CN111006610A - Underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement - Google Patents
Underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement 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
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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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Abstract
The invention discloses an underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement, and a measurement device utilized by the correction method comprises a structured light three-dimensional measurement probe (1), a sealed cabin (2), sealed glass (3), a control processing system (4), an image acquisition module (5) of the structured light three-dimensional measurement probe and a laser projector (6) of the structured light three-dimensional measurement probe. The correction method comprises the following steps: placing a measuring probe at a proper position in front of an underwater target to be measured, and starting a control processing system to obtain erroneous measuring data; and calculating the corrected accurate data according to a formula, and displaying the corrected accurate data in real time. When the correction method is used for measuring the underwater object to be measured, complicated work such as calibration and the like under water is not needed, the method fully considers the influence of the sealing glass and the water medium on the measurement result, establishes a data correction formula and can realize accurate measurement of the underwater object to be measured.
Description
Technical Field
The invention belongs to the field of optical precision measurement, and particularly relates to an underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement.
Background
Different from the underwater imaging, in addition to image degradation caused by absorption and scattering of water, more importantly, light rays corresponding to each scene point underwater pass through various media with different refractive indexes, namely 'water-glass window-air' in the process of propagation, so that the underwater image is deformed, data acquired by a three-dimensional measuring instrument based on linear structured light when the three-dimensional measuring instrument performs three-dimensional measurement on an underwater target is inaccurate, and the three-dimensional size of the underwater target object cannot be really reduced. In order to improve the accuracy of underwater measurement data based on structured light three-dimensional measurement, a camera is mainly calibrated underwater or a three-dimensional measuring instrument based on structured light is calibrated underwater at present, but the method usually ignores the thickness of a glass window to cause poor measurement accuracy, and in addition, the method needs to be calibrated underwater, so that the operation is very inconvenient.
Disclosure of Invention
The invention aims to overcome the defects and provides an underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement.
The technical scheme adopted by the invention is as follows: a method for correcting underwater three-dimensional measurement data based on structured light three-dimensional measurement comprises the following steps:
A. the structured light three-dimensional measuring probe is sealed through a sealing cabin body and sealing glass;
B. placing the sealed structured light three-dimensional measuring probe at a proper position in front of an underwater target object to be measured, and displaying target object measurement data L1 by a control processing system;
C. due to the influence of ' water-glass ' interface refraction and the influence of ' glass-air ' interface refraction, the acquired measurement data L1 is not a true value, and the true distance L between the target object and the structured light three-dimensional measurement probe can be calculated through Snell's law and the geometric relationship.
The concrete method of the step C comprises the following steps: setting the incident angle of the optical path passing through when the point A on the target object is imaged to the image acquisition module of the structured light three-dimensional measurement probe and the optical path is transmitted to the sealing glass as IwAn exit angle of IgThe incident angle when the sealing glass propagates to the air in the cabin is IgAn exit angle of IaRefractive index of water nwThe refractive index of the sealing glass is ngThe refractive index of the air in the sealed cabin is naFrom Snell's law, the formula can be derived:
nasin(Ia)＝ngsin(Ig)＝nwsin(Iw)
the virtual image formed by the light path and the laser plane are intersected at the point A', the known point F is the focus of an image acquisition module of the structured light three-dimensional measuring probe, the point O is the light emitting point of a laser projector of the structured light three-dimensional measuring probe, the baseline distance of the structured light three-dimensional measuring probe is H, the distance between the baseline and the sealing glass interface is s, and the thickness of the sealing glass is d. From the similar triangles, the angle I can be calculatedaThe value of (c):
further, the method can be obtained as follows:
the deviation between the real distance L and the measurement data L1 is Δ, which can be obtained from the geometric relationship as the sum of the deviation Δ 1 and the deviation Δ 2, where the deviation Δ 1 is the deviation caused by the sealing glass, and the deviation Δ 2 is the deviation caused by the aqueous medium.
L＝L1+Δ
Δ＝Δ1+Δ2
From the parallel plate imaging characteristics, the value of the offset Δ 1 can be calculated:
the offset Δ 2 can be calculated according to a geometric relationship:
further, the relationship between the real distance L and the measurement data L1 can be established as follows:
by the formula, L1, H, s, d, na，ng，nwAnd substituting the known quantity into the formula to solve, so as to obtain the real measuring distance L.
