CN111174724B - Automobile feature point vision reconstruction system and method based on one-dimensional reference - Google Patents
Automobile feature point vision reconstruction system and method based on one-dimensional reference Download PDFInfo
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Abstract
The invention discloses an automobile characteristic point vision reconstruction system and method based on a one-dimensional reference object, and aims to solve the problem of automobile characteristic point vision detection based on the one-dimensional reference object. The automobile characteristic point vision reconstruction system based on the one-dimensional reference object mainly comprises a line laser (1), a line projector sleeve (2), a one-dimensional target (3), a spherical fixing frame (4), a tripod (5) and a camera (6). The spherical fixing frame (4) is formed by welding a hollow iron ball with a group of round through holes with axes passing through the center of the ball and a rectangular steel plate with four through holes processed on the surface, the one-dimensional target (3) penetrates into the spherical fixing frame (4) through the round through holes of the spherical fixing frame (4) to be in transition fit with the spherical fixing frame (4), and the spherical fixing frame (4) is fixedly connected with foundation bolts on the ground through the four through holes on the rectangular steel plate. The automobile feature point vision reconstruction system and method based on the one-dimensional reference object are simple in structure and reliable in performance.
Description
Technical Field
The invention relates to an automobile detection device and an automobile detection method, in particular to an automobile characteristic point vision reconstruction system and an automobile characteristic point vision reconstruction method based on a one-dimensional reference object.
Background
The reconstruction of the automobile feature points is an important link in the field of traffic detection, and has important application prospects in the aspects of automobile shape and position deviation, wheelbase difference, morphology reconstruction, automobile type classification, overload overrun, illegal modification and the like. In the prior reconstruction technology, the camera calibration based on the 2D plane needs to display plane patterns in several different directions, and a constraint equation is established by utilizing the property of an unit orthogonal matrix, and the calibration precision is limited by the measurement distance and the number of acquired images; in a binocular vision 3D measurement coordinate system, the distance error between the reconstruction point and the ground truth is minimized by optimizing triangulation. Because the one-dimensional reference object has the simplest dimension form of the theoretical reference object, the application provides an automobile characteristic point vision reconstruction system and method based on the one-dimensional reference object.
Disclosure of Invention
The invention aims at solving the problem of reconstruction errors in the automobile reconstruction process, provides a reliable automobile feature point visual reconstruction method based on a one-dimensional reference object, and utilizes a one-dimensional target 3 with a known distance target point to calibrate a camera 6. Then, the coordinate of the laser projection point under the coordinate system of the camera 6 is solved by using the cross-ratio projective invariant, and a convenient, accurate and stable scheme is provided for the problem of feature point reconstruction in the automobile morphology reconstruction.
The invention is realized by adopting the following technical scheme in combination with the attached drawings of the specification:
the monocular active visual appearance reconstruction system of the automobile based on the five-point mark comprises a wired laser, a line projector sleeve, a one-dimensional target, a spherical fixing frame, a tripod and a camera;
The camera is fixedly connected with a bolt thread at the top of the tripod through a threaded hole at the bottom, the line laser is sleeved into the line laser sleeve along the axis direction of the line laser sleeve, the bolt penetrates through the threaded hole of the line laser sleeve to be fixedly connected with the line laser thread, the one-dimensional target is sleeved into the line laser sleeve along the axis direction of the line laser sleeve to be in interference fit with the line laser sleeve, the one-dimensional target penetrates into the spherical fixing frame through a round through hole of the spherical fixing frame to be in transition fit with the spherical fixing frame, and the spherical fixing frame is fixedly connected with a foundation bolt on the ground through four through holes in a rectangular steel plate.
The line laser is a cylindrical part capable of emitting laser lines.
The line projector sleeve in the technical scheme is a steel hollow cylinder with a threaded hole machined on the surface.
The one-dimensional target in the technical scheme consists of an elongated cylindrical steel rod with threads machined on the surface and three spherical iron beads with threaded through holes machined in the center.
The spherical fixing frame is formed by welding a hollow iron ball with a group of round through holes with axes passing through the center of the ball and a rectangular steel plate with four through holes.
The tripod is placed on the horizontal ground.
The camera in the technical scheme is an industrial camera with an optical filter, and the bandpass of the optical filter is consistent with the wavelength of the line laser.
