CN110095136A - It merges the modified binocular vision 3 D of IMU pose and rebuilds caliberating device and method - Google Patents
It merges the modified binocular vision 3 D of IMU pose and rebuilds caliberating device and method Download PDFInfo
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Abstract
The invention discloses a kind of modified binocular vision 3 Ds of fusion IMU pose to rebuild caliberating device and method, and wherein device includes: three-dimensional scaling block, is mounted on the plan-position of calibration, and the lattice point of standard is distributed with thereon；More set phase units, distribution is arranged in a circulatory motion mould group, for shooting the image of the three-dimensional scaling block different angle；Moving in rotation component, for driving the annular to transport mould group in Plane Rotation where the circulatory motion mould group；Vertical motion assemblies, for driving round and round mould group Vertical Square of plane where with the circulatory motion mould group to move up.The present invention is during demarcating, user only needs to start moving in rotation component and/or vertical motion assemblies and shoots come all angles for driving camera to be moved to three-dimensional scaling block, without complicated operating process, parameter needed for calibration process can be got.
Description
Technical field
The present invention relates to three-dimensional reconstruction fields, and in particular to a kind of modified binocular vision 3 D of fusion IMU pose
Rebuild caliberating device and method.
Background technique
Existing three-dimensional reconstruction mainly has dynamic and static two major classes, is divided into base in the three-dimensional reconstruction of dynamic range
In flight time ranging (Time of flight, referred to as TOF) class laser sensor, line-structured light or one group of binocular vision
Feel the measurement that cooperative movement track carries out, between existing measurement method and object-camera motion track and does not set up in real time
Corresponding feedback relationship carries out high-dynamics image fusion additionally by multiple groups camera so that measurement is more accurate.
Calibration amendment distorts and remolds entire three-dimensional space, is the person with foresight that two-dimensional measurement is achieved to entire three-dimensional reconstruction
Condition, the Takesa K since 1984 start based on pinhole imaging system measure amplification factor calculate, to below at
During which the Zhang Shi standardization of the Zhang Zhengyou of type is broadly divided into the two-step method that linear approach, nonlinear method and the two combine, but mostly all
It is the calibration technique carried out on the basis of two-dimentional target surface, the operation and process of calibration need the personnel of demarcating to carry out many and diverse behaviour
Make.
Summary of the invention
The invention solves many and diverse problems of the operation of the calibration of three-dimensional reconstruction in the prior art and process CIMS, to mention
Caliberating device and method are rebuild for a kind of modified binocular vision 3 D of fusion IMU pose.
An aspect of of the present present invention provides a kind of modified binocular vision 3 D reconstruction caliberating device of fusion IMU pose, packet
Include: three-dimensional scaling block is mounted on the plan-position of calibration, the lattice point of standard is distributed with thereon；More set phase units, distribution setting
In a circulatory motion mould group, for shooting the image of the three-dimensional scaling block different angle, more set phase units are to set
It is equipped with the binocular camera group of IMU module；Moving in rotation component, for driving the annular to transport mould group in the circulatory motion mould
Plane Rotation where group；Vertical motion assemblies, for driving the round and round mould group where with the circulatory motion mould group
The Vertical Square of plane moves up.
Optionally, the circulatory motion mould group is fixed on vertical guide rail, and the vertical motion assemblies are described for driving
Circulatory motion mould group moves on the vertical guide rail.
Optionally, the three-dimensional scaling block is the cylindrical body with partition identification symbol, is distributed described in this on each subregion
The lattice point of standard.
Optionally, the three-dimensional scaling block and the circulatory motion mould group be not coaxial.
The embodiment of the invention also provides one kind to be based on three-dimensional reconstruction scaling method, comprising: opens more set phase units and claps
The initial pictures for the three-dimensional scaling block taken the photograph record the initial state information of more set phase units；Start moving in rotation component, makes described
More set phase units shoot the image of the three-dimensional scaling block, records photographing in Plane Rotation where the circulatory motion mould group
The posture information of phase unit；The moving in rotation component is closed, vertical motion assemblies are started, more set phase units is made to hang down
It is directly moved on the direction of plane where circulatory motion mould group, and shoots the image of the three-dimensional scaling block, records photographing phase
The posture information of unit；Obtain on the three-dimensional scaling block three-dimensional scaling described in the actual parameter of lattice point and the image of shooting
The information of corresponding lattice point on block；It is calculated using the information of lattice point corresponding in the actual parameter and described image of the lattice point more
Cover the internal reference and distortion factor of phase unit itself.
