CN111380480B - Automobile morphology reconstruction system and method based on affine invariant of triangular array - Google Patents
Automobile morphology reconstruction system and method based on affine invariant of triangular array Download PDFInfo
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Abstract
The invention discloses an automobile morphology reconstruction system and method based on triangle array affine invariant, and aims to solve the problem of automobile morphology detection based on triangle array affine invariant. The automobile morphology reconstruction system based on triangle array affine invariant mainly comprises a camera (1), a laser surface projecting instrument (2), a two-dimensional target (3), a two-dimensional target fixing seat (4), a connecting clamp (5) and a tripod (6). The surface of the two-dimensional target (3) is stuck with an array triangle pattern which can generate infinite point and area ratio characteristics. The automobile morphology reconstruction method based on the triangle array affine invariant comprises the steps of image acquisition, affine correction, automobile body point reconstruction and the like, and the automobile morphology reconstruction system and method based on the triangle array affine invariant with simple structure and reliable performance are provided.
Description
Technical Field
The invention relates to an automobile detection device and an automobile detection method, in particular to an automobile morphology reconstruction system and an automobile morphology reconstruction method based on triangle array affine invariant.
Background
In order to ensure the safe running of the automobile, the measurement of the appearance of the automobile plays a vital role in the detection field aiming at the aspects of overload and overrun of the automobile and the like. Measurement accuracy, measurement efficiency, etc. have a significant influence on the detection result. Currently common measurement systems are divided into contact and non-contact. Because of the factors of poor convenience of contact measurement, easy scratching of the surface of the measured object and the like, the application range of non-contact measurement is wider. The non-contact measurement often requires the target to calibrate the internal and external parameters of the camera, so that the system structure is complex. How to take non-contact measurement, it is important to avoid the process of calibrating the camera and directly realize the three-dimensional information reconstruction of the object. In order to realize the reconstruction of the feature points of the automobile morphology with higher precision, an automobile morphology reconstruction system and method based on triangle array affine invariant is designed.
Disclosure of Invention
Aiming at solving the problems that the existing non-contact system needs multiple image calibration, has low efficiency and the like in the process of reconstructing the automobile morphology, the invention designs an automobile morphology reconstruction system and method based on triangle array affine invariant, and realizes three-dimensional free reconstruction of automobile morphology feature points. The method mainly comprises an industrial camera, a two-dimensional target 3 consisting of array triangles, a laser surface projector 2 with the relative position of the two-dimensional target 3 fixed and a two-dimensional target fixing seat 4, and three-dimensional reconstruction of the automobile morphology is carried out by applying the characteristic that the area ratio of the triangles is unchanged before and after affine transformation.
The invention is realized by adopting the following technical scheme in combination with the attached drawings of the specification:
the automobile morphology reconstruction system based on the affine invariant of the triangular array comprises a camera, a laser surface projector, a two-dimensional target fixing seat, a connecting clamp and a tripod;
The tripod is placed on the ground, the camera is fixedly connected with the bolt threads at the top of the tripod through the threaded hole at the bottom, the two-dimensional target fixing seat is placed on the horizontal ground, the bottom of the two-dimensional target is fixedly connected with the groove on the two-dimensional target fixing seat in a tight fit mode, the two-dimensional target is placed in the slender groove of the U-shaped steel plate of the connecting clamp, the bolt penetrates into the connecting clamp and the through hole of the two-dimensional target to be fixedly connected with the nut threads, the laser surface throwing instrument is inserted into the inner hole of the steel pipe of the laser connecting clamp, the set screw is screwed into the threaded hole at the side face of the steel pipe of the connecting clamp, the end part of the set screw is in tight fit with the cylindrical surface of the laser surface throwing instrument in a contact mode, and the plane of the laser surface throwing instrument is coplanar with the plane where the two-dimensional target graph is located.
The camera in the technical scheme is a wide-angle industrial camera provided with a narrow-band optical filter.
The laser surface projector is a cylindrical part capable of emitting line laser, and the wavelength of the laser emitted by the laser surface projector is consistent with the bandpass wavelength of the narrowband filter of the camera.
