CN109916304A - Mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method - Google Patents
Mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method Download PDFInfo
- Publication number
- CN109916304A CN109916304A CN201910258091.1A CN201910258091A CN109916304A CN 109916304 A CN109916304 A CN 109916304A CN 201910258091 A CN201910258091 A CN 201910258091A CN 109916304 A CN109916304 A CN 109916304A
- Authority
- CN
- China
- Prior art keywords
- screen
- coordinate
- mirror surface
- coordinate system
- camera
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000005259 measurement Methods 0.000 title claims abstract description 26
- 239000011159 matrix material Substances 0.000 claims abstract description 25
- 230000007704 transition Effects 0.000 claims abstract description 25
- 239000007787 solid Substances 0.000 claims description 5
- 235000013399 edible fruits Nutrition 0.000 claims description 3
- 230000008569 process Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 229910052769 Ytterbium Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating methods, determine the center of circle of calibration pattern in screen coordinate system Oxyz respectively firstLCDUnder three-dimensional coordinate, three-dimensional coordinate of the pattern under camera coordinates system on scaling board；Digital Photogrammetric System is recycled to obtain the center of circle of pattern on the center of circle and scaling board of screen display pattern in Digital Photogrammetric System coordinate system OxyzphgUnder three-dimensional coordinate；Find out screen coordinate system to photogrammetric coordinate system transition matrixphg[RT]LCD, photogrammetric coordinate system to scaling board coordinate system transition matrixcal[RT]phg, scaling board coordinate system to camera coordinates system transition matrixcam[RT]cal；Finally calculate the transition matrix that screen coordinate system arrives camera coordinates system: this method overcomes present in traditional scaling method in view of the flatness of plane mirror, collected uncalibrated image deform serious problem, realizes high-precision screen-camera pose and demarcates.
Description
Technical field
The present invention relates to calibration fields, and in particular to a kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method.
Background technique
Phase measurement deviation technology (striped deviation measuring system) is mainly used in mirror surface/class mirror article surface defect inspection
It surveys, because its high-precision, non-contact, inexpensive feature obtain widely studying and applying, striped deviation measuring system includes screen
Curtain and camera, screen-camera pose high-precision calibrating will affect the precision of final system.Currently, being directed to screen-camera pose
Calibration be broadly divided into plane mirror method and auxiliary camera method, plane mirror method obtains the pose of screen using plane mirror, according to whether
It needs scaling board to be divided into two kinds, the scaling method of scaling board is needed to need to make scaling board and plane in mark timing adjustment scaling board
Mirror is overlapped, and the pose of plane mirror is replaced with pose of the scaling board under camera coordinates system；Do not need scaling board scaling method or
It needs in plane mirror surface labelling point, or needs to move plane mirror pose during the calibration process, both methods does not consider
To the plane precision of plane mirror, especially for the calibration of big visual field, the precision of plane mirror is difficult to ensure, is introduced and is missed to calibration
Difference, and proving operation is inconvenient, it is difficult to realize automation；Another auxiliary camera rule needs to introduce an additional auxiliary camera
With one piece of scaling board, scaling board is placed in system camera working range, shoots calibration plate pattern using camera to be measured, meanwhile,
Shoot the calibration pattern and calibration plate pattern that display is shown, the coordinate through auxiliary camera and scaling board simultaneously using auxiliary camera
The position orientation relation calibration of screen and camera to be measured is realized in system's conversion, and this Method And Principle is simple, theoretical precision is high, but in reality
During operation, since the positional relationship of screen to be measured and camera has been fixed, and camera to be measured can not shoot screen to be measured,
Arrange scaling board according to above-mentioned requirements and when auxiliary camera, auxiliary camera optical axis and scaling board normal vector and display normal amount it
Between angle it is excessive, cause collected calibration pattern undesirable, index point extract error it is larger, it is difficult to guarantee turn station essence
Degree.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating sides
Method is suitable for demarcating the industry spot of phase measurement deviation art (PMD) measuring system, which overcomes traditional screen
Defect existing for curtain-camera calibration method, stated accuracy is high, improves the measurement accuracy of entire measuring system.