Optionally, further includes: using described internal reference and distortion factor be calculated the image of shooting is modified.
Optionally, further includes: using the information of corresponding lattice point in the actual parameter and described image of the lattice point, calculate
To the first camera location parameter relative to world coordinate system；Obtain the second camera location parameter of IMU module record in camera；
The location parameter of the IMU module record is determined using the first camera location parameter and the second camera location parameter
With the transformation relation of physical location parameter.
Optionally, further includes: while starting the moving in rotation component and the vertical motion assemblies, make more set phase units
The spatial movement of rotation and straight line coupling is done, and records the parameter of IMU module on every group of camera；Utilize IMU mould on every group of camera
The parameter of block calculates the motion profile of more set phase units.
Optionally, include: using the motion profile that the parameter of IMU module on every group of camera calculates more set phase units
More set phase units are calculated in the revolving speed and acceleration of direction of rotation, and the velocity and acceleration in vertical direction.
Optionally, further includes: close the vertical motion assemblies, start the moving in rotation component, and only not share the same light
Three-dimensional scaling block surface is irradiated according to condition, more set phase units shoot the figure of the three-dimensional scaling block under different illumination conditions
Picture；The affine transformation relationship of correspondence image fusion is calculated according to lattice point information in the image under different illumination conditions, calculates every
Comentropy on image；Image fusion policy is determined according to the comentropy and the affine transformation relationship.
In the embodiment of the present invention, by being arranged in a circulatory motion mould group using more set camera component cloth, and rotation is set
Turn moving assembly for driving the annular to transport the rotation of mould group, setting vertical motion assemblies are for driving the round and round mould
Group vertical movement, in this way, user only needs to start moving in rotation component and/or vertically moves group during being demarcated
Part is shot come all angles for driving camera to be moved to three-dimensional scaling block, without complicated operating process, can be got
Parameter needed for calibration process.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram that the modified binocular vision 3 D of fusion IMU pose rebuilds caliberating device in the embodiment of the present invention；
Fig. 2 is the flow chart of three-dimensional reconstruction scaling method in the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second ", " third " are used for description purposes only,
It is not understood to indicate or imply relative importance.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Inertial Measurement Unit (English: Inertial measurement unit, abbreviation IMU) is measurement three axis appearance of object
The device of state angle (or angular speed) and acceleration.
The embodiment of the invention provides a kind of modified binocular vision 3 Ds of fusion IMU pose to rebuild caliberating device, such as Fig. 1
Shown, which includes:
Three-dimensional scaling block 10, is mounted on the plan-position of calibration, and the lattice point of standard is distributed with thereon.Due to three-dimensional scaling
Block has been in the plan-position of calibration, the relevant information of last each lattice point it is also known that, for example, the size of lattice point,
The coordinate etc. of lattice point is all Given information, can be directly recorded in storage medium.
More set phase units, distribution is arranged in a circulatory motion mould group 30, for shooting the three-dimensional scaling block difference angle
The image of degree.More set phase units shown in FIG. 1 include camera 21, camera 22 and camera 23.More sets described in the embodiment of the present invention
Phase unit can be three sets, four sets, five sets ... the present invention be only illustrated for three sets in figure for convenience, but simultaneously
It is not limitation of the invention.
Moving in rotation component (not shown), for driving the annular to transport mould group 30 in the circulatory motion mould group
30 place Plane Rotations.Direction of rotation Fx as illustrated in the drawing.
Vertical motion assemblies (not shown), for drive the round and round mould group 30 with the circulatory motion mould
The Vertical Square of 30 place planes of group moves up.Moving direction Fc as described in Figure.
The circulatory motion mould group is fixed on vertical guide rail, and the vertical motion assemblies are for driving the circulatory motion
Mould group moves on the vertical guide rail.Above-mentioned moving in rotation component and vertical motion assemblies can be using motors as power
Source, driving round and round mould group are moved accordingly.(exact position calibration process can be counted the substantially uniform distribution of phase unit again
Calculate on one side) in circulatory motion mould group, mould group is rotated under corresponding assembly driving along interior annular guide rail, annular
Guide rail is fixed in the linear guide of numerical value movement.Multipoint Image Acquisition can be carried out automatically, and is automatically performed calibration
Process.