According to the technical scheme, the two-dimensional target is a part made of a rectangular steel plate with a through hole, and an array triangle pattern capable of generating infinite points and area ratio features is adhered to the surface of the two-dimensional target.
According to the technical scheme, the two-dimensional target fixing seat is a cuboid part processed by a steel plate, and an elongated groove is processed on the upper surface of the cuboid part.
The connecting clamp is a part formed by welding a U-shaped steel plate and a steel pipe, a through hole is formed in the side face of the U-shaped steel plate, and a threaded hole is formed in the side face of the steel pipe.
The tripod is a tripod with adjustable height.
The automobile morphology visual detection method based on the invariant of the points and the circles comprises the following specific steps:
The first step: affine correction of an automobile morphology reconstruction method based on triangle array affine invariants:
the camera is fixed on the tripod, the tripod is placed on the ground, the laser surface projector is inserted into the inner hole of the steel pipe of the connecting clamp, the laser surface projector is opened, the laser plane projected by the laser surface projector is coplanar with the two-dimensional target and is fixed by adjusting the screw on the steel pipe of the connecting clamp, the camera acquires an image, and the image comprises the two-dimensional target and a laser projection point where the laser surface projector intersects with the surface of the vehicle;
On an image acquired by a camera, extracting image coordinates w q,1、wq,2 and w q,3、wq,4 of two pairs of parallel lines in an array triangle by adopting Hough transformation, and obtaining two intersection point coordinates as according to a formula of intersection points of two straight lines
xq,1＝wq,1×wq,2
xq,2＝wq,3×wq,4
Wherein x q,1、xq,2 is two infinity point image coordinates formed by the q-th group of parallel lines, and the image coordinate pairs of the q-th group of parallel lines are selected together to obtain 2q infinity point image coordinates, and the image coordinates are obtained on an infinite straight line according to the infinity points
Image coordinates of infinity straight line can be obtained by SVD decompositionConversion matrix from projective transformation correction to affine transformation
Wherein H E is a unit array, and further obtaining the coordinates of the projection points in the affine space as
Yj,F＝Hyj
Wherein, the point where the car intersects the laser face is numbered j=1, 2,3.
And a second step of: the reconstruction process of the automobile morphology reconstruction method based on triangle array affine invariant comprises the following steps:
in a two-dimensional target coordinate system, the coordinates of the centroid of the small triangle Is that
Wherein,Coordinates of three vertexes of the array triangle under a two-dimensional target coordinate system; Is the centroid coordinate of the small triangle in the two-dimensional target coordinate system, and the centroid coordinate/>, of the small triangle in the affine space Is that
Wherein,The affine transformation of the small triangle vertexes from the two-dimensional target coordinate system to the image coordinate system of the affine space is expressed as the coordinates of the small triangle vertexes in the affine space after affine correction respectively
Wherein H A is a transformation matrix from a two-dimensional target coordinate system to an image coordinate system of affine space, and is obtained by the three formulas
The centroid of the triangle in affine space is
Wherein,Is the coordinate of the centroid of the small triangle under the two-dimensional target coordinate system, and the centroid coordinate under the affine space is
Wherein,For the image coordinates of the vertices of the small triangle, the large triangle area in the two-dimensional target coordinate system and affine space satisfies
Wherein,An area of a large triangle is formed by the centroid of a small triangle,/>For the area of a large triangle formed by the centroid of the small triangle and the point to be reconstructed, Y j is the point to be reconstructed on the laser intersection under the two-dimensional target coordinate system, Y j,F is the point to be reconstructed coordinate in the affine space, and the/>, can be calculated by the above methodAnd is represented by a constant k i, i.e
Wherein,
Can also be obtained by an area formula
Taking the i-th group to be differentThe calculation is performed, and the i-th set of equations is obtained from the above two equations as follows:
When i=1, 2,3 … … n, we get
The SVD decomposition method is adopted to obtain the feature points of the automobile morphology under the two-dimensional target coordinate system as
In the process of reconstructing and detecting the appearance of the automobile, the second step is a step of circularly carrying out;
And (3) moving the position of the automobile in the visual field of the camera to obtain laser intersection points of the laser surfaces at other positions and the automobile body of the automobile, so that the coordinates of the intersection points of the automobile and the laser surfaces under a two-dimensional target coordinate system are determined, and the reconstruction of the automobile morphology based on the affine invariant of the triangular array is completed.