The automobile feature point visual reconstruction method based on the one-dimensional reference comprises the following specific steps:
the first step: image acquisition of an automobile feature point vision reconstruction method based on a one-dimensional reference object:
Placing the reconstruction system on the horizontal ground, placing the automobile to be tested in the visible range of the camera, fixing the one-dimensional targets at different positions by matching with different holes on the spherical fixing frame, turning on the line laser and projecting the line laser to the automobile, and collecting images of a plurality of one-dimensional targets and the projection points of the automobile body by the camera;
And a second step of: camera calibration of an automobile feature point vision reconstruction method based on a one-dimensional reference object:
the one-dimensional target and the collinear points with known distances on the target are projected to a 2D image plane, the one-dimensional target is moved to be more than or equal to 6 positions, and according to a one-dimensional calibration method of Zhang Zhengyou, the calibration of a camera can be completed by the world coordinates A, B, C of the three collinear points on the target and the image projection coordinates of the three collinear points, so that an internal parameter K is obtained;
And a third step of: vehicle body laser point projection reconstruction of an automobile feature point visual reconstruction method based on a one-dimensional reference object:
According to the extracted image coordinates, the intersection ratio of A, B, C on the one-dimensional target and the image point a, b, c, D of the intersection point D of the laser line and the vehicle body is
Since the cross-ratio remains unchanged in the projective transformation, the cross-ratio of points A, B, C, D is
Cross(A，C，B，D)＝Cross(a，c，b，d)
At the same time, the cross ratio of points can also be expressed as
The |CD| in the above formula is
|CD|＝|CB|+|BD|
Can be obtained by combining the above three modes
Since the line laser is collinear with the one-dimensional target, the direction of the laser line is
Then vector BD is
BD＝α|BD|
Can be obtained from the above three formulas
The three-dimensional coordinates of the laser intersection point D in the camera coordinate system are represented by a vector O C D, and O C is the sphere center of the spherical fixing frame, namely
OCD＝OCB+BD
Can be obtained by combining the two modes
The coordinates of the laser projection points, namely the vehicle body characteristic points D, under the camera coordinate system can be obtained through the method;
in the process of reconstructing and detecting the automobile morphology, the third step is a step which is circularly carried out.
And the positions of the one-dimensional targets on the spherical fixing frame are moved in the visual field of the camera, so that laser intersection points of laser lines at other positions and automobile bodies can be obtained, and therefore, the coordinates of intersection points of the automobile and the laser lines under the coordinate system of the camera are determined, and the visual reconstruction of the automobile feature points based on the one-dimensional reference object is completed.
The beneficial effects of the invention are as follows:
1. the invention adopts an automobile characteristic point reconstruction method based on a one-dimensional reference object. The one-dimensional target 3 is adopted to reconstruct the characteristic points, so that the problem that devices adopting two-dimensional, three-dimensional targets and the like are complex is solved, the one-dimensional reference has better noise immunity, and the three-dimensional reconstruction of the automobile morphology characteristic points with higher precision can be realized.
2. The invention adopts the one-dimensional target 3 to reconstruct the characteristic points, and compared with the two-dimensional target and the three-dimensional target, the high-precision one-dimensional target 3 is easy to process and manufacture and simple to maintain, and is more suitable for the field calibration of large-size measurement reconstruction of automobiles and the like.
3. The system designs a combined structure of the one-dimensional target 3 and the line laser 1, and constructs a corresponding spherical fixing frame 4 to realize the concentric positioning of the one-dimensional target 3.
4. The known points on the one-dimensional target 3 and the laser projection points of the vehicle body apply the cross-ratio invariant property. The calculation relation between the collinear points is expressed in a vector form, a vehicle body characteristic point calculation model is established, three-dimensional reconstruction of target characteristic points is finally realized, and a novel convenient and reliable characteristic point reconstruction scheme is provided for the field of visual detection.