It should be noted that moving in rotation component and vertical motion assemblies specifically how to be arranged and be arranged where
And the inventive point of non-present invention, in the embodiment of the present invention, as long as setting moving in rotation component can drive the annular to transport mould
Group 30 rotates as requested, and vertical motion assemblies can drive the round and round mould group 30, and movement can meet this as requested
The requirement of inventive embodiments all belongs to the scope of protection of the present invention interior.
In the embodiment of the present invention, by being arranged in a circulatory motion mould group using more set camera component cloth, and rotation is set
Turn moving assembly for driving the annular to transport the rotation of mould group, setting vertical motion assemblies are for driving the round and round mould
Group vertical movement, in this way, user only needs to start moving in rotation component and/or vertically moves group during being demarcated
Part is shot come all angles for driving camera to be moved to three-dimensional scaling block, without complicated operating process, can be got
Parameter needed for calibration process.
As an alternative embodiment, more set phase units described in the embodiment of the present invention are to be provided with IMU module
Binocular camera group.Wherein, IMU module is Inertial Measurement Unit, and one kind is for measuring object triaxial attitude angle (or angular speed)
And the device of acceleration.It can recorde the posture information of corresponding camera by the module.
Optionally, the three-dimensional scaling block is the cylindrical body with partition identification symbol, is distributed described in this on each subregion
The lattice point of standard.The three-dimensional scaling block and the circulatory motion mould group be not coaxial.
The embodiment of the invention also provides a kind of three-dimensional reconstruction scaling method, this method is described based on the above embodiment
It merges the modified binocular vision 3 D of IMU pose and rebuilds caliberating device, as shown in Fig. 2, this method comprises:
Step S201 opens the initial pictures of more set phase units and the three-dimensional scaling block of shooting, records more set phase units
Initial state information.
Specifically, posture information of the IMU module to record camera is opened, starts the camera function of camera, for shooting
Initial pictures.
Step S202 starts moving in rotation component, makes more set phase units in plane where the circulatory motion mould group
Rotation, and the image of the three-dimensional scaling block is shot, the posture information of records photographing phase unit.
Step S203 closes the moving in rotation component, starts vertical motion assemblies, makes more set phase units vertical
It is moved on the direction of plane where circulatory motion mould group, and shoots the image of the three-dimensional scaling block, camera when records photographing
The posture information of group.
Step S204 obtains on the three-dimensional scaling block mark of three-dimensional described in the actual parameter of lattice point and the image of shooting
Determine the information of corresponding lattice point on block.The actual parameter of lattice point can refer to the relevant parameter information of lattice point, for example, three-dimensional scaling block
The distance between block, the size of lattice point and the main body radius of three-dimensional scaling block etc., these information can be calculated often
A lattice point specifically identifies in the block of i in the coordinate (that is to say true coordinate) of world coordinate system (calibrated coordinate system)
(such as 0,1,2, for identifying block), the true coordinate of n-th of lattice point be WPt (R-R*cos ((i*D+m*dd)/R), n*dd,
R*sin((i*D+m*dd)/R))；Wherein, D is the distance between two blocks, and dd is lattice point size, and R is cylinder radius, and m is
Column where lattice point, n indicate the row where lattice point.
More sets are calculated using the information of lattice point corresponding in the actual parameter and described image of the lattice point in step S205
The internal reference and distortion factor of phase unit itself.
Specifically, the lattice point pixel coordinate that image measures is (u, v), and fx, fy, cx, cy are respectively the laterally longitudinal of camera
Focal length and run-out modification value, the subscript of l, r respectively represented the left and right of binocular camera group, d indicates depth data,
Respectively corresponding outer ginseng coordinate, Wptx, Wpty, Wptz are respectively (R-R*cos ((i*D+m*dd)/R), n*dd, R*sin
((i*D+m*dd)/R).It is calculated by the following formula the transformation matrix of camera pixel coordinate and world coordinates:
After solving the transformation matrix of one camera pixel coordinate and world coordinates, the position according to binocular camera group is needed
Relationship is converted to depth point cloud data, and asks corresponding group pixel and Z point, specific formula is as follows:
Wherein, f is camera focus, i.e. fx, the synthesis c of fy both direction focal lengthxIt is camera imaging center in pixel coordinate
X coordinate under system, it is understood that be the direction picture centre x offset；Subscript l, r are exactly left camera and right phase respectively
Machine, TxIt is that the homogeneous item being measured under object homogeneous coordinate system and matrix calculating switch to three-dimensional coordinate for image center distance W
Calculating under four-dimensional coordinate.W in formula is actually 1 following homogeneous item, and k is that the three-dimensional point cloud measured based on binocular is sat
Target correction factor Q is defined as the formula on right side for the eigenmatrix for binocular vision depth calculation of definition.