Technical solution is as follows:
A kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method, the mirror surface/class mirror surface three-dimensional measurement of objects system
System includes screen, processor, display device and camera；The camera is for obtaining mirror surface/class mirror article surface image；It is described
Screen is controlled by processor, for projecting pre-set image to the mirror surface/class mirror article surface；The processor is for calculating
As a result；The display device is connect with processor, for showing the calculated result；The relative position of the screen and camera is solid
It is fixed, define screen coordinate system OxyzLCD, camera coordinates system Oxyzcam, include the following steps:
1) screen shows multiple round or annular calibration pattern, determines the center of circle of the calibration pattern in screen
Coordinate system OxyzLCDUnder three-dimensional coordinate；A scaling board can be regarded as when showing calibration pattern on screen；
2) scaling board is shot using camera, pattern is annulus or circle on the scaling board；
3) station meter of Digital Photogrammetric System, encoded point are individually positioned in screen, around scaling board, utilization is photogrammetric
System obtains the center of circle of pattern on the center of circle and scaling board of screen display pattern in Digital Photogrammetric System coordinate system OxyzphgUnder
Three-dimensional coordinate；
4) it three-dimensional coordinate of the center of circle under Digital Photogrammetric System of the calibration pattern shown according to screen and its is sat in screen
Mark system under coordinate, find out screen coordinate system to photogrammetric coordinate system transition matrixphg[RT]LCD；
According to the center of circle of pattern on scaling board respectively in the three-dimensional coordinate of photogrammetric coordinate system and scaling board coordinate system, ask
Transition matrix of the photogrammetric coordinate system to scaling board coordinate system outcal[RT]phg；
According to three-dimensional coordinate or utilization figure of the center of circle of pattern on scaling board under scaling board coordinate system and camera coordinates system
As the homography relationship (it is required that at least 4 points on scaling board) with scaling board, scaling board coordinate system is found out to camera coordinates system
Transition matrixcam[RT]cal；
5) transition matrix of the calculating screen coordinate system to camera coordinates system:
cam[RT]LCD=cam[RT]cal×cal[RT]phg×phg[RT]LCD。
Further, pattern, screen are shown on the scaling board calibration pattern, the encoded point in Digital Photogrammetric System are at least
It is present in two pictures of Digital Photogrammetric System acquisition.
Further, on the scaling board pattern as the pattern shown on screen.
Further, scaling board is placed in immediately ahead of camera lens in step 2).
Further, Digital Photogrammetric System includes: that the intelligence for being used to acquire image, high-precision mm professional camera special, one apply
In the system software of measuring and calculating, a set of station meter, one group of encoded point；In use, camera shoots station meter from two or more positions
With the encoded point of distribution, the image under different perspectives is obtained, system software is calculated by principle of triangulation between image pixel
Position deviation (i.e. parallax) obtain the three-dimensional coordinate of tested index point, realize position/coordinate system conversion.
A kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method, states mirror surface/class mirror surface three-dimensional measurement of objects system
Including screen, processor, display device and camera；The camera is for obtaining mirror surface/class mirror article surface image；The screen
Curtain is controlled by processor, for projecting pre-set image to the mirror surface/class mirror article surface；The processor is for calculating knot
Fruit；The display device is connect with processor, for showing the calculated result；The relative position of the screen and camera is solid
It is fixed, define screen coordinate system OxyzLCD, camera coordinates system Oxyzcam, include the following steps:
1) screen shows multiple round or annular calibration pattern, determines the center of circle of the calibration pattern in screen
Coordinate system OxyzLCDUnder three-dimensional coordinate；
2) arrange that the round or annular reflecting sign point of at least three, the binocular camera are clapped in binocular camera effective viewing field
The reflecting sign point is taken the photograph, its three-dimensional coordinate under camera coordinates system is obtained；
3) station meter of Digital Photogrammetric System, encoded point are individually positioned in screen, around above-mentioned reflecting sign point, utilized
The center of circle and the above-mentioned reflecting sign point center of circle that Digital Photogrammetric System obtains screen display pattern are in Digital Photogrammetric System coordinate system
OxyzphgUnder three-dimensional coordinate；
4) it three-dimensional coordinate of the center of circle under Digital Photogrammetric System of the calibration pattern shown according to screen and its is sat in screen
Mark system under coordinate, find out screen coordinate system to photogrammetric coordinate system transition matrixphg[RT]LCD；
According to the center of circle of the above-mentioned reflecting sign point coordinate under photogrammetric coordinate system and camera coordinates system respectively, find out
Transition matrix of the photogrammetric coordinate system to camera coordinates systemcam[RT]phg；
5) transition matrix of the calculating screen coordinate system to camera coordinates system:
cam[RT]LCD=cam[RT]phg×phg[RT]LCD。
The present invention proposes a kind of high-precision screen-camera pose scaling method that is practical, being suitble to industry spot, overcomes
Traditional scaling method has following defects that
1, it is demarcated using plane mirror, does not consider that the flatness of plane mirror, especially large-scale plane mirror, precision are difficult to
Guarantee, introduces calibrated error, meanwhile, it needs to be adjusted plane mirror or scaling board in calibration process, Adjustment precision is not easily-controllable
System.