Drawings
FIG. 1 is an isometric view of an automotive feature point vision reconstruction system based on a one-dimensional reference;
fig. 2 is an isometric view of a line laser 1 in an automotive feature point vision reconstruction system based on a one-dimensional reference;
Fig. 3 is an isometric view of the projector jacket 2 in an automotive feature point vision reconstruction system based on a one-dimensional reference;
fig. 4 is an isometric view of a one-dimensional target 3 in an automotive feature point vision reconstruction system based on one-dimensional references;
Fig. 5 is an isometric view of the spherical mount 4 in an automotive feature point vision reconstruction system based on a one-dimensional reference;
FIG. 6 is an isometric view of tripod 5 in an automotive feature point vision reconstruction system based on one-dimensional references;
fig. 7 is an isometric view of the camera 6 in the vehicle feature point vision reconstruction system based on a one-dimensional reference;
FIG. 8 is a flow chart of a reconstruction process in an automotive feature point vision reconstruction system based on one-dimensional references;
in the figure: 1. the line laser, 2, the line projector sleeve, 3, the one-dimensional target, 4, the spherical fixing frame, 5, the tripod and 6, the camera.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
Referring to fig. 1 to 7, an automobile characteristic point vision reconstruction system based on a one-dimensional reference object comprises a wired laser 1, a demarcation device sleeve 2, a one-dimensional target 3, a spherical fixing frame 4, a tripod 5 and a camera 6;
The tripod 5 is placed on the horizontal ground, the camera 6 is fixedly connected with the bolt threads on the top of the tripod 5 through the threaded holes on the bottom, the line laser 1 is a cylindrical part capable of emitting laser lines, the camera 6 is an industrial camera with an optical filter, the bandpass of the optical filter is consistent with the wavelength of the line laser 1, the line laser 1 is a steel hollow cylinder with a threaded hole in the surface, the line laser 1 is sleeved into the line laser 2 along the axis direction of the line projector 2, the bolt penetrates through the threaded hole of the line projector 2 and is fixedly connected with the line laser 1, the one-dimensional target 3 consists of an elongated cylindrical steel rod with a threaded surface and three spherical iron beads with threaded through holes in the center, the one-dimensional target 3 is sleeved into the line projector 2 along the axis direction of the line projector 2 and is in interference fit with the line projector 2, the spherical fixing frame 4 is formed by welding a hollow iron ball with a group of round through holes with a spherical center and a rectangular steel plate with four through holes in the surface, the one-dimensional target 3 penetrates into the spherical fixing frame 4 along the round through holes of the line projector 2, and the one-dimensional target 3 is in transition with the spherical fixing frame 4 through the four through holes on the spherical steel plate through the spherical fixing frame and is fixedly connected with the ground bolt.
Referring to fig. 8, the method for reconstructing the vision of the feature points of the automobile based on the one-dimensional reference provided by the invention can be divided into the following three steps:
the first step: image acquisition of an automobile feature point vision reconstruction method based on a one-dimensional reference object:
Placing the reconstruction system on the horizontal ground, placing the automobile to be tested in the visible range of the camera 6, fixing the one-dimensional targets 3 at different positions by matching with different holes on the spherical fixing frame 4, turning on the line laser 1 and projecting line laser to the automobile, and collecting images of a plurality of one-dimensional targets 3 and the projection points of the automobile body by the camera 6;
And a second step of: camera calibration of an automobile feature point vision reconstruction method based on a one-dimensional reference object:
The one-dimensional target 3 and the collinear points with known distances on the same are projected to a 2D image plane, the one-dimensional target is moved to be more than or equal to 6 positions, and according to a one-dimensional calibration method of Zhang Zhengyou, the calibration of the camera 6 can be completed by the world coordinates A, B, C of the three collinear points on the target and the image projection coordinates of the three collinear points, so as to obtain an internal parameter K;
And a third step of: vehicle body laser point projection reconstruction of an automobile feature point visual reconstruction method based on a one-dimensional reference object:
according to the extracted image coordinates, the intersection ratio of A, B, C on the one-dimensional target 3 and the image point a, b, c, D of the intersection point D of the laser line and the vehicle body is
Since the cross-ratio remains unchanged in the projective transformation, the cross-ratio of points A, B, C, D is
Cross(A，C，B，D)＝Cross(a，c，b，d)
At the same time, the cross ratio of points can also be expressed as
The |CD| in the above formula is
|CD|＝|CB|+|BD|
Can be obtained by combining the above three modes
Since the line laser 1 is collinear with the one-dimensional target 3, the direction of the laser line is
Then vector BD is
BD＝α|BD|
Can be obtained from the above three formulas
The three-dimensional coordinates of the laser intersection point D in the coordinate system of the camera 6 are represented by a vector O C D, and O C is the sphere center of the spherical fixing frame 4, namely
OCD＝OCB+BD
Can be obtained by combining the two modes
The coordinates of the laser projection points, namely the vehicle body characteristic points D, under the coordinate system of the camera 6 can be obtained through the method, so that the reconstruction of the vehicle characteristic points is realized;
In the process of reconstructing and detecting the automobile morphology, the third step is a step of circularly carrying out;
And the laser intersection points of the laser lines at other positions and the automobile body can be obtained by moving the position of the one-dimensional target 3 on the spherical fixing frame 4 in the visual field range of the camera 6, so that the coordinates of the intersection points of the automobile and the laser lines under the coordinate system of the camera 6 are determined, and the visual reconstruction of the automobile feature points based on the one-dimensional reference object is completed.
