:
Wherein, H is homography matrix, [u, v]TFor projection coordinate, [xw,yw]TTo correspond to world coordinates in target plane；According to singly answering
After matrix, optical plane world coordinates corresponding with any pixel on plane target intersection can be found out, then under camera coordinates system
Characteristic point three-dimensional coordinate are as follows:
4. a kind of scaling method of quick multi-line structured light vision measurement system according to claim 3, which is characterized in that
In the operation of head and the tail single structure Light-plane calibration, each plane of motion target twice, it is corresponding to seek pixel on two straight lines respectively
Three-dimensional coordinate, using least square fitting obtain head and the tail two optic plane equations:
n1,xx+n1,yy+n1,zZ=d1
n2N+1,xx+n2N+1,yy+n2N+1,zZ=d2N+1
Wherein: [n1,x,n1,y,n1,z]T[n2N+1,x,n2N+1,y,n2N+1,z]TFor the unit normal vector of head and the tail optical plane, | d1| and |
d2N+1| it is respectively distance of the camera coordinates system origin to two optical planes of head and the tail.
5. a kind of scaling method of quick multi-line structured light vision measurement system according to claim 4, which is characterized in that
Rotation angle θ in the step (2) between two optical planes of head and the tail is based on its unit normal vector inner product and is obtained by following formula:
Cos θ=n1,x·n2N+1,x+n1,y·n2N+1,y+n1,z·n2N+1,z
Its unit rotating vector is obtained by following formula:
Also, the spin matrix R of angle, θ is rotated around rotating vector are as follows:
6. a kind of scaling method of quick multi-line structured light vision measurement system according to claim 5, which is characterized in that
Angle in the step (3) between each adjacent optical plane are as follows:
θ2N+1-i=θi, i=1,2 ..., N.
7. a kind of scaling method of quick multi-line structured light vision measurement system according to claim 6, which is characterized in that
In the step (4), the rotating vector and spin matrix between each optical plane are obtained according to the angle between each adjacent optical plane
Ri,i+1, in the step (5), the unit normal vector of intermediate each optical plane by first optical plane unit normal direction vector basis in
Following formula obtains:
8. a kind of scaling method of quick multi-line structured light vision measurement system according to claim 7, which is characterized in that
In the step (6), each optical plane is obtained by simultaneous head and the tail optic plane equations and shares intersection are as follows:
Wherein:For the direction vector (aforementioned unit rotating vector) of intersection, [x0,y0,z0] it is any on straight line
A bit；By sampling M point [x on straight linei,yi,zi], i=1,2 ..., M obtain intermediate optical plane distance parameter diAre as follows:
9. a kind of scaling method of quick multi-line structured light vision measurement system according to claim 1-8,
It is characterized in that, the scaling method is applied to the positioning tire modeling of contactless automobile four-wheel.
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| CN110470320A (en) * | 2019-09-11 | 2019-11-19 | 河北科技大学 | The scaling method and terminal device of oscillatory scanning formula line-structured light measuring system |
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