CN111508020B - Cable three-dimensional position calculation method and device for fusing image and laser radar - Google Patents
Cable three-dimensional position calculation method and device for fusing image and laser radar Download PDFInfo
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- CN111508020B CN111508020B CN202010206331.6A CN202010206331A CN111508020B CN 111508020 B CN111508020 B CN 111508020B CN 202010206331 A CN202010206331 A CN 202010206331A CN 111508020 B CN111508020 B CN 111508020B
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- 238000004364 calculation method Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000004927 fusion Effects 0.000 claims description 2
- 238000002372 labelling Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 20
- 238000001514 detection method Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000036544 posture Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
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Abstract
The invention discloses a cable three-dimensional position calculation method and device for fusing images and a laser radar, wherein the method comprises the following steps: acquiring a cable image in a target space range; presenting a location of the cable in the cable image; taking a position area of a target cable in the cable image as a basic plane area, and projecting the basic plane area into a three-dimensional space; and calculating an intersection point of the plane position of the target cable measured by the laser radar and a three-dimensional area of the target cable in the three-dimensional space, and taking the intersection point as the three-dimensional position of the target cable. By adopting the scheme, the accuracy of the measurement result can be improved; the image is matched with the laser radar, so that manual auxiliary work is not needed; the method can realize integral measurement of one or more sections of cables, and calculate and obtain integral information such as cable gesture, trend and the like.
Description
Technical Field
The invention relates to the field of three-dimensional position detection, in particular to a cable three-dimensional position calculation method and device for fusing images and a laser radar.
Background
The cable detection is a key point for various cable operations, and is to determine the spatial position and the gesture trend of an operation cable in an operation environment through a sensor, establish a three-dimensional model of the cable, and further provide accurate, real-time, stable and reliable cable measurement information for various operations related to the operation equipment for developing the cable.
In the prior art, a laser radar is adopted to collect the position information of the cable surface, and then the space position of the cable is manually determined, so that the position coordinate of the cable is obtained.
The method has the problems that the single-line laser radar can only measure the cross section of a certain point of the cable, the number of sampling points is too small, and the measurement result is inaccurate; combining manual assistance or position information of a cross section of a certain point of the cable in space; it is difficult to realize the overall measurement of one or more sections of cable, and thus the overall information such as the posture, the trend and the like of the cable cannot be given.
Disclosure of Invention
The invention aims to: the invention aims to provide a cable three-dimensional position calculation method and device for fusing an image and a laser radar.
The technical scheme is as follows: the embodiment of the invention provides a cable three-dimensional position calculation method for fusing an image and a laser radar, which comprises the following steps: acquiring a cable image in a target space range; presenting a location of the cable in the cable image; taking a position area of a target cable in the cable image as a basic plane area, and projecting the basic plane area into a three-dimensional space; and calculating an intersection point of the plane position of the target cable measured by the laser radar and a three-dimensional area of the target cable in the three-dimensional space, and taking the intersection point as the three-dimensional position of the target cable.
Specifically, the cable position in the cable image acquired by the image capturing device is identified and noted.
Specifically, the plane position of the cable measured by the laser radar is correspondingly projected into the cable image acquired by the image shooting device, and is marked.
Specifically, the position of the target cable determined in the marked position is taken as a basic plane area; and extending each pixel point in the basic plane area to form a conical three-dimensional space or a trapezoid three-dimensional space by taking the pixel point as a ray starting point.
Specifically, determining a point group of intersection points of a plane position of the target cable and a three-dimensional area of the target cable; calculating to obtain a point cloud cluster in the point group through a clustering algorithm; and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
Specifically, the measuring mode of the laser radar is adjusted, and the other three-dimensional position of the target cable is obtained through calculation; and connecting the obtained three-dimensional positions of the target cables to obtain the overall three-dimensional position of the target cable.
The embodiment of the invention also provides a cable three-dimensional position calculating device for fusing the image and the laser radar, which comprises the following steps: the system comprises an acquisition unit, a display unit, a projection unit and a calculation unit, wherein: the acquisition unit is used for acquiring cable images in the target space range; the display unit is used for presenting the position of the cable in the cable image; the projection unit is used for taking a position area of a target cable in the cable image as a basic plane area and projecting the position area into a three-dimensional space; the calculating unit is used for calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space to serve as the three-dimensional position of the target cable.