The beneficial effects of the invention are as follows:
1. The invention adopts an automobile morphology reconstruction method based on triangle array affine invariant. Firstly, the two-dimensional target 3 is fixedly connected with the laser plane projector 2, and the laser plane and the two-dimensional reference plane are guaranteed to be coplanar. And obtaining the image coordinates of the infinity point according to the intersection point of the parallel sides of the array triangle on the projection plane. And further obtaining the image coordinates of the infinity straight line, and carrying out affine correction on the points of the projection plane by applying a conversion matrix. And reconstructing the coordinates of the laser intersection points under the two-dimensional target 3 coordinate system by applying the characteristic that the area ratio of the triangle is unchanged from affine. Finally, the three-dimensional reconstruction of the overall shape of the target can be realized by moving the position of the object to be detected.
2. The invention reconstructs three-dimensional point coordinates by affine invariant of the area ratio of the triangle, the area of the triangle adopts a centroid triangle formed by centroids of the array triangles, and the centroid is obtained by jointly participating in calculation by three vertexes of the array triangles, so that errors caused by accidental factors such as measurement conditions and the like can be avoided. Under the condition that the coordinates of the individual points have errors, the influence on the final reconstruction result is reduced, and the high-precision reconstruction of the target object is realized.
3. The measurement system solves the problems of low measurement efficiency, complex device, poor convenience and the like of the traditional machine vision measurement system, affine correction can be carried out through one picture, and the reconstruction of three-dimensional feature points is further realized by utilizing affine invariants. And reconstructing the overall shape of the target by moving the target object.
Drawings
FIG. 1 is an isometric view of an automobile topography reconstruction system based on triangle array affine invariants;
Fig. 2 is an isometric view of a camera 1 in an automobile topography reconstruction system based on triangle array affine invariants;
FIG. 3 is an isometric view of the laser facet projector 2 in an automobile topography reconstruction system based on triangle array affine invariants;
FIG. 4 is an isometric view of a two-dimensional target 3 in an automobile morphology reconstruction system based on triangle array affine invariants;
fig. 5 is an isometric view of the two-dimensional target holder 4 in the vehicle topography reconstruction system based on triangle array affine invariants;
FIG. 6 is an isometric view of the attachment clip 5 in an automobile topography reconstruction system based on triangle array affine invariants;
FIG. 7 is an isometric view of tripod 6 in an automobile topography reconstruction system based on triangle array affine invariants;
FIG. 8 is a flow chart of a calibration process of an automobile morphology reconstruction method based on triangle array affine invariants;
FIG. 9 is a flow chart of a reconstruction process of an automobile morphology reconstruction method based on triangle array affine invariants;
in the figure: 1. the device comprises a camera, a laser surface projector, a two-dimensional target fixing seat, a connecting clamp and a tripod.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
Referring to fig. 1 to 7, an affine invariant based triangular array automobile morphology reconstruction system comprises a camera 1, a laser surface projector 2, a two-dimensional target 3, a two-dimensional target fixing seat 4, a connecting clamp 5 and a tripod 6;
