CN111182285A - Image acquisition method and device for underwater object - Google Patents
Image acquisition method and device for underwater object Download PDFInfo
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- CN111182285A CN111182285A CN201911392680.5A CN201911392680A CN111182285A CN 111182285 A CN111182285 A CN 111182285A CN 201911392680 A CN201911392680 A CN 201911392680A CN 111182285 A CN111182285 A CN 111182285A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The embodiment of the invention provides an image acquisition method and device for an underwater object, wherein after an image control instruction is received, a first angle and a second angle are calculated, a lens of a camera is controlled to rotate according to the first angle, a laser emission direction of a laser scanner rotates according to the second angle, so that the object to be acquired is opposite to a shooting direction of the camera and the laser emission direction of the laser scanner, the camera and the scanner are controlled to simultaneously carry out image acquisition and laser scanning, a shot image sent by the camera and a scanning result of the laser scanner are received, image information with linear laser is obtained according to the result, a three-dimensional coordinate point of the object to be acquired in the image information is obtained through calculation according to the image information, and three-dimensional point cloud fitting processing is carried out according to the three-dimensional coordinate point, so that three-dimensional imaging of the object to be acquired is obtained. The imaging effect is guaranteed, meanwhile, the price is considered, and the underwater robot can be used for carrying an underwater robot to carry out detection operation.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to an image acquisition method and device for an underwater object.
Background
With the development of social economy and the continuous development of underwater resources, underwater detection and development work is more and more. The commonly used underwater object image acquisition mode is to image an underwater object through an optical imaging device, but the optical imaging device has a short visible distance due to absorption and scattering of light waves underwater, and is greatly influenced by a water area environment, so that an imaging error is large.
Disclosure of Invention
The embodiment of the invention aims to provide an image acquisition method and device for an underwater object so as to reduce imaging errors. The specific technical scheme is as follows:
on one hand, the invention provides an image acquisition method of an underwater object, which is applied to control equipment of an underwater robot, wherein the underwater control equipment is respectively and electrically connected with an underwater camera and an underwater laser scanner, and the method comprises the following steps:
after receiving an image acquisition instruction of an object to be acquired, calculating a first angle and a second angle, wherein the first angle is as follows: the camera reaches the contained angle of the line of waiting to gather the object with the main shaft direction of camera, the second angle is: the included angle between the connecting line from the laser scanner to the object to be collected and the laser emission direction of the laser scanner;
sending a first control instruction comprising the first angle to the camera, and sending a second control instruction comprising the second angle to the laser scanner; so that the lens of the camera rotates according to the first angle, and the laser emission direction of the laser scanner rotates according to the second angle, so that the object to be acquired is opposite to the shooting direction of the camera and the laser emission direction of the laser scanner;
controlling the camera and the scanner to simultaneously acquire images and scan laser, and receiving the images shot by the camera and the scanning result of the laser scanner;
obtaining image information with line laser according to the shot image and the scanning result;
calculating to obtain a three-dimensional coordinate point of an object to be acquired, which is located in the image information, according to the image information;
and performing three-dimensional point cloud fitting processing according to the three-dimensional coordinate points to obtain three-dimensional imaging of the object to be acquired.
Optionally, the method further comprises the following steps:
and recording the moving track parameters while controlling the camera to acquire images.
Optionally, the controlling the camera and the scanner to simultaneously perform image acquisition and laser scanning includes:
and controlling the camera and the scanner to simultaneously acquire images and scan laser, and controlling the laser emitted by the scanner to be always kept in a picture shot by the camera.
On the other hand, the embodiment of the invention provides an image acquisition device of an underwater object, which is applied to control equipment of an underwater robot, wherein the underwater control equipment is respectively and electrically connected with an underwater camera and an underwater laser scanner, and the image acquisition device comprises the following steps:
the angle calculation unit is used for calculating a first angle and a second angle after receiving an image acquisition instruction of an object to be acquired, wherein the first angle is as follows: the camera reaches the contained angle of the line of waiting to gather the object with the main shaft direction of camera, the second angle is: the included angle between the connecting line from the laser scanner to the object to be collected and the laser emission direction of the laser scanner;
an instruction transmitting unit configured to transmit a first control instruction including the first angle to the camera and transmit a second control instruction including the second angle to the laser scanner; so that the lens of the camera rotates according to the first angle, and the laser emission direction of the laser scanner rotates according to the second angle, so that the object to be acquired is opposite to the shooting direction of the camera and the laser emission direction of the laser scanner;
the control unit is used for controlling the camera and the scanner to simultaneously acquire images and scan laser, and receiving shot images sent by the camera and scanning results of the laser scanner;
the information obtaining unit is used for obtaining image information with line laser according to the shot image and the scanning result;
the coordinate point determining unit is used for calculating to obtain a three-dimensional coordinate point of the object to be collected, wherein the three-dimensional coordinate point is positioned in the image information;
and the three-dimensional imaging unit is used for performing three-dimensional point cloud fitting processing according to the three-dimensional coordinate points to obtain three-dimensional imaging of the object to be acquired.