2, auxiliary camera shooting angle is limited, and collected uncalibrated image deformation is serious, it is difficult to realize in industry spot high
Precision calibration.
Specific embodiment
Technical solution of the present invention is described in detail below in conjunction with specific embodiment.
A kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method, the mirror surface/class mirror surface three-dimensional measurement of objects system
System includes screen, processor, display device and camera；The camera is for obtaining mirror surface/class mirror article surface image；It is described
Screen is controlled by processor, for projecting pre-set image to the mirror surface/class mirror article surface；The processor is for calculating
As a result；The display device is connect with processor, for showing the calculated result；The relative position of the screen and camera is solid
It is fixed, define screen coordinate system OxyzLCD, camera coordinates system Oxyzcam, include the following steps:
1) screen shows multiple round calibration patterns, determines the center of circle of calibration pattern in screen coordinate system OxyzLCDUnder
Three-dimensional coordinate；
2) scaling board is shot using camera, scaling board is placed in immediately ahead of camera lens, and pattern is circle on scaling board；As one
Alternative is planted, the pattern on scaling board is also possible to annulus；
3) station meter of Digital Photogrammetric System, encoded point are individually positioned in screen, around scaling board, utilization is photogrammetric
System obtains the center of circle of pattern on the center of circle and scaling board of screen display pattern in Digital Photogrammetric System coordinate system OxyzphgUnder
Three-dimensional coordinate；
In calibration process, pattern, screen are shown on scaling board calibration pattern, the encoded point in Digital Photogrammetric System are at least
It is present in two pictures of Digital Photogrammetric System acquisition.Herein, the calibration pattern that pattern, screen are shown on scaling board refer to pair
The position single-point answered
4) it three-dimensional coordinate of the center of circle under Digital Photogrammetric System of the calibration pattern shown according to screen and its is sat in screen
Mark system under coordinate, find out screen coordinate system to photogrammetric coordinate system transition matrixphg[RT]LCD；
According to the center of circle of pattern on scaling board respectively in the three-dimensional coordinate of photogrammetric coordinate system and scaling board coordinate system, ask
Transition matrix of the photogrammetric coordinate system to scaling board coordinate system outcal[RT]phg；
According to three-dimensional coordinate of the center of circle of pattern on scaling board under scaling board coordinate system and camera coordinates system, or utilize figure
As the homography relationship (it is required that at least 4 points on scaling board) with scaling board, scaling board coordinate system is found out to camera coordinates system
Transition matrixcam[RT]cal；5) transition matrix of the calculating screen coordinate system to camera coordinates system:
cam[RT]LCD=cam[RT]cal×cal[RT]phg×phg[RT]LCD。
This scaling method has the advantages that
1) for compared to traditional plane mirror scaling method, the precision of auxiliary tool (plane mirror flatness) will not be introduced
Error.
2) calibration process is simple and effective, it can be achieved that automation calibration, easy to spread to industry spot.
3) pattern is demarcated using round or annulus, the more traditional gridiron pattern precision of feature point extraction precision is higher.
4) phase deviation (PMD) measuring system is to realize sensor miniaturization, is often connected in screen and camera are compact
Together, if auxiliary camera method thinks to acquire screen display pattern and calibration plate pattern simultaneously, auxiliary camera need with therebetween at
Very big angle is shot, and measurement camera also needs angled shooting scaling board, and acquired image distortion is serious, will be tight
The extraction accuracy for influencing characteristic point again, further influences stated accuracy.This method is by means of Digital Photogrammetric System, it is ensured that
Measurement camera face scaling board carries out adopting figure, guarantees picture quality and extraction accuracy, improves stated accuracy.