The tripod 6 is a triangular bracket with adjustable height, the tripod 6 is placed on the ground, the camera 1 is a wide-angle industrial camera with a narrow-band optical filter, the camera 1 is fixedly connected with a bolt thread at the top of the tripod 6 through a threaded hole at the bottom, the two-dimensional target fixing seat 4 is a cuboid part processed by a steel plate, an elongated groove is processed on the upper surface, the two-dimensional target fixing seat 4 is placed on the horizontal ground, the two-dimensional target 3 is a part made of a rectangular steel plate processed with a through hole, an array triangle pattern capable of generating infinite points and area ratio characteristics is adhered to the surface of the two-dimensional target 3, the bottom of the two-dimensional target 3 is fixedly connected with the groove on the two-dimensional target fixing seat 4 in a tight fit manner, the connecting clamp 5 is a part formed by welding a U-shaped steel plate with a steel pipe, the side face of the U-shaped steel plate is processed with a through hole, the side face of the steel pipe is processed with a threaded hole, the two-dimensional target 3 is placed into the elongated groove of the U-shaped steel plate of the connecting clamp 5, the bolt penetrates into the connecting clamp 5 and the through hole of the two-dimensional target 3 is fixedly connected with a nut thread, the laser projector 2 is inserted into the inner hole of the steel pipe, the screw is screwed into the threaded hole of the steel pipe, the end of the connecting clamp 5, the surface of the two-dimensional target 3 is adhered to form the triangular part, the triangular part can generate an infinite point and area ratio characteristic array triangle pattern, the surface is formed by the surface, the surface of the triangular triangle pattern, the triangular pattern, the laser has the laser plane 2 and the laser plane has the laser beam 2 and the laser beam has the laser 1 and the laser beam has the laser plane.
Referring to fig. 8 to fig. 9, the method for reconstructing the automobile morphology based on the triangle array affine invariant provided by the invention can be divided into the following two steps:
The first step: affine correction of an automobile morphology reconstruction method based on triangle array affine invariants:
The camera 1 is fixed on the tripod 6, the tripod 6 is placed on the ground, the laser surface projector 2 is inserted into the inner hole of the steel pipe of the connecting clamp 5, the laser surface projector 2 is opened, the laser plane projected by the laser surface projector 2 is coplanar with the two-dimensional target 3 and the laser surface projector 2 is fixed by adjusting the screw on the steel pipe of the connecting clamp 5, the camera 1 collects an image, and the image comprises the two-dimensional target 3 and a laser projection point at which the laser surface projector 2 intersects with the surface of the vehicle;
On the image collected by the camera 1, extracting image coordinates w q,1、wq,2 and w q,3、wq,4 of two pairs of parallel lines in the array triangle by adopting Hough transformation, and obtaining two intersection point coordinates as the formula of intersection points of the two straight lines
xq,1＝wq,1×wq,2
xq,2＝wq,3×wq,4
Wherein x q,1、xq,2 is two infinity point image coordinates formed by the q-th group of parallel lines, and the image coordinate pairs of the q-th group of parallel lines are selected together to obtain 2q infinity point image coordinates, and the image coordinates are obtained on an infinite straight line according to the infinity points
Image coordinates of infinity straight line can be obtained by SVD decompositionConversion matrix from projective transformation correction to affine transformation
Wherein H E is a unit array, and further obtaining the coordinates of the projection points in the affine space as
Yj,F＝Hyj
Wherein, the point where the car intersects the laser face is numbered j=1, 2,3.