Optionally, the apparatus further comprises:
and the parameter recording unit is used for recording the movement track parameters while controlling the camera to acquire images.
Optionally, the control unit is specifically configured to:
and controlling the camera and the scanner to simultaneously acquire images and scan laser, and controlling the laser emitted by the scanner to be always kept in a picture shot by the camera. In yet another aspect of the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute any of the above-described flow control methods.
According to the scheme of the embodiment of the invention, after an image control instruction is received, a first angle and a second angle are calculated, the first control instruction comprising the first angle is sent to the camera, and the second control instruction comprising the second angle is sent to the laser scanner; therefore, the lens of the camera can rotate according to the first angle, the laser emission direction of the laser scanner rotates according to the second angle, so that the object to be collected is right opposite to the shooting direction of the camera and the laser emission direction of the laser scanner, the camera and the scanner are controlled to simultaneously carry out image collection and laser scanning, the shot image sent by the camera and the scanning result of the laser scanner are received, image information with line laser is obtained according to the shot image and the scanning result, the three-dimensional coordinate point of the object to be collected in the image information is obtained through calculation according to the image information, and three-dimensional point cloud fitting processing is carried out according to the three-dimensional coordinate point, so that three-dimensional imaging of the object to be collected is obtained. The imaging effect is guaranteed, meanwhile, the price is considered, and the underwater robot can be used for carrying an underwater robot to carry out detection operation.
Drawings
Fig. 1 is a schematic flow chart of an image acquisition method for an underwater object according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an image capturing device for an underwater object according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.
In order to reduce imaging errors, the embodiment of the invention provides an image acquisition method and device for an underwater object.
First, the method for acquiring an image of an underwater object according to an embodiment of the present invention will be described.
The image acquisition method of the underwater object provided by the embodiment of the invention is applied to the control equipment of an underwater robot, the underwater control equipment is respectively and electrically connected with an underwater camera and an underwater laser scanner, and as shown in figure 1, the method can comprise the following steps:
and S110, after receiving an image acquisition instruction of the object to be acquired, calculating a first angle and a second angle.
Wherein the first angle is: the camera reaches the contained angle of the line of waiting to gather the object with the main shaft direction of camera, the second angle is: and the included angle between the connecting line from the laser scanner to the object to be collected and the laser emission direction of the laser scanner.
S120, sending a first control instruction comprising the first angle to the camera, and sending a second control instruction comprising the second angle to the laser scanner; so that the camera lens of camera is according to first angle rotates, laser scanner's laser emission direction is according to the second angle rotates, thereby makes it just to gather the object the direction of making a video recording of camera and laser scanner's laser emission direction.
And S130, controlling the camera and the scanner to simultaneously acquire images and scan laser, and receiving the images shot by the camera and the scanning result of the laser scanner.
And S140, obtaining image information with line laser according to the shot image and the scanning result.
And S150, calculating to obtain a three-dimensional coordinate point of the object to be acquired in the image information according to the image information.
And S160, carrying out three-dimensional point cloud fitting treatment according to the three-dimensional coordinate points to obtain three-dimensional imaging of the object to be acquired.
After receiving an image control instruction, the method of the embodiment of the invention calculates a first angle and a second angle, sends the first control instruction including the first angle to the camera, and sends the second control instruction including the second angle to the laser scanner; therefore, the lens of the camera can rotate according to the first angle, the laser emission direction of the laser scanner rotates according to the second angle, so that the object to be collected is right opposite to the shooting direction of the camera and the laser emission direction of the laser scanner, the camera and the scanner are controlled to simultaneously carry out image collection and laser scanning, the shot image sent by the camera and the scanning result of the laser scanner are received, image information with line laser is obtained according to the shot image and the scanning result, the three-dimensional coordinate point of the object to be collected in the image information is obtained through calculation according to the image information, and three-dimensional point cloud fitting processing is carried out according to the three-dimensional coordinate point, so that three-dimensional imaging of the object to be collected is obtained. The imaging effect is guaranteed, meanwhile, the price is considered, and the underwater robot can be used for carrying an underwater robot to carry out detection operation.