As another embodiment of the present invention: a kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method states mirror
Face/class mirror surface three-dimensional measurement of objects system includes screen, processor, display device and camera；Camera is for obtaining mirror surface/eka-ytterbium
Face body surface image；Screen is controlled by processor, for projecting pre-set image to mirror surface/class mirror article surface；Processor
For calculated result；Display device is connect with processor, for showing calculated result；The relative position of screen and camera is fixed,
Define screen coordinate system OxyzLCD, camera coordinates system Oxyzcam, include the following steps:
1) screen shows multiple round or annular calibration pattern, determines the center of circle of calibration pattern in screen coordinate system
OxyzLCDUnder three-dimensional coordinate；
2) the round or annular reflecting sign point of at least three is arranged in binocular camera effective viewing field, binocular camera shooting should
Reflecting sign point obtains its three-dimensional coordinate under camera coordinates system；
3) station meter of Digital Photogrammetric System, encoded point are individually positioned in screen, around above-mentioned reflecting sign point, utilized
The center of circle and the above-mentioned reflecting sign point center of circle that Digital Photogrammetric System obtains screen display pattern are in Digital Photogrammetric System coordinate system
OxyzphgUnder three-dimensional coordinate；
4) it three-dimensional coordinate of the center of circle under Digital Photogrammetric System of the calibration pattern shown according to screen and its is sat in screen
Mark system under coordinate, find out screen coordinate system to photogrammetric coordinate system transition matrixphg[RT]LCD；
According to the center of circle of the above-mentioned reflecting sign point coordinate under photogrammetric coordinate system and camera coordinates system respectively, find out
Transition matrix of the photogrammetric coordinate system to camera coordinates systemcam[RT]phg；
5) transition matrix of the calculating screen coordinate system to camera coordinates system:
cam[RT]LCD=cam[RT]phg×phg[RT]LCD。
The description that specific exemplary embodiment of the present invention is presented in front is for the purpose of illustration and description.Front
Description be not intended to become without missing, be not intended to limit the invention to disclosed precise forms, it is clear that root
It is possible for much changing and change all according to above-mentioned introduction.It selects exemplary implementation scheme and is described to be to explain this hair
Bright certain principles and practical application, so that others skilled in the art can be realized and utilize of the invention each
Kind exemplary implementation scheme and its different selection forms and modification.The scope of the present invention be intended to by the appended claims and
Its equivalent form is limited.
Claims (5)
1. a kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method, the mirror surface/class mirror surface three-dimensional measurement of objects system
Including screen, processor, display device and camera；The camera is for obtaining mirror surface/class mirror article surface image；The screen
Curtain is controlled by processor, for projecting pre-set image to the mirror surface/class mirror article surface；The processor is for calculating knot
Fruit；The display device is connect with processor, for showing the calculated result；The relative position of the screen and camera is solid
It is fixed, define screen coordinate system OxyzLCD, camera coordinates system Oxyzcam, it is characterised in that include the following steps:
1) screen shows multiple round or annular calibration pattern, determines the center of circle of the calibration pattern in screen coordinate
It is OxyzLCDUnder three-dimensional coordinate；
2) scaling board is shot using camera, pattern is annulus or circle on the scaling board；
3) station meter of Digital Photogrammetric System, encoded point are individually positioned in screen, around scaling board, utilize Digital Photogrammetric System
The center of circle of pattern on the center of circle and scaling board of screen display pattern is obtained in Digital Photogrammetric System coordinate system OxyzphgUnder three-dimensional
Coordinate；
4) three-dimensional coordinate of the center of circle under Digital Photogrammetric System of the calibration pattern shown according to screen and its in screen coordinate system
Under coordinate, find out screen coordinate system to photogrammetric coordinate system transition matrixphg[RT]LCD；
According to the center of circle of pattern on scaling board respectively in the three-dimensional coordinate of photogrammetric coordinate system and scaling board coordinate system, finds out and take the photograph
Shadow measures coordinate system to the transition matrix of scaling board coordinate systemcal[RT]phg；
According to three-dimensional coordinate of the center of circle of pattern on scaling board under scaling board coordinate system and camera coordinates system, or using image with
The homography relationship of scaling board, find out scaling board coordinate system to camera coordinates system transition matrixcam[RT]cal；
5) transition matrix of the calculating screen coordinate system to camera coordinates system:
cam[RT]LCD=cam[RT]cal×cal[RT]phg×phg[RT]LCD。
2. mirror surface as described in claim 1/class mirror surface three-dimensional measurement of objects system calibrating method, it is characterised in that: the calibration
Calibration pattern, the encoded point in Digital Photogrammetric System that pattern, screen are shown on plate are obtained present at least at Digital Photogrammetric System
Two pictures in.
