CN111272102A - Line laser scanning three-dimensional measurement calibration method - Google Patents
Line laser scanning three-dimensional measurement calibration method Download PDFInfo
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- CN111272102A CN111272102A CN202010370860.XA CN202010370860A CN111272102A CN 111272102 A CN111272102 A CN 111272102A CN 202010370860 A CN202010370860 A CN 202010370860A CN 111272102 A CN111272102 A CN 111272102A
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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
- G01B11/2518—Projection by scanning of 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
Abstract
The invention discloses a line laser scanning three-dimensional measurement calibration method, and belongs to the technical field of three-dimensional measurement. The method comprises the following steps: calibrating a camera internal reference matrix; shooting to obtain a chessboard pattern calibration plate image under normal ambient lighting conditions; calculating a rotation matrix and a translation vector between a calibration plate coordinate system where each checkerboard calibration plate is located and a camera coordinate system; shooting to obtain a laser line image under the condition of no ambient light; calculating the three-dimensional coordinates of the laser line; calculating the laser plane equation coefficient; and calculating the laser plane equation coefficients of different positions in the line laser scanning process. The method provided by the invention can realize the rapid calibration of line laser scanning under the condition of not changing the posture of the calibration plate, effectively reduces the complexity of the calibration process and calculation, and has the advantages of simple operation, high calibration speed, strong practicability and the like.
Description
Technical Field
The invention relates to the technical field of three-dimensional measurement, in particular to a line laser scanning three-dimensional measurement calibration method.
Background
The line laser scanning method is a non-contact active optical three-dimensional measurement method, is based on the principle of triangulation, can realize three-dimensional reconstruction of object morphology by projecting line laser to scan the surface of an object, has the advantages of high measurement density, high speed, high precision and the like, and is widely applied to the fields of three-dimensional model reconstruction, object morphology measurement and the like.
The calibration is the key influencing the three-dimensional measurement precision of line laser scanning, and whether the line laser scanning is accurately calibrated directly determines the quality of a three-dimensional shape reconstruction result of an object. At present, a line laser scanning calibration method generally performs calibration by means of a three-dimensional calibration plate or a two-dimensional plane calibration plate. However, the high-precision three-dimensional calibration plate is difficult to manufacture, expensive, limited in measurement field of view, and difficult to apply. Compared with the prior art, the two-dimensional plane calibration plate has the advantages of simple manufacture, convenient use, no limitation of measurement field of view and the like, thereby being widely applied.
Through retrieval, patent 201910355395.X introduces a line structure light calibration method based on a checkerboard calibration plate, wherein multiple laser lines formed by the same structured light can be obtained through multiple changes of the calibration plate posture, and then the plane equation coefficients of the structured light are obtained through fitting. However, since the attitude of the calibration plate needs to be changed for many times, the method is complicated to operate and large in calculation amount, and is difficult to be effectively used in line laser scanning calibration. Patent 201610420487.8 describes a three-dimensional calibration plate and a calibration method for calibrating the position of a line laser, wherein the three-dimensional calibration plate is a trapezoidal calibration plate, and comprises two calibration areas, so that the laser plane can be calibrated quickly without changing the posture of the calibration plate. However, as mentioned above, the limitations of the three-dimensional calibration plate itself greatly restrict the application of the calibration method.