And a second step of: the reconstruction process of the automobile morphology reconstruction method based on triangle array affine invariant comprises the following steps:
in a two-dimensional target 3 coordinate system, the coordinates of the centroid of the small triangle Is that
Wherein,Coordinates of three vertexes of the array triangle under a two-dimensional target 3 coordinate system; is the centroid coordinate of the small triangle under the two-dimensional target 3 coordinate system, and the centroid coordinate/>, of the small triangle under the affine space Is that
Wherein,The affine transformation of the small triangle vertexes from the two-dimensional target 3 coordinate system to the image coordinate system of the affine space is expressed as the coordinates of the small triangle vertexes in the affine space after affine correction respectively
Wherein H A is a transformation matrix from a two-dimensional target 3 coordinate system to an image coordinate system of affine space, and is obtained by the three formulas
The centroid of the triangle in affine space is
Wherein,Is the coordinate of the centroid of the small triangle under the two-dimensional target 3 coordinate system, and the centroid coordinate under the affine space is
Wherein,For the image coordinates of the vertices of the small triangle, the large triangle area in the two-dimensional target 3 coordinate system and affine space satisfies
Wherein,An area of a large triangle is formed by the centroid of a small triangle,/>For the area of a large triangle formed by the centroid of the small triangle and the point to be reconstructed, Y j is the point to be reconstructed on the laser intersection under the two-dimensional target 3 coordinate system, Y j,F is the point to be reconstructed coordinate in the affine space, and the/>, can be calculated by the above methodAnd is represented by a constant k i, i.e
Wherein,
Can also be obtained by an area formula
Taking the i-th group to be differentThe calculation is performed, and the i-th set of equations is obtained from the above two equations as follows:
When i=1, 2,3 … … n, we get
The SVD decomposition method is adopted to obtain the characteristic points of the automobile morphology under the two-dimensional target 3 coordinate system as
In the process of reconstructing and detecting the appearance of the automobile, the second step is a step of circularly carrying out;
and the laser intersection points of the laser surfaces at other positions and the automobile body can be obtained by moving the positions of the automobile in the visual field range of the camera 1, so that the coordinates of the intersection points of the automobile and the laser surfaces under the two-dimensional target 3 coordinate system are determined, and the reconstruction of the automobile morphology based on the affine invariant of the triangular array is completed.
Claims (6)
1. A reconstruction method of an automobile morphology reconstruction system based on triangle array affine invariants comprises a camera (1), a laser surface projector (2), a two-dimensional target (3), a two-dimensional target fixing seat (4), a connecting clamp (5) and a tripod (6);
The tripod (6) is placed on the ground, the camera (1) is fixedly connected with the bolt threads at the top of the tripod (6) through the threaded holes at the bottom, the two-dimensional target fixing seat (4) is placed on the horizontal ground, the bottom of the two-dimensional target (3) is fixedly connected with the groove on the two-dimensional target fixing seat (4) in a tight fit manner, the two-dimensional target (3) is placed in the slender groove of the U-shaped steel plate of the connecting clamp (5), the bolts penetrate through the connecting clamp (5) and the through holes of the two-dimensional target (3) to be fixedly connected with the nut threads, the laser surface throwing instrument (2) is inserted into the inner holes of the steel pipes of the laser connecting clamp (5), the set screw is screwed into the threaded holes at the side surfaces of the steel pipes of the connecting clamp (5), the end parts of the set screw are in tight fit with the cylindrical surfaces of the laser surface throwing instrument (2), the laser plane sent by the laser throwing instrument (2) is coplanar with the plane where the graph of the two-dimensional target (3) is located, the two-dimensional target (3) is a part made of a rectangular steel plate with a through hole, and the surface of the two-dimensional target (3) is adhered with an array pattern capable of generating infinite point and area ratio characteristics, and the triangle pattern is characterized by the following steps:
The first step: affine correction of an automobile morphology reconstruction method based on triangle array affine invariants:
The camera (1) is fixed on the tripod (6), the tripod (6) is placed on the ground, the laser surface projector (2) is inserted into the inner hole of the steel pipe of the connecting clamp (5), the laser surface projector (2) is opened, the laser plane projected by the laser surface projector (2) is coplanar with the two-dimensional target (3) and the laser surface projector (2) is fixed by adjusting the screw on the steel pipe of the connecting clamp (5), the camera (1) acquires an image, and the image comprises the two-dimensional target (3) and a laser projection point where the laser surface projector (2) is intersected with the surface of the vehicle;
