CN110926373A - Structured light plane calibration method and system under railway foreign matter detection scene - Google Patents
Structured light plane calibration method and system under railway foreign matter detection scene Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
Abstract
The invention discloses a structured light plane calibration method and a system thereof under a railway foreign matter detection scene, wherein the method comprises the following steps: establishing a world coordinate system XYZ by taking the steel rail top plane as Z as 0; acquiring a camera calibration equation of a camera in structured light projection, an intersection point P1 of a projection ray of a line laser projector and a rail top plane Z of a steel rail equal to 0, an intersection point P2 of the projection ray of the line laser projector and a steel rail bottom and a steel rail height H; substituting the intersection points P1 and Z into a camera calibration equation to calculate the world coordinate of the intersection point P1 in a world coordinate system XYZ; substituting the intersection points P2 and Z-H into a camera calibration equation, and calculating the world coordinate of the intersection point P2 in a world coordinate system XYZ; and calculating the world coordinates of an intersection point P3 of the projection ray of the line laser projector on another steel rail and the steel rail top plane Z being 0 and the intersection point P4 of the projection ray of the line laser projector and the steel rail bottom by adopting the steps, and constructing a light plane according to P1, P2, P3 and P4.
Description
Technical Field
The invention relates to the field of detection and inspection, and particularly discloses a structured light plane calibration method and a structured light plane calibration system in a railway foreign matter detection scene.
Background
The foreign matter invasion railway line event has the characteristics of emergencies, difficult prediction and huge destructive power, can seriously threaten traffic safety, disturb the normal transportation order of the railway, cause huge loss of lives and properties of people and influence social stability. The risk that the foreign matter invasion leads to the traffic accident can effectively be reduced to in time discover the railway foreign matter and eliminate the hidden danger.
The existing foreign matter invasion mostly depends on image acquisition devices along the railway to acquire images, and whether foreign matters invade the railway is judged according to machine vision. But the environment influence is large, the detection efficiency is low, and the reliability is not high.
Disclosure of Invention
The invention aims to provide a structured light plane calibration method and a structured light plane calibration system in a railway foreign matter detection scene, and aims to overcome the technical defect of low railway foreign matter intrusion detection efficiency in the prior art.
The method is based on structured light. The structured light system has the advantages of simple structure, easy modeling, high precision and the like, can immediately judge whether foreign matters exist when being applied to the railway foreign matter detection,the three-dimensional information of the foreign matters can be further acquired, so that the detection result is more comprehensive, and the method has a wide application prospect. The structured light system is based on the principle of laser triangulation. The system is composed of a line laser and a camera, the line laser actively projects structured light, deformation stripes are formed by modulating the surface of an object, the camera records the deformed laser stripe images, image characteristics are extracted, and three-dimensional information of the surface of the object is obtained through a measuring model of the sensor. The detection precision of the linear structure optical system is directly influenced by the calibration precision of the system, and the system calibration comprises camera calibration and optical plane calibration. Camera calibration is a process of solving parameters of a camera perspective projection imaging model, and various mature methods exist at present. The two parallel steel rails exist in the railway foreign matter detection scene, have obvious characteristics, are embodied as long, straight and continuous straight lines, and are easy to extract from the image[11-15]. The steel rail has a fixed special shape in reality, geometric constraint of the appearance of the steel rail is utilized to supplement the loss of three-dimensional dimension of a monocular vision system, world coordinates of a plurality of special points are obtained, a condition meeting indirect calibration of an optical plane is formed, and real-time calibration of the optical plane is realized. The light plane real-time calibration can update the light plane equation in time, the accumulated error is reduced, the light plane can scan in most of the range shot by the camera in the detection process, the detection area is enlarged, and the method has important application value.
Based on the theory, the invention provides a structured light plane calibration method under a railway foreign matter detection scene, aiming at improving the railway foreign matter detection efficiency and reliability, and the method comprises the following steps:
establishing a world coordinate system XYZ by taking the steel rail top plane as Z as 0;
acquiring a camera calibration equation of a camera in structured light projection, an intersection point P1 of a projection ray of a line laser projector and a rail top plane Z of a steel rail equal to 0, an intersection point P2 of the projection ray of the line laser projector and a steel rail bottom and a steel rail height H;
substituting the intersection points P1 and Z into a camera calibration equation to calculate the world coordinate of the intersection point P1 in a world coordinate system XYZ; substituting the intersection points P2 and Z-H into a camera calibration equation, and calculating the world coordinate of the intersection point P2 in a world coordinate system XYZ;
and calculating the world coordinates of an intersection point P3 of the projection ray of the line laser projector on the other steel rail and the steel rail top plane Z being 0 and the world coordinates of an intersection point P4 of the projection ray of the line laser projector and the steel rail bottom, and constructing a light plane according to the intersection point P1, the intersection point P2, the intersection point P3 and the intersection point P4.