The invention has the beneficial effects that: when the underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement is used for measuring an underwater object to be measured, complicated work such as calibration and the like under water is not needed, the method fully considers the influence of sealing glass and water medium on a measurement result, establishes a data correction formula, and can realize accurate measurement of the underwater object to be measured.
Drawings
FIG. 1 is a schematic diagram of an apparatus for correcting underwater three-dimensional measurement data based on structured light three-dimensional measurement according to the present invention;
FIG. 2 is a block flow diagram of the method of the present invention;
FIG. 3 is a schematic diagram of the principle of an underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement according to the present invention;
the reference numbers in the figures are: the device comprises a structured light three-dimensional measuring probe 1, a sealed cabin 2, a sealing glass 3, a control processing system 4, an image acquisition module of the structured light three-dimensional measuring probe 5 and a laser projector of the structured light three-dimensional measuring probe 6.
Detailed Description
The invention is further illustrated below with reference to specific examples and the accompanying drawings.
As shown in fig. 1, an apparatus of an underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement includes: the device comprises a structured light three-dimensional measuring probe 1, a sealed cabin 2, sealed glass 3 and a control processing system 4, wherein the structured light three-dimensional measuring probe 1 mainly comprises an image acquisition module 5 of the structured light three-dimensional measuring probe and a laser projector 6 of the structured light three-dimensional measuring probe.
As shown in fig. 2, the method for correcting underwater three-dimensional measurement data based on structured light three-dimensional measurement includes the following steps:
A. the structured light three-dimensional measuring probe 1 is sealed by a sealing cabin 2 and a sealing glass 3;
in this embodiment, the laser projector 6 of the structured light three-dimensional measurement probe is a point laser (for convenience of description, a point laser may be selected, and a single line laser or a multi-line laser may be selected), and the laser light source is a blue laser (considering scattering and absorption of light propagating in water, a detection range may be increased by selecting a blue laser, and a green laser may also be selected).
B. Placing the sealed structured light three-dimensional measuring probe at a proper position in front of an underwater target object to be measured, and displaying target object measurement data L1 by the control processing system 4;
C. due to the influence of ' water-glass ' interface refraction and the influence of ' glass-air ' interface refraction, the acquired measurement data L1 is not a true value, and the true distance L between the target object and the structured light three-dimensional measurement probe can be calculated through Snell's law and the geometric relationship.
The concrete method of the step C comprises the following steps: as shown in fig. 3, an incident angle when an optical path passing through when the point a on the target object is imaged to the image acquisition module 5 of the structured light three-dimensional measurement probe is propagated to the sealing glass 3 by water is set as IwAn exit angle of IgThe incident angle when the air propagates from the sealing glass 3 to the inside of the sealed cabin 2 is IgAn exit angle of IaRefractive index of water nwSealing glass 3 having a refractive index ngThe refractive index of the air in the sealed cabin body 2 is naFrom Snell's law, the formula can be derived:
nasin(Ia)＝ngsin(Ig)＝nwsin(Iw)
the virtual image formed by the light path and the laser plane are intersected at a point A', a known point F is a focus of an image acquisition module 5 of the structured light three-dimensional measuring probe, a point O is a light emitting point of a laser projector 6 of the structured light three-dimensional measuring probe, the baseline distance of the structured light three-dimensional measuring probe 1 is H, the distance between the baseline and the interface of the sealing glass 3 is s, and the thickness of the sealing glass 3 is d. From the similar triangles, the value of angle Ia can be calculated:
further, the method can be obtained as follows:
the deviation between the actual distance L and the measurement data L1 is Δ, which can be obtained from the geometric relationship as the sum of the deviation Δ 1 and the deviation Δ 2, where the deviation Δ 1 is the deviation caused by the sealing glass 5, and the deviation Δ 2 is the deviation caused by the aqueous medium.