Disclosure of Invention
The invention provides a line laser scanning three-dimensional measurement calibration method, and aims to solve the problem of rapid calibration of line laser scanning three-dimensional measurement.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a line laser scanning three-dimensional measurement calibration method is characterized by comprising the following steps:
step 1: based on a single chessboard pattern calibration plate, calibrating a camera internal reference matrix A by adopting a Zhang Zhengyou calibration method;
step 2: placing a plurality of checkerboard calibration plates in a measurement field of view, and shooting by using a camera to obtain calibration plate images under normal ambient lighting conditions;
any two chessboard format calibration plates in the step 2 are not coplanar, and the number N of the chessboard format calibration plates is more than or equal to 2;
and step 3: detecting the checkerboard angular points on each checkerboard calibration plate in the calibration plate image to obtain the image coordinates of the checkerboard angular points, and calculating the rotation matrix between the calibration plate coordinate system where each checkerboard calibration plate is located and the camera coordinate system
And translation vector
Wherein i =1,2, …, N is the number of each checkerboard designation board,Nthe number of the boards is marked for the chessboard;
and 4, step 4: keeping the positions of all the checkerboard calibration plates unchanged, controlling laser to form laser lines on the surfaces of the checkerboard calibration plates, and shooting by using a camera to obtain laser line images under the condition of no ambient light;
and 5: detecting the laser lines on the surface of each chessboard pattern calibration plate in the laser line image by adopting a gray level gravity center method to obtain the image coordinates of the laser lines, and calculating the three-dimensional coordinates of the laser lines as follows:
wherein the content of the first and second substances,
is as followsiFirst on the laser line of the surface of the individual chessboard pattern calibration platejThe three-dimensional coordinates of the point in the camera coordinate system,
is that point is atiThree-dimensional coordinates of the calibration plate coordinate system where the chessboard pattern calibration plate is located,
is the image coordinates of the point and,
is a proportionality coefficient, A marks the camera internal reference matrix obtained,
and
is calculated asiThe rotation matrix and the translation vector between the coordinate system of the calibration plate where the checkerboard calibration plate is located and the coordinate system of the camera;
step 6: performing least square plane fitting on the three-dimensional coordinates of all laser lines to obtain a laser plane equation coefficient;
and 7: and controlling the line laser scanning, repeating the step 4 to the step 6, and calculating to obtain laser plane equation coefficients of different rotation scanning positions.
The invention has the beneficial effects that:
according to the line laser scanning three-dimensional measurement calibration method provided by the invention, the rapid calibration of the laser plane at each position in the line laser scanning process can be realized under the condition of not changing the posture of the calibration plate by using the plurality of chessboard calibration plates, the complexity of the calibration process and calculation is effectively reduced, and the method has the advantages of simplicity in operation, high calibration speed, strong practicability and the like. The joint use of a plurality of chess board check calibration boards has effectively improved the fit precision of laser plane, and then has improved the calibration precision. By collecting the laser line image under the condition of no ambient light, the speed and the precision of laser line detection and extraction can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is an overall flow diagram of the method of the present invention;
FIG. 2 is a schematic view of line laser scanning calibration;
FIG. 3 is a calibration plate image taken by a camera;
FIG. 4 is a result of checkerboard corner detection in a calibration plate image;
FIG. 5 is a photograph of an acquired laser line image;
fig. 6 is a laser line detection result in a laser line image.
Wherein, 1 is a camera, 2 is a laser, and 3 is a checkerboard calibration plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides a line laser scanning three-dimensional measurement calibration method.
Step 1: based on a single chessboard pattern calibration plate, a Zhangyingyou calibration method is adopted to calibrate the camera internal reference matrix A.
Step 2: as shown in fig. 2, two checkerboard calibration plates 3 are placed in a measurement field of view in a non-coplanar manner, and the calibration plate image under normal ambient lighting conditions is captured using the camera 1, as shown in fig. 3.
And step 3: the checkerboard angular points on the two checkerboard calibration plates in the calibration plate image are detected, and the result is shown in fig. 4, so that the image coordinates of the checkerboard angular points are obtained, and the image coordinates and the three-dimensional coordinates of the checkerboard angular points satisfy the following relation:
wherein the content of the first and second substances,
is as followsiThe three-dimensional coordinates of the kth checkerboard corner point on the checkerboard calibration plate under the coordinate system of the calibration plate can be obtained according to the physical size of the checkerboard and the physical position of the checkerboard corner point on the checkerboard calibration plate,
is the image coordinates of the corner points of the checkerboard,
is a proportionality coefficient, A is a camera internal reference matrix obtained by calibration,
and
is as followsiAnd the rotation matrix and the translation vector between the coordinate system of the calibration plate where the chessboard pattern calibration plate is located and the coordinate system of the camera, i =1, and 2 is the serial number of the chessboard pattern calibration plate. Based on the image coordinates and three-dimensional coordinates of the checkerboard corner points on each checkerboard calibration plate, the rotation matrix between the calibration plate coordinate system where the checkerboard calibration plate is located and the camera coordinate system can be calculated
And translation vector
。
And 4, step 4: keeping the positions of all the checkerboard calibration plates unchanged, starting the laser 2 to generate line laser, forming laser lines on the surfaces of the two checkerboard calibration plates, and shooting and acquiring laser line images under the condition of no ambient light by using the camera 1, as shown in fig. 5.