Preferably, the world coordinate x (x)w，yw，zw) The transformation relation with its pixel coordinates (μ, v) projected on the image plane, i.e. the camera calibration equation, is:
m is a 3X 4 camera matrix, zcIs a constant of a scale factor, M1Detecting the focal length f of camera internal parameter and the origin pixel coordinate (mu) of computer image coordinate system0，v0) And the number of pixels per unit length 1/dx and 1/dy, M2The coordinate of the world coordinate system origin in the detection camera coordinate system is determined by external parameters such as the space position and the rotation angle of the camera, wherein R is a 3 multiplied by 3 rotation matrix, t is a three-dimensional translation vector, and each element value in the vector is the coordinate of the world coordinate system origin in the detection camera coordinate system.
Preferably, the light plane equation is Ax + By + Cz + D ═ 0, where ABCD is a coefficient.
Based on the method, the invention also provides a structured light plane calibration system under the railway foreign matter detection scene, which comprises a scene construction module, a parameter acquisition module, a coordinate calculation module and a light plane calibration module, wherein the scene construction module comprises:
a scene construction module: the method is used for establishing a world coordinate system XYZ by taking the steel rail top plane as Z0;
a parameter acquisition module: the system is used for acquiring a camera calibration equation of a camera in the structured light projection, an intersection point P1 of a projection ray of a line laser projector and a rail top plane Z of 0, an intersection point P2 of the projection ray of the line laser projector and a rail bottom and a rail height H;
a coordinate calculation module: the system is used for substituting the intersection points P1 and Z-0 into a camera calibration equation, calculating the world coordinate of the intersection point P1 in a world coordinate system XYZ, substituting the intersection points P2 and Z-H into the camera calibration equation, and calculating the world coordinate of the intersection point P2 in the world coordinate system XYZ and the world coordinate of an intersection point P3 of a projection ray of a laser projector on another steel rail and a steel rail top plane Z-0 and a projection ray of the line laser projector and a steel rail bottom intersection point P4;
the light plane calibration module: for constructing a light plane from the intersection point P1, the intersection point P2, the intersection point P3 and the intersection point P4.
The invention has the following beneficial effects:
1. the invention utilizes the fact that the steel rail has a fixed special shape, and the geometrical constraint of the laser ray acting on the appearance of the steel rail supplements the three-dimensional loss of a monocular vision system, obtains the world coordinates of a plurality of special points, forms the condition of meeting the indirect calibration of the optical plane, and realizes the real-time calibration of the optical plane. The optical plane real-time calibration can update the optical plane equation in time, and the accumulated error is reduced.
2. The light plane of the structured light can scan in most of the range shot by the camera in the detection process, so that the detection area is enlarged.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a structured light plane calibration method under a railway foreign matter detection scene according to the present invention;
FIG. 2 is a schematic view of a structured light laser projection provided in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a light plane calibration principle provided by a preferred embodiment of the present invention;
fig. 4 is a schematic diagram of a coordinate distribution when a foreign object is intruded according to the preferred embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The structured light system can be used for detecting the surface contour information and the foreign body size of the railway foreign body, and the detection precision is influenced by the calibration precision of the camera and the calibration precision of the light plane. The invention provides a method for determining world coordinates of a plurality of points in a line laser projection plane by using a steel rail as constraint so as to calibrate a light plane in real time. And (3) projecting the line laser on the steel rail, modulating the profile of the section of the steel rail into a characteristic curve, and matching to obtain the world coordinate of the target point Z axis. The world coordinates of the target points with known Z-axis coordinates can be calculated in a calibrated monocular vision system, and the optimal expression of the optical plane equation is calculated according to the world coordinates of the target points. Establishing the optical plane calibration method model, compiling software to realize calibration function, and analyzing the precision of the optical plane calibration result of the method through field test. Test results show that the indirect method can accurately calibrate the light plane.