The embodiment of the present invention is after the internal reference and distortion factor that camera is calculated, method further include: utilizes the meter
Calculation obtains internal reference and distortion factor and is modified to the image of shooting.
As an alternative embodiment, the method for the embodiment of the present invention further include: utilize the practical ginseng of the lattice point
The information of corresponding lattice point, is calculated the first camera location parameter relative to world coordinate system in several and described image；It obtains
The second camera location parameter that IMU module records in camera；Utilize the first camera location parameter and the second camera position
It sets parameter and determines the location parameter of the IMU module record and the transformation relation of physical location parameter.
Specifically, camera coordinates information is solved by image itself, incorporates the phase unit location parameter of IMU record, established
The positional relationship of IMU and camera coordinates system.First according to chessboard lattice point information, calculates and risen relative to the camera of world coordinate system
Beginning position cam0With the camera coordinates cam of current location1, it is respectively imu for the corresponding position measured IMU0And imu1, by
In IMU and phase unit in rigid connection, therefore there is fixed transformation relations between its coordinate, and it is as follows to solve relationship.
By the Relation Parameters between the IMU being calculated and the coordinate of phase unit, to characterize transformation between the two
Relationship that is to say the location parameter of IMU module record and the transformation relation of physical location parameter.
Further, the method for the embodiment of the present invention further include: while starting the moving in rotation component and described vertical
Moving assembly makes to cover the spatial movement that phase unit does rotation and straight line couples more, and records the ginseng of IMU module on every group of camera
Number；The motion profile of more set phase units is calculated using the parameter of IMU module on every group of camera.Specifically, every group is utilized
It includes: to calculate more set phase units revolving that the parameter of IMU module, which calculates the motion profile of more set phase units, on camera
Turn the revolving speed and acceleration in direction, and the velocity and acceleration in vertical direction.
Rotation and linear movement component are opened simultaneously, so that phase unit does the spatial movement of rotation and straight line coupling, in real time
The IMU parameter of record each group phase unit solves whole motion profile, the multiple groups that motion profile is measured by equal times by the way that parameter is counter
Location parameter, is converted to camera position coordinate, and the revolving speed of direction of rotation is w, acceleration δ, and the speed v on vertical direction adds
Speed is a, then its change in location formula meets, and according to multiple groups parameter simultaneous, passes through following formula solving speed and acceleration:
Wherein, Camt-afterFor the position of the next shooting of camera, Camt-previewIt is pre- for the motion profile institute based on calibration
The position of the t-after of survey, the matrix surveyed afterwards are currently to measure an IMU data position calculated, and p is weight, that is, is considered
A Kalman filtering to the error of measurement position and predicted position, progress is corrected.
As a kind of optional embodiment of the present invention, the method for the embodiment of the present invention further include:
The vertical motion assemblies are closed, only start the moving in rotation component, and irradiate three-dimensional with different illumination conditions
Calibrating block surface, more set phase units shoot the image of the three-dimensional scaling block under different illumination conditions；According to not sharing the same light
Lattice point information calculates the affine transformation relationship of correspondence image fusion in image according under the conditions of, calculates the information on every image
Entropy；Image fusion policy is determined according to the comentropy and the affine transformation relationship.
Specifically, vertical motion assemblies are closed, moving in rotation component is only opened, records and upload image, phase unit in real time
The exposure parameter of setting itself is different, therefore, opens light compensating lamp, calibration plate surface is irradiated with different illumination conditions, according to difference
Image lattice point information under illumination solves the affine transformation relationship of correspondence image fusion, calculate the comentropy of its whole picture and
Big principle is hoped to determine image fusion policy according to comentropy.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among still in the protection scope of the application.