on the image acquired by the camera (1), extracting image coordinates W q,1、Wq,2 and W q,3、Wq,4 of two pairs of parallel lines in the array triangle by adopting Hough transformation, and obtaining two intersection point coordinates as the formula of intersection points of the two straight lines
xq,1＝wq,1×wq,2
xq,2＝wq,3×wq,4
Wherein x q,1、xq,2 is two infinity point image coordinates formed by the q-th group of parallel lines, and the image coordinate pairs of the q-th group of parallel lines are selected together to obtain 2q infinity point image coordinates, and the image coordinates are obtained on an infinite straight line according to the infinity points
Image coordinates of infinity straight line can be obtained by SVD decompositionConversion matrix from projective transformation correction to affine transformation
Wherein H E is a unit array, and further obtaining the coordinates of the projection points in the affine space as
Yj,F＝Hyj
Wherein, the serial numbers j=1, 2,3 … … n of points where the automobile and the laser surface intersect;
and a second step of: the reconstruction process of the automobile morphology reconstruction method based on triangle array affine invariant comprises the following steps:
In a two-dimensional target (3) coordinate system, the coordinates of the centroid of the triangle Is that
Wherein,Coordinates of three vertexes of the array triangle under a two-dimensional target (3) coordinate system; /(I)Is the centroid coordinate of the small triangle under the two-dimensional target (3) coordinate system, and the centroid coordinate/>, of the small triangle under the affine spaceIs that
Wherein,The affine transformation of the small triangle vertexes from the two-dimensional target (3) coordinate system to the image coordinate system of the affine space is expressed as the coordinates of the small triangle vertexes in the affine space after affine correction respectively
Wherein H A is a transformation matrix from a two-dimensional target (3) coordinate system to an image coordinate system of affine space, and is obtained by the three formulas
The centroid of the triangle in affine space is
Wherein,Is the coordinate of the centroid of the small triangle under the coordinate system of the two-dimensional target (3), and the centroid coordinate under the affine space is
Wherein,For the image coordinates of the vertices of the small triangle, the large triangle area in the two-dimensional target (3) coordinate system and affine space satisfies
Wherein,An area of a large triangle is formed by the centroid of a small triangle,/>For the area of a large triangle formed by the centroid of the small triangle and the point to be reconstructed, Y j is the point to be reconstructed on the laser intersection under the two-dimensional target (3) coordinate system, Y j,F is the point to be reconstructed coordinate in affine space, and the/>, can be calculated by the above methodAnd is represented by a constant k i, i.e
Wherein,
Can also be obtained by an area formula
Taking the i-th group to be differentThe calculation is performed, and the i-th set of equations is obtained from the above two equations as follows:
When i=1, 2,3 … … n, we get
The SVD decomposition method is adopted to obtain the characteristic points of the automobile morphology under the two-dimensional target (3) coordinate system as
In the process of reconstructing and detecting the appearance of the automobile, the second step is a step of circularly carrying out;
And (3) moving the position of the automobile in the visual field of the camera (1) to obtain laser intersection points of the laser surfaces at other positions and the automobile body, so as to determine the coordinates of the intersection points of the automobile and the laser surfaces under the coordinate system of the two-dimensional target (3) and finish the reconstruction of the automobile morphology based on the affine invariant of the triangular array.
2. The reconstruction method of an automobile morphology reconstruction system based on triangle array affine invariant according to claim 1, wherein the camera (1) is a wide-angle industrial camera equipped with a narrow-band filter.
3. The reconstruction method of the automobile morphology reconstruction system based on the triangle array affine invariant is characterized in that the laser surface projector (2) is a cylindrical part capable of emitting ray laser, and the wavelength of the laser emitted by the laser surface projector (2) is consistent with the bandpass wavelength of a narrow-band filter of the camera (1).
4. The reconstruction method of the automobile morphology reconstruction system based on the triangle array affine invariant is characterized in that the two-dimensional target fixing seat (4) is a cuboid part processed by a steel plate, and an elongated groove is processed on the upper surface of the cuboid part.
5. The reconstruction method of the automobile morphology reconstruction system based on the triangle array affine invariant is characterized in that the connecting clamp (5) is a part formed by welding a U-shaped steel plate and a steel pipe, a through hole is formed in the side face of the U-shaped steel plate, and a threaded hole is formed in the side face of the steel pipe.
6. The reconstruction method of an automobile morphology reconstruction system based on triangle array affine invariants according to claim 1, wherein the tripod (6) is a height-adjustable tripod.
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| 基于正三角形平面模板的摄像机标定与重建;王秀平;白瑞林;郭新年;;光学技术;20150115(01);全文 * |
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