Example 1
The embodiment provides a method for calibrating a structured light plane in a railway foreign matter detection scene, and with reference to fig. 1 and 3, the method comprises the following steps:
s1: and establishing a world coordinate system XYZ by taking the steel rail top plane as Z as 0.
S2: and acquiring a camera calibration equation of the camera in the structured light projection, an intersection point P1 of the projection ray of the line laser projector and the rail top plane Z of the steel rail, an intersection point P2 of the projection ray of the line laser projector and the bottom of the steel rail and the height H of the steel rail.
The structured light is a set of system structures consisting of a projector and a camera. The projector is used for projecting specific light information to the surface of an object and the background, and the specific light information is collected by the camera. Information such as the position and depth of the object is calculated from the change of the optical signal caused by the object, and the entire three-dimensional space is restored. The method for calibrating the light plane under the railway foreign matter detection scene is to obtain the world coordinates of a plurality of points in the light plane in a calibrated monocular vision system so as to calculate a light plane equation. The camera calibration can obtain the transformation relation between world coordinates and corresponding projection pixel coordinates, which can be expressed by equation (1), and M is a 3 × 4 camera matrix. If the pixel coordinates of the projection of the camera matrix and the object point are known, the accurate world coordinates of the corresponding object point cannot be obtained due to lack of depth of field information, but a ray equation where the projection pixel point and the camera optical center are located is obtained, and the corresponding object point is also located on the ray. If an additional constraint equation can be provided, a ray equation and the constraint equation can be simultaneously established to solve the world coordinate of the corresponding object point of a certain projection pixel.
In a railway foreign matter detection scene, a steel rail is an object with a special fixed shape, and the shape size of the steel rail can provide a constraint condition for calculating the world coordinate of a pixel corresponding to an object point, so that the world coordinate of a certain point on the surface of the steel rail is calculated. And (3) completing camera calibration under the world coordinate system with the plane Z of the world coordinate system established in S1, and obtaining a ray equation corresponding to any pixel of the image from equation (1). The line laser projector emits line laser to be projected on the steel rail, the flight path of the line laser forms a light plane, and points projected by the line laser are all on the light plane. The line laser projection is modulated into a special curve by the shape of the steel rail, and the curve forms a break point, namely a target point, at the position of the abrupt change of the shape of the steel rail, as shown in figure 2. And determining the height of the target point according to the surface position of the steel rail corresponding to the target point, determining a corresponding ray equation according to the pixel coordinate of the target point in the image, and calculating the world coordinate of the target point by combining the target point and the ray equation. And comprehensively considering the shape characteristics of the steel rail, the camera shooting visual angle and the target point image extraction difficulty, selecting a plurality of target points meeting the conditions of calculating the optical plane equation, and calculating the optimal solution of the optical plane equation through the target point world coordinates. The method completely calibrates a light plane equation according to image information and steel rail outline parameters, and is irrelevant to the installation position of a line laser projector and the projection irradiation position.
S3: substituting the intersection points P1 and Z into a camera calibration equation to calculate the world coordinate of the intersection point P1 in a world coordinate system XYZ; and substituting the intersection points P2 and Z-H into a camera calibration equation to calculate the world coordinate of the intersection point P2 in a world coordinate system XYZ.
The light plane calibration model is shown in fig. 2. Selecting according to the convention of light plane calibration principleThe optical center of the camera is taken as O. The line laser projection forms a curve on the rail, and the target point shown in FIG. 2 is P1、P2。
The camera imaging model adopts a pinhole camera model, and space point world coordinates (x) are obtained through multiple times of coordinate system transformationw，yw，zwA transformation relation with its pixel coordinates (μ, v) projected on the image plane. As shown in formula (2), zcIs a constant of a scale factor, M1Detecting the focal length f of camera internal parameter and the origin pixel coordinate (mu) of computer image coordinate system0，v0) And the number of pixels per unit length 1/dx and 1/dy, M2The coordinate of the world coordinate system origin in the detection camera coordinate system is determined by external parameters such as the space position and the rotation angle of the camera, wherein R is a 3 multiplied by 3 rotation matrix, t is a three-dimensional translation vector, and each element value in the vector is the coordinate of the world coordinate system origin in the detection camera coordinate system.