Optionally, the method may further include the steps of:
and recording the moving track parameters while controlling the camera to acquire images.
The three-dimensional scanning device can record the space offset of shaking of the three-dimensional scanning device by recording the moving track parameters while acquiring images, so that the later processing and correction can be better restored, and a more accurate scanning image can be obtained.
Optionally, the controlling the camera and the scanner to perform image acquisition and laser scanning simultaneously may be implemented according to the following steps:
and controlling the camera and the scanner to simultaneously acquire images and scan laser, and controlling the laser emitted by the scanner to be always kept in a picture shot by the camera.
When the camera and the scanner are controlled to simultaneously carry out image acquisition and laser scanning, the laser emitted by the scanner is controlled to be always kept in the picture shot by the camera, so that the three-dimensional imaging acquisition efficiency and the imaging definition can be improved.
An embodiment of the present invention further provides a flow control device, which is applied to a control device of an underwater robot, where the underwater control device is electrically connected to an underwater camera and an underwater laser scanner, respectively, and as shown in fig. 2, the device includes:
the angle calculating unit 210 is configured to calculate a first angle and a second angle after receiving an image acquisition instruction of an object to be acquired, where the first angle is: the camera reaches the contained angle of the line of waiting to gather the object with the main shaft direction of camera, the second angle is: the included angle between the connecting line from the laser scanner to the object to be collected and the laser emission direction of the laser scanner;
an instruction sending unit 220, configured to send a first control instruction including the first angle to the camera, and send a second control instruction including the second angle to the laser scanner; so that the lens of the camera rotates according to the first angle, and the laser emission direction of the laser scanner rotates according to the second angle, so that the object to be acquired is opposite to the shooting direction of the camera and the laser emission direction of the laser scanner;
a control unit 230, configured to control the camera and the scanner to perform image acquisition and laser scanning simultaneously, and receive a captured image sent by the camera and a scanning result of the laser scanner;
an information obtaining unit 240, configured to obtain image information with line laser according to the captured image and the scanning result;
a coordinate point determining unit 250, configured to calculate, according to the image information, a three-dimensional coordinate point of an object to be acquired, where the three-dimensional coordinate point is located in the image information;
and the three-dimensional imaging unit 260 is used for performing three-dimensional point cloud fitting processing according to the three-dimensional coordinate points to obtain three-dimensional imaging of the object to be acquired.
Optionally, the apparatus further comprises:
and the parameter recording unit is used for recording the movement track parameters while controlling the camera to acquire images.
Optionally, the control unit 230 is specifically configured to:
and controlling the camera and the scanner to simultaneously acquire images and scan laser, and controlling the laser emitted by the scanner to be always kept in a picture shot by the camera.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (6)
1. The image acquisition method of the underwater object is characterized by being applied to control equipment of an underwater robot, wherein the underwater control equipment is respectively and electrically connected with an underwater camera and an underwater laser scanner, and the image acquisition method comprises the following steps:
after receiving an image acquisition instruction of an object to be acquired, calculating a first angle and a second angle, wherein the first angle is as follows: the camera reaches the contained angle of the line of waiting to gather the object with the main shaft direction of camera, the second angle is: the included angle between the connecting line from the laser scanner to the object to be collected and the laser emission direction of the laser scanner;
sending a first control instruction comprising the first angle to the camera, and sending a second control instruction comprising the second angle to the laser scanner; so that the lens of the camera rotates according to the first angle, and the laser emission direction of the laser scanner rotates according to the second angle, so that the object to be acquired is opposite to the shooting direction of the camera and the laser emission direction of the laser scanner;
controlling the camera and the scanner to simultaneously acquire images and scan laser, and receiving the images shot by the camera and the scanning result of the laser scanner;
obtaining image information with line laser according to the shot image and the scanning result;
calculating to obtain a three-dimensional coordinate point of an object to be acquired, which is located in the image information, according to the image information;
and performing three-dimensional point cloud fitting processing according to the three-dimensional coordinate points to obtain three-dimensional imaging of the object to be acquired.
2. The method of image acquisition of an underwater object as claimed in claim 1, further comprising the steps of:
and recording the moving track parameters while controlling the camera to acquire images.
3. The method for image capture of an underwater object as claimed in claim 1, wherein said controlling said camera to simultaneously capture images and scan laser light with said scanner comprises:
and controlling the camera and the scanner to simultaneously acquire images and scan laser, and controlling the laser emitted by the scanner to be always kept in a picture shot by the camera.