Specifically, the acquiring unit is further configured to correspondingly project the plane position of the target cable measured by the laser radar into the cable image acquired by the image capturing device, and mark the plane position.
Specifically, the projection unit is further configured to use the position and the neighborhood of the target cable determined in the marked position as a basic plane area; and extending each pixel point in the basic plane area to form a conical three-dimensional space or a trapezoid three-dimensional space by taking the pixel point as a ray starting point.
Specifically, calculating to obtain a point cloud cluster in the point group through a clustering algorithm; and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages: the accuracy of the measurement result is improved; the image is matched with the laser radar, so that manual auxiliary work is not needed; the method can realize integral measurement of one or more sections of cables, and calculate and obtain integral information such as cable gesture, trend and the like.
Drawings
Fig. 1 is a schematic flow chart of a cable three-dimensional position calculation method of a fusion image and a laser radar provided in an embodiment of the invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, a flow chart of a method for calculating a three-dimensional position of a cable by fusing an image and a laser radar according to an embodiment of the present invention includes specific steps.
Step S101, acquiring a cable image in a target space range.
In a specific implementation, the target space refers to the space in which the cable that is needed to perform the measurement calculation is located. The cable image may be acquired by an image capturing device, which may be a camera, video camera, or the like.
In specific implementation, the relative position between the image shooting device and the laser radar can be fixed, and can be used as a measurement whole, so that the deviation of combination of cable position information in an image and cable position information measured by the laser radar caused by the change of the relative position between the image shooting device and the laser radar in the calculation and measurement process is avoided, and the accuracy of calculation and measurement is improved. Meanwhile, the lidar may be a single-line lidar.
Step S102, the position of the cable is presented in the cable image.
In a specific implementation, the cable image contains too much information, and the image display effect of the cable is not obvious, so that the position of the cable can be obtained by identifying the image according to information such as color, shape, brightness and the like through an image identification algorithm. Second, by presenting the location of the cable after identification, the location of the target cable that requires measurement calculations can be better determined. Meanwhile, manual auxiliary work is not needed.
In the embodiment of the invention, the cable position in the cable image acquired by the image shooting device is identified and marked.
In a specific implementation, after the image recognition algorithm recognizes the cables in the cable image, the relationship between the distance, the upper and lower positions of each cable can be determined based on the image imaging principle, and the relationship is displayed in a labeling manner (for example, the farther the distance, the lighter the color). The relation between the distance, the upper position and the lower position of the cable is information which is difficult to acquire from a plane image manually, manual auxiliary work is not needed, errors caused by manual work are avoided, a target cable which needs to be measured and calculated is easier to select, and therefore the accuracy of cable measurement and calculation can be improved.
In the embodiment of the invention, the plane position of the target cable measured by the laser radar is correspondingly projected into the cable image acquired by the image shooting device and marked.
In a specific implementation, the measurement result of the lidar is represented as a plane, which may be generally positional information of each object on a horizontal plane. The laser radar measures the position information on the plane of the cable, and the position information of the cable in the vertical direction (the direction perpendicular to the ground) is difficult to realize, which is one of the reasons that the manual auxiliary work needs to be combined in the prior art. The plane position of the cable measured by the laser radar can be correspondingly projected into the cable image by matching with the distance position relation between the cables in the cable image, the cable position can be obtained by matching with the detection image identification, and the accuracy of cable measurement calculation is further improved.
And step S103, taking the position area of the target cable in the cable image as a basic plane area, and projecting the basic plane area into a three-dimensional space.
In the embodiment of the invention, the position of the target cable determined in the marked position is taken as a basic plane area; and extending each pixel point in the basic plane area to form a conical three-dimensional space or a trapezoid three-dimensional space by taking the pixel point as a ray starting point.
In a specific implementation, based on the imaging principle of the image, the base plane area can be used as a bottom surface to project to obtain a conical three-dimensional space (conical three-dimensional space) or a trapezoidal three-dimensional space (trapezoidal three-dimensional space). In the conical three-dimensional space or the trapezoid three-dimensional space, a certain position on the ray corresponding to each pixel point is an actual position in space corresponding to the pixel point, and the distance information (plane position information) is unknown at the moment, so that the pixel point can be matched with a laser radar subsequently to determine the actual position of the pixel point in space.