Camera calibration is the process of solving for the camera matrix M, which is a 3X 4 irreversible matrix, known as M and (μ, v), with z removedcCan be found with respect to xw、ywAnd zwIs used as a linear equation of (a). Obtaining a target point P using image processing techniques1The pixel coordinates of (a). Known as Z1P can be calculated from equation (2) when P is 01World coordinate (x)1，y1，z1). Similarly, Z is known1H is the rail height, and P can be calculated2World coordinate (x)2，y2，z2)。
S4: and calculating the world coordinates of an intersection point P3 of the projection ray of the line laser projector on the other steel rail and the steel rail top plane Z being 0 and the intersection point P4 of the projection ray of the line laser projector and the steel rail bottom by adopting the method of S3, and constructing a light plane according to the intersection point P1, the intersection point P2, the intersection point P3 and the intersection point P4.
The world coordinates of the 2 target points on the steel rail on the other side are calculated in the same way, and the optimal solution of the optical plane equation is calculated by 4 non-collinear points on the optical plane, wherein the optical plane equation can be expressed by the formula (3).
Ax+By+Cz+D＝0 (3)
Based on the method, the invention also provides a structured light plane calibration system under the railway foreign matter detection scene, which comprises a scene construction module, a parameter acquisition module, a coordinate calculation module and a light plane calibration module, wherein the scene construction module comprises:
a scene construction module: the method is used for establishing a world coordinate system XYZ by taking the steel rail top plane as Z0;
a parameter acquisition module: the system is used for acquiring a camera calibration equation of a camera in the structured light projection, an intersection point P1 of a projection ray of a line laser projector and a rail top plane Z of 0, an intersection point P2 of the projection ray of the line laser projector and a rail bottom and a rail height H;
a coordinate calculation module: the system is used for building and substituting intersection points P1 and Z-0 into a camera calibration equation, calculating world coordinates of the intersection point P1 in a world coordinate system XYZ, substituting intersection points P2 and Z-H into the camera calibration equation, and calculating world coordinates of the intersection point P2 in the world coordinate system XYZ and world coordinates of an intersection point P3 used for calculating a projection ray of another line laser projector on the steel rail and a steel rail top plane Z-0 and a projection ray of the line laser projector and a steel rail bottom intersection point P4;
the light plane calibration module: for constructing a light plane from the intersection point P1, the intersection point P2, the intersection point P3 and the intersection point P4.
Example 2
And programming to realize the optical plane calibration. According to the flow of the step 1 in the embodiment, the light plane calibration program includes 4 functional modules of camera calibration, target point extraction, target point world coordinate calculation, and light plane equation calculation.
And calibrating the camera to determine the coordinate system conversion relation. The Camera was calibrated using a Camera calibration in the Matlab toolbox. Target point extraction is achieved through image difference and template matching. Firstly, images are respectively shot under the on-off condition of a line laser projector, and line laser projection is obtained through image gray value difference. The Z coordinate of the target point is then determined using a template matching method. And calculating the world coordinate of the target point according to the Z coordinate of the target point, the pixel coordinate and the camera calibration equation. And calculating the optimal solution of the optical plane equation by using the world coordinates of the target point.
The measuring system is arranged on a test line, and an optical plane equation is calibrated by using an indirect method and a direct method respectively, so that the optical plane calibration precision is compared. The test camera resolution was 640 x 480. The camera and the line laser projector are respectively installed in two controllable holders. The test system acquires images through an image acquisition card in the computer.
The camera calibration equation is measured by field calibration. FIG. 4 is a test image based on P, Q, D in the image using equation (2)1、D2The world coordinates were calculated from the pixel coordinates of (a), and the calculation results are shown in table 1.
TABLE 1 target Point world coordinates
The light plane equation is calculated from equation (3) based on the 4 target point world coordinates. As shown in table 2.
TABLE 2 calculation of optical plane equation parameters
The cause of the error:
firstly, the target point is close to each other, and the position error of the target point is amplified in the process of calculating the optical plane equation;
secondly, due to the restriction of the resolution of the camera, the position represented by the pixel coordinate is deviated from the actual position of the target point, and the measurement precision is limited by the maximum measurement precision of the system.