3. mirror surface as described in claim 1/class mirror surface three-dimensional measurement of objects system calibrating method, it is characterised in that: the calibration
Pattern is as the pattern shown on screen on plate.
4. mirror surface as described in claim 1/class mirror surface three-dimensional measurement of objects system calibrating method, it is characterised in that: in step 2)
Scaling board is placed in immediately ahead of camera lens.
5. a kind of mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method states mirror surface/class mirror surface three-dimensional measurement of objects system packet
Include screen, processor, display device and camera；The camera is for obtaining mirror surface/class mirror article surface image；The screen
It is controlled by processor, for projecting pre-set image to the mirror surface/class mirror article surface；The processor is for calculating knot
Fruit；The display device is connect with processor, for showing the calculated result；The relative position of the screen and camera is solid
It is fixed, define screen coordinate system OxyzLCD, camera coordinates system Oxyzcam, it is characterised in that include the following steps:
1) screen shows multiple round or annular calibration pattern, determines the center of circle of the calibration pattern in screen coordinate
It is OxyzLCDUnder three-dimensional coordinate；
2) the round or annular reflecting sign point of at least three is arranged in binocular camera effective viewing field, the binocular camera shooting should
Reflecting sign point obtains its three-dimensional coordinate under camera coordinates system；
3) station meter of Digital Photogrammetric System, encoded point are individually positioned in screen, around above-mentioned reflecting sign point, utilize photography
The center of circle and the above-mentioned reflecting sign point center of circle that measuring system obtains screen display pattern are in Digital Photogrammetric System coordinate system Oxyzphg
Under three-dimensional coordinate；
4) three-dimensional coordinate of the center of circle under Digital Photogrammetric System of the calibration pattern shown according to screen and its in screen coordinate system
Under coordinate, find out screen coordinate system to photogrammetric coordinate system transition matrixphg[RT]LCD；
According to the center of circle of the above-mentioned reflecting sign point coordinate under photogrammetric coordinate system and camera coordinates system respectively, photography is found out
Transition matrix of the measurement coordinate system to camera coordinates systemcam[RT]phg；
5) transition matrix of the calculating screen coordinate system to camera coordinates system:
cam[RT]LCD=cam[RT]phg×phg[RT]LCD。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910258091.1A CN109916304B (en) | 2019-04-01 | 2019-04-01 | Mirror surface/mirror surface-like object three-dimensional measurement system calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910258091.1A CN109916304B (en) | 2019-04-01 | 2019-04-01 | Mirror surface/mirror surface-like object three-dimensional measurement system calibration method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109916304A true CN109916304A (en) | 2019-06-21 |
| CN109916304B CN109916304B (en) | 2021-02-02 |
Family
ID=66968054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910258091.1A Active CN109916304B (en) | 2019-04-01 | 2019-04-01 | Mirror surface/mirror surface-like object three-dimensional measurement system calibration method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109916304B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110763157A (en) * | 2019-10-09 | 2020-02-07 | 天津大学 | Mirror image H-shaped steel contour dimension measuring method |
| CN110966935A (en) * | 2019-12-15 | 2020-04-07 | 复旦大学 | Deflection measurement system integrated geometric calibration method based on mark points |
| CN111257338A (en) * | 2020-02-14 | 2020-06-09 | 易思维（杭州）科技有限公司 | Surface defect detection method for mirror surface and mirror-like object |