4. An image acquisition device of an underwater object is characterized by being applied to control equipment of an underwater robot, wherein the underwater control equipment is respectively and electrically connected with an underwater camera and an underwater laser scanner, and the image acquisition device comprises the following steps:
the angle calculation unit is used for calculating a first angle and a second angle after receiving an image acquisition instruction of an object to be acquired, wherein the first angle is as follows: the camera reaches the contained angle of the line of waiting to gather the object with the main shaft direction of camera, the second angle is: the included angle between the connecting line from the laser scanner to the object to be collected and the laser emission direction of the laser scanner;
an instruction transmitting unit configured to transmit a first control instruction including the first angle to the camera and transmit a second control instruction including the second angle to the laser scanner; so that the lens of the camera rotates according to the first angle, and the laser emission direction of the laser scanner rotates according to the second angle, so that the object to be acquired is opposite to the shooting direction of the camera and the laser emission direction of the laser scanner;
the control unit is used for controlling the camera and the scanner to simultaneously acquire images and scan laser, and receiving shot images sent by the camera and scanning results of the laser scanner;
the information obtaining unit is used for obtaining image information with line laser according to the shot image and the scanning result;
the coordinate point determining unit is used for calculating to obtain a three-dimensional coordinate point of the object to be collected, wherein the three-dimensional coordinate point is positioned in the image information;
and the three-dimensional imaging unit is used for performing three-dimensional point cloud fitting processing according to the three-dimensional coordinate points to obtain three-dimensional imaging of the object to be acquired.
5. The image capturing device of an underwater object as claimed in claim 4, further comprising:
and the parameter recording unit is used for recording the movement track parameters while controlling the camera to acquire images.
6. The image acquisition device of an underwater object as claimed in claim 4, characterized in that said control unit is specifically configured to:
and controlling the camera and the scanner to simultaneously acquire images and scan laser, and controlling the laser emitted by the scanner to be always kept in a picture shot by the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911392680.5A CN111182285A (en) | 2019-12-30 | 2019-12-30 | Image acquisition method and device for underwater object |
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| CN201911392680.5A CN111182285A (en) | 2019-12-30 | 2019-12-30 | Image acquisition method and device for underwater object |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111750802A (en) * | 2020-06-29 | 2020-10-09 | 山东大学 | Workpiece surface micro-topography measuring device and method based on line structured light |
| CN112637445A (en) * | 2021-01-06 | 2021-04-09 | 上海市建筑科学研究院有限公司 | Three-dimensional motion synchronous measurement method based on multiple high-frequency cameras |
| CN113048908A (en) * | 2021-03-08 | 2021-06-29 | 中国海洋大学 | Submarine landform detection image generation system based on laser scanning |
| CN113686308A (en) * | 2021-07-21 | 2021-11-23 | 武汉中观自动化科技有限公司 | Wireless photogrammetry system and measurement method thereof |
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| CN109118577A (en) * | 2018-07-23 | 2019-01-01 | 国家深海基地管理中心 | Underwater laser scanning reconfiguration system and its method based on manned underwater vehicle |
| CN110488314A (en) * | 2019-09-18 | 2019-11-22 | 苏芃 | A kind of underwater 3 D scan method and underwater 3 D scanning device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109118577A (en) * | 2018-07-23 | 2019-01-01 | 国家深海基地管理中心 | Underwater laser scanning reconfiguration system and its method based on manned underwater vehicle |
| CN110488314A (en) * | 2019-09-18 | 2019-11-22 | 苏芃 | A kind of underwater 3 D scan method and underwater 3 D scanning device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111750802A (en) * | 2020-06-29 | 2020-10-09 | 山东大学 | Workpiece surface micro-topography measuring device and method based on line structured light |
| CN111750802B (en) * | 2020-06-29 | 2021-04-16 | 山东大学 | Workpiece surface micro-topography measuring device and method based on line structured light |
| CN112637445A (en) * | 2021-01-06 | 2021-04-09 | 上海市建筑科学研究院有限公司 | Three-dimensional motion synchronous measurement method based on multiple high-frequency cameras |
| CN112637445B (en) * | 2021-01-06 | 2022-12-27 | 上海市建筑科学研究院有限公司 | Three-dimensional motion synchronous measurement method based on multiple high-frequency cameras |
| CN113048908A (en) * | 2021-03-08 | 2021-06-29 | 中国海洋大学 | Submarine landform detection image generation system based on laser scanning |
| CN113686308A (en) * | 2021-07-21 | 2021-11-23 | 武汉中观自动化科技有限公司 | Wireless photogrammetry system and measurement method thereof |
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