Claims (5)
1. A reconstruction method of an automobile characteristic point vision reconstruction system based on a one-dimensional reference object comprises a wired laser (1), a line projector sleeve (2), a one-dimensional target (3), a spherical fixing frame (4), a tripod (5) and a camera (6);
The camera (6) is fixedly connected with a bolt at the top of the tripod (5) through a threaded hole at the bottom, the line laser (1) is sleeved into the line laser (1) along the axis direction of the line projector sleeve (2), the bolt passes through the threaded hole of the line projector sleeve (2) and is fixedly connected with the line laser (1) through threads, the one-dimensional target (3) is sleeved into the line projector sleeve (2) along the axis direction of the line projector sleeve (2) and is in interference fit with the line projector sleeve (2), the one-dimensional target (3) penetrates into the spherical fixing frame (4) through a circular through hole of the spherical fixing frame (4) and is in transition fit with the spherical fixing frame (4), the spherical fixing frame (4) is fixedly connected with a ground foundation bolt through four through holes on a rectangular steel plate, the one-dimensional target (3) consists of a slender cylindrical steel rod with threads processed on the surface and spherical iron beads with threaded through holes processed in the center, and the spherical fixing frame (4) is formed by welding a hollow iron ball with a group of circular through holes with a spherical through hole on the surface processed with four through holes; the method is characterized by comprising the following specific steps:
the first step: image acquisition of an automobile feature point vision reconstruction method based on a one-dimensional reference object:
Placing the reconstruction system on the horizontal ground, placing the automobile to be detected in the visible range of a camera (6), fixing the one-dimensional targets (3) at different positions by matching with different holes on a spherical fixing frame (4), opening a line laser (1) and throwing line laser to the automobile, and collecting images of a plurality of one-dimensional targets (3) and automobile body projection points of the one-dimensional targets by the camera (6);
And a second step of: camera calibration of an automobile feature point vision reconstruction method based on a one-dimensional reference object:
the one-dimensional target (3) and the collinear points with known distances on the same are projected to a 2D image plane, the one-dimensional target is moved to be more than or equal to 6 positions, and according to a one-dimensional calibration method of Zhang Zhengyou, the calibration of the camera (6) can be completed by the world coordinates A, B, C of the three collinear points on the target and the image projection coordinates of the three collinear points, so as to obtain an internal parameter K;
And a third step of: vehicle body laser point projection reconstruction of an automobile feature point visual reconstruction method based on a one-dimensional reference object:
according to the extracted image coordinates, the intersection ratio of A, B, C on the one-dimensional target (3) and the image point a, b, c, D of the intersection point D of the laser line and the vehicle body is
Since the cross-ratio remains unchanged in the projective transformation, the cross-ratio of points A, B, C, D is
Cross(A，C，B，D)＝Cross(a，c，b，d)
At the same time, the cross ratio of points can also be expressed as
The |CD| in the above formula is
|CD|＝|CB|+|BD|
Can be obtained by combining the above three modes
Since the line laser (1) is collinear with the one-dimensional target (3), the direction of the laser line is
Then vector BD is
BD＝α|BD|
Can be obtained from the above three formulas
The three-dimensional coordinates of the laser intersection point D under the coordinate system of the camera (6) are represented by a vector O C D, and O C is the sphere center of the spherical fixing frame (4), namely
OCD＝OCB+BD
Can be obtained by combining the two modes
The coordinates of the laser projection points, namely the vehicle body characteristic points D, under the coordinate system of the camera (6) can be obtained through the method;
In the process of reconstructing and detecting the automobile morphology, the third step is a step of circularly carrying out;
And (3) moving the position of the one-dimensional target (3) on the spherical fixing frame (4) in the visual field of the camera (6) to obtain laser intersection points of laser lines at other positions and automobile bodies, so that coordinates of the intersection points of the automobile and the laser lines under the coordinate system of the camera (6) are determined, and the visual reconstruction of the automobile feature points based on the one-dimensional reference object is completed.
2. The reconstruction method of a one-dimensional reference-based automotive feature point vision reconstruction system according to claim 1, characterized in that the line laser (1) is a cylindrical part that emits laser lines.
3. The reconstruction method of the automobile characteristic point vision reconstruction system based on the one-dimensional reference object according to claim 1, wherein the projection instrument sleeve (2) is a steel hollow cylinder with a threaded hole machined on the surface.
4. The reconstruction method of a one-dimensional reference-based automotive feature point vision reconstruction system according to claim 1, characterized in that the tripod (5) is placed on a level ground.
5. The reconstruction method of an automotive feature point vision reconstruction system based on a one-dimensional reference according to claim 1, characterized in that the camera (6) is an industrial camera with a filter whose bandpass coincides with the wavelength of the line laser (1).
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