| CN113390336A (en) * | 2021-05-24 | 2021-09-14 | 武汉海微科技有限公司 | Adjustable screen fitting alignment device based on machine vision and calibration method |
| CN115797185A (en) * | 2023-02-08 | 2023-03-14 | 四川精伍轨道交通科技有限公司 | Method for converting coordinates based on image processing and complex spherical surface |
| CN116051647A (en) * | 2022-08-08 | 2023-05-02 | 荣耀终端有限公司 | Camera calibration method and electronic equipment |
| CN117450955A (en) * | 2023-12-21 | 2024-01-26 | 成都信息工程大学 | Three-dimensional measurement method for thin object based on space annular feature |
| CN116051647B (en) * | 2022-08-08 | 2024-06-25 | 荣耀终端有限公司 | Camera calibration method and electronic equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1570553A (en) * | 2004-05-13 | 2005-01-26 | 上海交通大学 | Composite calibration method of mold surface optical measurement system |
| CN1623506A (en) * | 2003-12-07 | 2005-06-08 | 倪蔚民 | Bioassay system based on iris texture analysis |
| US20050134851A1 (en) * | 2003-12-22 | 2005-06-23 | Qed Technologies, Inc. | Method for calibrating the geometry of a multi-axis metrology system |
| CN102183213A (en) * | 2011-03-02 | 2011-09-14 | 中国科学院光电技术研究所 | Aspherical mirror detection method based on phase measurement deflectometry |
| CN102567989A (en) * | 2011-11-30 | 2012-07-11 | 重庆大学 | Space positioning method based on binocular stereo vision |
| CN102663767A (en) * | 2012-05-08 | 2012-09-12 | 北京信息科技大学 | Method for calibrating and optimizing camera parameters of vision measuring system |
| CN104111036A (en) * | 2013-04-18 | 2014-10-22 | 中国科学院沈阳自动化研究所 | Mirror object measuring device and method based on binocular vision |
| CN106289062A (en) * | 2016-09-30 | 2017-01-04 | 哈尔滨工业大学 | A kind of bearing calibration of benchmark camera side-play amount |
-
2019
- 2019-04-01 CN CN201910258091.1A patent/CN109916304B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1623506A (en) * | 2003-12-07 | 2005-06-08 | 倪蔚民 | Bioassay system based on iris texture analysis |
| US20050134851A1 (en) * | 2003-12-22 | 2005-06-23 | Qed Technologies, Inc. | Method for calibrating the geometry of a multi-axis metrology system |
| CN1570553A (en) * | 2004-05-13 | 2005-01-26 | 上海交通大学 | Composite calibration method of mold surface optical measurement system |
| CN102183213A (en) * | 2011-03-02 | 2011-09-14 | 中国科学院光电技术研究所 | Aspherical mirror detection method based on phase measurement deflectometry |
| CN102567989A (en) * | 2011-11-30 | 2012-07-11 | 重庆大学 | Space positioning method based on binocular stereo vision |
| CN102663767A (en) * | 2012-05-08 | 2012-09-12 | 北京信息科技大学 | Method for calibrating and optimizing camera parameters of vision measuring system |
| CN104111036A (en) * | 2013-04-18 | 2014-10-22 | 中国科学院沈阳自动化研究所 | Mirror object measuring device and method based on binocular vision |
| CN106289062A (en) * | 2016-09-30 | 2017-01-04 | 哈尔滨工业大学 | A kind of bearing calibration of benchmark camera side-play amount |
Non-Patent Citations (3)
| Title |
|---|
| DIVYA PUNWANI: "Cellular calibrators to quantitate T-cell receptor excision circles (TRECs) in clinical samples", 《MOLECULAR GENETICS AND METABOLISM》 * |
| 李玲: "数码相机标定研究", 《长江大学学报》 * |
| 郭春磊: "采用棋盘格靶标的全自动相机标定方法", 《计算机工程与应用》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110763157A (en) * | 2019-10-09 | 2020-02-07 | 天津大学 | Mirror image H-shaped steel contour dimension measuring method |
| CN110966935A (en) * | 2019-12-15 | 2020-04-07 | 复旦大学 | Deflection measurement system integrated geometric calibration method based on mark points |
| CN110966935B (en) * | 2019-12-15 | 2021-06-04 | 复旦大学 | Deflection measurement system integrated geometric calibration method based on mark points |
| CN111257338A (en) * | 2020-02-14 | 2020-06-09 | 易思维（杭州）科技有限公司 | Surface defect detection method for mirror surface and mirror-like object |
| CN111257338B (en) * | 2020-02-14 | 2022-09-02 | 易思维（杭州）科技有限公司 | Surface defect detection method for mirror surface and mirror-like object |
| CN113390336A (en) * | 2021-05-24 | 2021-09-14 | 武汉海微科技有限公司 | Adjustable screen fitting alignment device based on machine vision and calibration method |