The measurement result shows that the indirect method can accurately calibrate the light plane equation.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The structured light plane calibration method under the railway foreign matter detection scene is characterized by comprising the following steps of:
establishing a world coordinate system XYZ by taking the steel rail top plane as Z as 0;
acquiring a camera calibration equation of a camera in structured light projection, an intersection point P1 of a projection ray of a line laser projector and a rail top plane Z of a steel rail equal to 0, an intersection point P2 of the projection ray of the line laser projector and a steel rail bottom and a steel rail height H;
substituting the intersection point P1 and Z-0 into the camera calibration equation, and calculating the world coordinate of the intersection point P1 in a world coordinate system XYZ; substituting the intersection points P2 and Z-H into the camera calibration equation, and calculating world coordinates of the intersection point P2 in a world coordinate system XYZ;
and calculating the world coordinates of an intersection point P3 of the projection ray of the line laser projector on another steel rail and the steel rail top plane Z being 0 and an intersection point P4 of the projection ray of the line laser projector and the steel rail bottom by adopting the steps, and constructing a light plane according to the intersection point P1, the intersection point P2, the intersection point P3 and the intersection point P4.
2. The method for calibrating the structured light plane in the railway foreign matter detection scene according to claim 1, wherein the world coordinate x (x) isw，yw，zw) The transformation relation with its pixel coordinates (μ, v) projected on the image plane, i.e. the camera calibration equation, is:
m is a 3X 4 camera matrix, zcIs a constant of a scale factor, M1Detecting the focal length f of camera internal parameter and the origin pixel coordinate (mu) of computer image coordinate system0，v0) And the number of pixels per unit length 1/dx and 1/dy, M2Determined by external parameters such as the space position and the rotation angle of the camera, wherein R is a rotation matrix of 3 multiplied by 3, t is a three-dimensional translation vector, and the value of each element in the vector is the origin of a world coordinate systemCoordinates in the camera coordinate system are measured.
3. The method for calibrating the light plane of the structured light under the railway foreign matter detection scene according to claim 2, wherein the light plane equation is Ax + By + Cz + D-0, wherein ABCD is a coefficient.
4. Structured light plane calibration system under railway foreign matter detection scene, its characterized in that includes scene construction module, parameter acquisition module, coordinate calculation module and light plane calibration module:
the scene construction module: the method is used for establishing a world coordinate system XYZ by taking the steel rail top plane as Z0;
the parameter acquisition module: the system is used for acquiring a camera calibration equation of a camera in the structured light projection, an intersection point P1 of a projection ray of a line laser projector and a rail top plane Z of 0, an intersection point P2 of the projection ray of the line laser projector and a rail bottom and a rail height H;
the coordinate calculation module: the camera calibration equation is used for substituting the intersection points P1 and Z-0, the world coordinates of the intersection point P1 in a world coordinate system XYZ are calculated, the intersection points P2 and Z-H are substituted in the camera calibration equation, the world coordinates of the intersection point P2 in the world coordinate system XYZ are calculated, and the world coordinates of an intersection point P3 used for calculating the projection ray of another line laser projector on the steel rail and the steel rail top plane Z-0 and the projection ray of the line laser projector and the steel rail bottom intersection point P4 are calculated;
the light plane calibration module: for constructing a light plane from the intersection point P1, the intersection point P2, the intersection point P3, the intersection point P4.
5. The system for calibrating structured light plane under railway foreign object detection scene according to claim 4, wherein the world coordinate x (x) obtained in the parameter obtaining modulew，yw，zw) The transformation relation with its pixel coordinates (μ, v) projected on the image plane, i.e. the camera calibration equation, is:
m is a 3X 4 camera matrix, zcIs a constant of a scale factor, M1Detecting the focal length f of camera internal parameter and the origin pixel coordinate (mu) of computer image coordinate system0，v0) And the number of pixels per unit length 1/dx and 1/dy, M2The coordinate of the world coordinate system origin in the detection camera coordinate system is determined by external parameters such as the space position and the rotation angle of the camera, wherein R is a 3 multiplied by 3 rotation matrix, t is a three-dimensional translation vector, and each element value in the vector is the coordinate of the world coordinate system origin in the detection camera coordinate system.
6. The system for calibrating the light plane of the structured light under the railway foreign matter detection scene according to claim 4, wherein the light plane equation of the light plane constructed in the light plane calibration module is Ax + By + Cz + D ═ 0, wherein ABCD is a coefficient.
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| CN112101233B (en) * | 2020-09-16 | 2024-04-09 | 中南大学 | Rail transit line foreign matter intrusion monitoring method, system and computer storage medium |
| CN112779830A (en) * | 2020-12-29 | 2021-05-11 | 廊坊市亿创科技有限公司 | Measuring method for positioning frog by using robot |
| CN112853835A (en) * | 2021-01-04 | 2021-05-28 | 中铁四局集团有限公司 | Automatic control method and system for steel rail laying |
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