And 5: the laser lines on the surfaces of the two checkerboard calibration plates in the laser line image are detected by adopting a gray gravity center method, the result is shown in fig. 6, the image coordinates of the laser lines are obtained, and the three-dimensional coordinates of the laser lines are calculated as follows:
wherein the content of the first and second substances,
is as followsiFirst on the laser line of the surface of the individual chessboard pattern calibration platejThe three-dimensional coordinates of the point in the camera coordinate system,
is that point is atiThree-dimensional coordinates of the calibration plate coordinate system where the chessboard pattern calibration plate is located,
is the image coordinates of the point and,
is a proportionality coefficient, A is a camera internal reference matrix obtained by calibration,
and
is calculated asiThe rotation matrix and translation vector between the coordinate system of the calibration plate where the chessboard calibration plate is located and the coordinate system of the camera, i =1,2 is the chessboardThe plate numbers are labeled.
Step 6: because the laser lines on the surfaces of the two chessboard pattern calibration plates are positioned on the same laser plane, the laser lines meet the following plane equation:
wherein a, b, c and d are laser plane equation coefficients. And performing least square plane fitting on the laser line to obtain a laser plane equation coefficient.
And 7: and (4) controlling the laser 2 to rotate, enabling the line laser to scan the two chessboard pattern calibration plates, repeating the step 4 to the step 6, and calculating to obtain laser plane equation coefficients of different rotation scanning positions.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (2)
1. A line laser scanning three-dimensional measurement calibration method is characterized by comprising the following steps:
step 1: based on a single chessboard pattern calibration plate, calibrating a camera internal reference matrix A by adopting a Zhang Zhengyou calibration method;
step 2: placing a plurality of checkerboard calibration plates in a measurement field of view, and shooting by using a camera to obtain calibration plate images under normal ambient lighting conditions;
and step 3: detecting the checkerboard angular points on each checkerboard calibration plate in the calibration plate image to obtain the image coordinates of the checkerboard angular points, and calculating the rotation matrix between the calibration plate coordinate system where each checkerboard calibration plate is located and the camera coordinate system
And translation vector
Wherein i =1,2, …, N isEach checkerboard grid specifies the number of the board,Nthe number of the boards is marked for the chessboard;
and 4, step 4: keeping the positions of all the checkerboard calibration plates unchanged, controlling laser to form laser lines on the surfaces of the checkerboard calibration plates, and shooting by using a camera to obtain laser line images under the condition of no ambient light;
and 5: detecting the laser lines on the surface of each chessboard pattern calibration plate in the laser line image by adopting a gray gravity center method to obtain the image coordinates of the laser lines, and calculating the three-dimensional coordinates of the laser lines as follows:
wherein the content of the first and second substances,
is as followsiFirst on the laser line of the surface of the individual chessboard pattern calibration platejThe three-dimensional coordinates of the point in the camera coordinate system,
is that point is atiThree-dimensional coordinates of the calibration plate coordinate system where the chessboard pattern calibration plate is located,
is the image coordinates of the point and,
is a proportionality coefficient, A marks the camera internal reference matrix obtained,
and
is calculated asiThe rotation matrix and the translation vector between the coordinate system of the calibration plate where the checkerboard calibration plate is located and the coordinate system of the camera;
step 6: performing least square plane fitting on the three-dimensional coordinates of all laser lines to obtain a laser plane equation coefficient;
and 7: and controlling the line laser to perform rotary scanning, repeating the steps 4 to 6, and calculating to obtain laser plane equation coefficients of different rotary scanning positions.
2. The line laser scanning three-dimensional measurement calibration method according to claim 1, characterized in that: in the step 2, any two chessboard pattern calibration plates are not coplanar, and the number N of the chessboard pattern calibration plates is more than or equal to 2.