| CN113390336B (en) * | 2021-05-24 | 2024-03-12 | 武汉海微科技股份有限公司 | Adjustable screen laminating and aligning device and calibration method based on machine vision |
| CN116051647A (en) * | 2022-08-08 | 2023-05-02 | 荣耀终端有限公司 | Camera calibration method and electronic equipment |
| CN116051647B (en) * | 2022-08-08 | 2024-06-25 | 荣耀终端有限公司 | Camera calibration method and electronic equipment |
| CN115797185A (en) * | 2023-02-08 | 2023-03-14 | 四川精伍轨道交通科技有限公司 | Method for converting coordinates based on image processing and complex spherical surface |
| CN117450955A (en) * | 2023-12-21 | 2024-01-26 | 成都信息工程大学 | Three-dimensional measurement method for thin object based on space annular feature |
| CN117450955B (en) * | 2023-12-21 | 2024-03-19 | 成都信息工程大学 | Three-dimensional measurement method for thin object based on space annular feature |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109916304B (en) | 2021-02-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109916304A (en) | Mirror surface/class mirror surface three-dimensional measurement of objects system calibrating method | |
| CN109978960A (en) | Based on photogrammetric high-precision screen-camera pose scaling method | |
| US10690492B2 (en) | Structural light parameter calibration device and method based on front-coating plane mirror | |
| CN111750806B (en) | Multi-view three-dimensional measurement system and method | |
| CN110207614B (en) | High-resolution high-precision measurement system and method based on double telecentric camera matching | |
| CN104299218B (en) | Projector calibration method based on lens distortion rule | |
| CN105528770B (en) | A kind of projector lens distortion correction method | |
| CN110793464B (en) | Large-field-of-view fringe projection vision three-dimensional measurement system and method | |
| CN110057295A (en) | It is a kind of to exempt from the monocular vision plan range measurement method as control | |
| CN106612390B (en) | Camera module with double imaging modules and optical axis parallelism adjusting method thereof | |
| CN107610183B (en) | Calibration method of fringe projection phase height conversion mapping model | |
| CN110000790A (en) | A kind of scaling method of SCARA robot eye-to-hand hand-eye system | |
| CN111366079B (en) | Calibration method for rapidly determining geometric positions of components in deflection measurement system | |
| CN106204583B (en) | A kind of method of calibration for cameras angle of rotation | |
| CN110146036A (en) | A kind of method for three-dimensional measurement and system based on optical grating projection and binocular polarization camera | |
| CN110378969A (en) | A kind of convergence type binocular camera scaling method based on 3D geometrical constraint | |
| WO2020199439A1 (en) | Single- and dual-camera hybrid measurement-based three-dimensional point cloud computing method | |
| CN111896221A (en) | Alignment method of rotating optical measurement system for virtual coordinate system auxiliary camera calibration | |
| CN108629756A (en) | A kind of Kinect v2 depth images Null Spot restorative procedure | |
| CN104501741B (en) | A kind of orthogonal grating phase shifting method for three dimension profile measurement | |
| CN113048888A (en) | Binocular vision-based remote three-dimensional displacement measurement method and system | |
| CN110146032B (en) | Synthetic aperture camera calibration method based on light field distribution | |
| CN111080716A (en) | Camera calibration target based on color coding phase shift stripes and calibration point extraction method | |
| CN104869375B (en) | Three-dimensional smooth surface color corrected system and method in a kind of image edge-blending | |
| CN115638962A (en) | Optical performance measurement method of near-to-eye display equipment based on binocular camera |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee after: Yi Si Si (Hangzhou) Technology Co.,Ltd. Address before: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee before: ISVISION (HANGZHOU) TECHNOLOGY Co.,Ltd. |