Claims (10)
1. a kind of modified binocular vision 3 D of fusion IMU pose rebuilds caliberating device characterized by comprising
Three-dimensional scaling block, is mounted on the plan-position of calibration, and the lattice point of standard is distributed with thereon；
More set phase units, distribution is arranged in a circulatory motion mould group, for shooting the figure of the three-dimensional scaling block different angle
Picture, more set phase units are the binocular camera group for being provided with IMU module；
Moving in rotation component, for driving the annular to transport mould group in Plane Rotation where the circulatory motion mould group；
Vertical motion assemblies, for driving the Vertical Square of round and round mould group plane where with the circulatory motion mould group
It moves up.
2. the modified binocular vision 3 D of fusion IMU pose according to claim 1 rebuilds caliberating device, feature exists
In the circulatory motion mould group is fixed on vertical guide rail, and the vertical motion assemblies are for driving the circulatory motion mould group
It is moved on the vertical guide rail.
3. the modified binocular vision 3 D of fusion IMU pose according to claim 1 rebuilds caliberating device, feature exists
In the three-dimensional scaling block is the cylindrical body with partition identification symbol, and the lattice point of this standard is distributed on each subregion.
4. the modified binocular vision 3 D of fusion IMU pose according to claim 3 rebuilds caliberating device, feature exists
In the three-dimensional scaling block and the circulatory motion mould group be not coaxial.
5. one kind rebuilds calibration dress based on the modified binocular vision 3 D of the described in any item fusion IMU poses of Claims 1-4
The three-dimensional reconstruction scaling method set characterized by comprising
The initial pictures for opening more set phase units and the three-dimensional scaling block of shooting record the initial state information of more set phase units；
Start moving in rotation component, makes more set phase units in Plane Rotation where the circulatory motion mould group, and shoot institute
State the image of three-dimensional scaling block, the posture information of records photographing phase unit；
The moving in rotation component is closed, vertical motion assemblies are started, makes more set phase units perpendicular to circulatory motion mould
It is moved on the direction of plane where group, and shoots the image of the three-dimensional scaling block, the posture information of records photographing phase unit；
Obtain on the three-dimensional scaling block corresponding lattice on three-dimensional scaling block described in the actual parameter of lattice point and the image of shooting
The information of point；
More set phase units itself are calculated using the information of lattice point corresponding in the actual parameter and described image of the lattice point
Internal reference and distortion factor.
6. three-dimensional reconstruction scaling method according to claim 5, which is characterized in that further include:
Using described internal reference and distortion factor be calculated the image of shooting is modified.
7. three-dimensional reconstruction scaling method according to claim 5, which is characterized in that further include:
Using the information of lattice point corresponding in the actual parameter and described image of the lattice point, it is calculated relative to world coordinate system
First camera location parameter；
Obtain the second camera location parameter of IMU module record in camera；
The position of the IMU module record is determined using the first camera location parameter and the second camera location parameter
The transformation relation of parameter and physical location parameter.
8. three-dimensional reconstruction scaling method according to claim 5, which is characterized in that further include:
Simultaneously start the moving in rotation component and the vertical motion assemblies, make more cover phase units do rotation and straight line coupling
Spatial movement, and record the parameter of IMU module on every group of camera；
The motion profile of more set phase units is calculated using the parameter of IMU module on every group of camera.
9. three-dimensional reconstruction scaling method according to claim 8, which is characterized in that utilize IMU module on every group of camera
Parameter calculates the motion profile for covering phase unit more
More set phase units are calculated in the revolving speed and acceleration of direction of rotation, and the velocity and acceleration in vertical direction.
10. three-dimensional reconstruction scaling method according to claim 5, which is characterized in that further include:
The vertical motion assemblies are closed, only start the moving in rotation component, and irradiate three-dimensional scaling with different illumination conditions
Block surface, more set phase units shoot the image of the three-dimensional scaling block under different illumination conditions；
The affine transformation relationship of correspondence image fusion is calculated according to lattice point information in the image under different illumination conditions, calculates every
Comentropy on image；
Image fusion policy is determined according to the comentropy and the affine transformation relationship.
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| CN110580724A (en) * | 2019-08-28 | 2019-12-17 | 贝壳技术有限公司 | method and device for calibrating binocular camera set and storage medium |
| CN110930460A (en) * | 2019-11-15 | 2020-03-27 | 五邑大学 | Full-automatic calibration method and device for structured light 3D vision system |
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