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Cited By (13)
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| CN112132906A (en) * | 2020-09-22 | 2020-12-25 | 西安电子科技大学 | External reference calibration method and system between depth camera and visible light camera |
| CN112381888A (en) * | 2020-11-19 | 2021-02-19 | 上海方菱计算机软件有限公司 | Dynamic compensation method for H-shaped steel cutting path |
| CN112700480A (en) * | 2020-12-29 | 2021-04-23 | 河北工业大学 | Point cloud rapid registration method for small-size object rotation scanning and application |
| CN112710235A (en) * | 2020-12-21 | 2021-04-27 | 北京百度网讯科技有限公司 | Calibration method and device of structured light measuring sensor |
| CN113494891A (en) * | 2021-06-29 | 2021-10-12 | 南京航空航天大学 | Multi-view splicing method for measuring integral profile of train bearing saddle |
| CN113513979A (en) * | 2021-06-03 | 2021-10-19 | 农业农村部南京农业机械化研究所 | Grain volume scanning device, method and system based on three-dimensional point cloud |
| CN113655466A (en) * | 2021-07-16 | 2021-11-16 | 国家石油天然气管网集团有限公司 | Calibration system and calibration method based on structured light triangulation |
| CN113808214A (en) * | 2021-08-24 | 2021-12-17 | 东莞固高自动化技术有限公司 | Camera calibration equipment, camera production system, camera and calibration method thereof |
| WO2021253940A1 (en) * | 2020-06-19 | 2021-12-23 | Zhejiang Huaray Technology Co., Ltd. | Systems and methods for object measurement |
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| CN114264248A (en) * | 2021-11-29 | 2022-04-01 | 中国石油大学(华东) | Monocular rotation structure light three-dimensional measurement method |
| CN114322751A (en) * | 2020-09-30 | 2022-04-12 | 广东博智林机器人有限公司 | Target measuring method, target measuring device, computer equipment and storage medium |
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| WO2021253940A1 (en) * | 2020-06-19 | 2021-12-23 | Zhejiang Huaray Technology Co., Ltd. | Systems and methods for object measurement |
| CN112132906A (en) * | 2020-09-22 | 2020-12-25 | 西安电子科技大学 | External reference calibration method and system between depth camera and visible light camera |
| CN112132906B (en) * | 2020-09-22 | 2023-07-25 | 西安电子科技大学 | External parameter calibration method and system between depth camera and visible light camera |
| CN114322751A (en) * | 2020-09-30 | 2022-04-12 | 广东博智林机器人有限公司 | Target measuring method, target measuring device, computer equipment and storage medium |
| CN114322751B (en) * | 2020-09-30 | 2024-01-23 | 广东博智林机器人有限公司 | Target measuring method, device, computer equipment and storage medium |
| CN114485386B (en) * | 2020-10-23 | 2023-11-07 | 广东天机工业智能系统有限公司 | Workpiece coordinate system calibration method, device and system |
| CN114485386A (en) * | 2020-10-23 | 2022-05-13 | 广东天机工业智能系统有限公司 | Method, device and system for calibrating workpiece coordinate system |
| CN112381888A (en) * | 2020-11-19 | 2021-02-19 | 上海方菱计算机软件有限公司 | Dynamic compensation method for H-shaped steel cutting path |
| CN112710235A (en) * | 2020-12-21 | 2021-04-27 | 北京百度网讯科技有限公司 | Calibration method and device of structured light measuring sensor |
| CN112700480A (en) * | 2020-12-29 | 2021-04-23 | 河北工业大学 | Point cloud rapid registration method for small-size object rotation scanning and application |
| CN112700480B (en) * | 2020-12-29 | 2022-07-12 | 河北工业大学 | Point cloud rapid registration method for small-size object rotation scanning and application |
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| CN113494891A (en) * | 2021-06-29 | 2021-10-12 | 南京航空航天大学 | Multi-view splicing method for measuring integral profile of train bearing saddle |
| CN113655466B (en) * | 2021-07-16 | 2023-09-29 | 国家石油天然气管网集团有限公司 | Calibration system and calibration method based on structured light triangulation |
| CN113655466A (en) * | 2021-07-16 | 2021-11-16 | 国家石油天然气管网集团有限公司 | Calibration system and calibration method based on structured light triangulation |
| CN113808214A (en) * | 2021-08-24 | 2021-12-17 | 东莞固高自动化技术有限公司 | Camera calibration equipment, camera production system, camera and calibration method thereof |
| CN113884278A (en) * | 2021-09-16 | 2022-01-04 | 杭州海康机器人技术有限公司 | System calibration method and device for line laser equipment |
| CN113884278B (en) * | 2021-09-16 | 2023-10-27 | 杭州海康机器人股份有限公司 | System calibration method and device for line laser equipment |
| CN114264248A (en) * | 2021-11-29 | 2022-04-01 | 中国石油大学(华东) | Monocular rotation structure light three-dimensional measurement method |
| CN114264248B (en) * | 2021-11-29 | 2023-05-09 | 中国石油大学(华东) | Monocular rotation structured light three-dimensional measurement method |
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