L＝L1+Δ
Δ＝Δ1+Δ2
From the parallel plate imaging characteristics, the value of the offset Δ 1 can be calculated:
the offset Δ 2 can be calculated according to a geometric relationship:
further, the relationship between the real distance L and the measurement data L1 can be established as follows:
by the formula, L1, H, s, d, na，ng，nwAnd substituting the known quantity into the formula to solve, so as to obtain the real measuring distance L.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (2)
1. An underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement is characterized in that: the method comprises the following steps:
A. the structured light three-dimensional measuring probe is sealed through a sealing cabin body and sealing glass;
B. placing the sealed structured light three-dimensional measuring probe at a proper position in front of an underwater target object to be measured, and displaying target object measurement data L1 by a control processing system;
C. due to the influence of ' water-glass ' interface refraction and the influence of ' glass-air ' interface refraction, the acquired measurement data L1 is not a true value, and the true distance L between the target object and the structured light three-dimensional measurement probe can be calculated through Snell's law and the geometric relationship.
2. The underwater three-dimensional measurement data correction method based on structured light three-dimensional measurement according to claim 1, characterized in that: the concrete method of the step C comprises the following steps: setting the incident angle of the optical path passing through when the point A on the target object is imaged to the image acquisition module of the structured light three-dimensional measurement probe and the optical path is transmitted to the sealing glass as IwAn exit angle of IgThe incident angle when the sealing glass propagates to the air in the cabin is IgAn exit angle of IaRefractive index of water nwThe refractive index of the sealing glass is ngThe refractive index of the air in the sealed cabin is naFrom Snell's law, the formula can be derived:
nasin(Ia)＝ngsin(Ig)＝nwsin(Iw)
the virtual image formed by the light path and the laser plane are intersected at the point A', the known point F is the focus of an image acquisition module of the structured light three-dimensional measuring probe, the point O is the light emitting point of a laser projector of the structured light three-dimensional measuring probe, the baseline distance of the structured light three-dimensional measuring probe is H, the distance between the baseline and a sealing glass interface is s, the thickness of the sealing glass is d, and the angle I can be calculated by a similar triangleaThe value of (c):
further, the method can be obtained as follows:
the deviation between the real distance L and the measurement data L1 is Δ, which can be obtained from the geometric relationship, and is the sum of the deviation amount Δ 1 and the deviation amount Δ 2, the deviation amount Δ 1 is the deviation caused by the sealing glass, the deviation amount Δ 2 is the deviation caused by the aqueous medium,
L＝L1+Δ
Δ＝Δ1+Δ2
from the parallel plate imaging characteristics, the value of the offset Δ 1 can be calculated:
the offset Δ 2 can be calculated according to a geometric relationship:
further, the relationship between the real distance L and the measurement data L1 can be established as follows:
by the formula, L1, H, s, d, na，ng，nwAnd substituting the known quantity into the formula to solve, so as to obtain the real measuring distance L.
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| CN112835062A (en) * | 2021-01-07 | 2021-05-25 | 深圳潜行创新科技有限公司 | Underwater distance measuring method, device, equipment and storage medium |
| CN112946687A (en) * | 2021-01-22 | 2021-06-11 | 西北工业大学 | Image depth correction method for underwater imaging of TOF camera |
| CN112945142A (en) * | 2021-02-02 | 2021-06-11 | 江西应用科技学院 | Object three-dimensional measurement system and method based on structured light |
| CN113435050A (en) * | 2021-06-30 | 2021-09-24 | 同济大学 | Multi-medium imaging analysis method for underwater medium surface position compensation |
| CN114234801A (en) * | 2021-12-02 | 2022-03-25 | 华侨大学 | Underwater three-dimensional automatic measurement system and method based on binocular vision |
| CN116608823A (en) * | 2023-07-17 | 2023-08-18 | 中交第一航务工程局有限公司 | Underwater angle measurement device and underwater angle measurement method |
| CN116817794A (en) * | 2023-06-27 | 2023-09-29 | 浙江大学 | Underwater high-precision three-dimensional imaging device and method based on structured light |
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| CN112835062A (en) * | 2021-01-07 | 2021-05-25 | 深圳潜行创新科技有限公司 | Underwater distance measuring method, device, equipment and storage medium |
| CN112946687A (en) * | 2021-01-22 | 2021-06-11 | 西北工业大学 | Image depth correction method for underwater imaging of TOF camera |
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| CN113435050A (en) * | 2021-06-30 | 2021-09-24 | 同济大学 | Multi-medium imaging analysis method for underwater medium surface position compensation |
| CN114234801A (en) * | 2021-12-02 | 2022-03-25 | 华侨大学 | Underwater three-dimensional automatic measurement system and method based on binocular vision |
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