In the implementation, the position and the neighborhood of the determined target cable are selected, so that the measuring calculation range can be enlarged to a certain extent, deviation of measuring calculation caused by the limitation of image imaging is avoided, and the accuracy of measuring calculation is further improved.
Step S104, calculating an intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space as the three-dimensional position of the target cable.
In specific implementation, the intersection point of the plane position of the target cable and the three-dimensional area of the target cable in the three-dimensional space can be determined by matching with the plane two-dimensional position measured by the laser radar, and the intersection point also corresponds to the point of the target cable in the actual three-dimensional space.
In a specific implementation, the three-dimensional area of the target cable is the area corresponding to the target cable in the three-dimensional space.
In the embodiment of the invention, a point group of an intersection point of a plane position of a target cable and a three-dimensional area of the target cable is determined; calculating to obtain a point cloud cluster in the point group through a clustering algorithm; and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
In a specific implementation, the object detected by the laser radar may be a cross section of a certain point or a certain section of the cable, and the planar two-dimensional position detected by the laser radar may be more than one point, may be a point group or a region formed by a plurality of points, and may also have interference noise. Therefore, when intersecting with the three-dimensional region of the target cable in the tapered three-dimensional space, a point group of a plurality of intersecting points can be obtained. Calculating to obtain a point cloud cluster in the point group through a clustering algorithm; the central point of the point cloud cluster with the largest number of the intersection points in the point cloud cluster is taken as the three-dimensional position of the target cable, the influence of interference noise can be solved through the steps, and the accuracy of cable measurement and calculation is further improved.
In the embodiment of the invention, the measuring mode of the laser radar is adjusted, and the other three-dimensional position of the target cable is obtained through calculation; and connecting the obtained three-dimensional positions of the target cables to obtain the overall three-dimensional position of the target cable.
In a specific implementation, when a longer section of cable or a plurality of sections of cables with different gesture directions are calculated, the measuring mode of the laser radar can be adjusted, including adjusting the measuring direction, the measuring angle and the like of the laser radar, and meanwhile, the image shooting device is correspondingly adjusted, namely, the image shooting device with fixed relative positions and the laser radar are used as a whole for measuring, and the same measuring mode adjustment is carried out at the same time.
In a specific implementation, the cross section of other points or sections of the cable is obtained through laser radar measurement, and the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space is calculated again to obtain another three-dimensional position of the target cable. And connecting lines among the three-dimensional positions of the target cables to obtain the whole three-dimensional positions of a longer section of cable or a plurality of sections of cables with different postures and trends. The image is matched with the laser radar, manual auxiliary work is not needed, and meanwhile, the accuracy of measurement and calculation is high.
In a specific implementation, in combination with the representation of the software, cable images of the target area are acquired, displayed through a graphical interactive interface, and the location of the cable including the callout may be displayed on the graphical interactive interface. And taking the cable selected on the graphical interactive interface as a target cable, transmitting a special message format compatible with the two-dimensional coordinates of the target cable to a cable measurement calculation server, and determining the three-dimensional coordinates of the target cable through calculation. The calculation process of the cable measurement calculation server is a process of calculating the intersection point of the plane position of the target cable and the three-dimensional area of the target cable in the three-dimensional space.
The embodiment of the invention also provides a cable three-dimensional position calculating device for fusing the image and the laser radar, which comprises the following steps: the system comprises an acquisition unit, a display unit, a projection unit and a calculation unit, wherein:
The acquisition unit is used for acquiring cable images in the target space range;
The display unit is used for presenting the position of the cable in the cable image;
The projection unit is used for taking a position area of a target cable in the cable image as a basic plane area and projecting the position area into a three-dimensional space;
The calculating unit is used for calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space to serve as the three-dimensional position of the target cable.
In the embodiment of the invention, the display unit is also used for identifying and marking the cable position in the cable image acquired by the image shooting device.
In the embodiment of the invention, the display unit is further used for correspondingly projecting the plane position of the cable measured by the laser radar into the cable image acquired by the image shooting device and marking the cable image.
In the embodiment of the invention, the projection unit is further used for taking the position and the neighborhood of the target cable determined in the marked position as a basic plane area;
And extending each pixel point in the basic plane area to form a conical three-dimensional space or a trapezoid three-dimensional space by taking the pixel point as a ray starting point.
In the embodiment of the invention, the computing unit is further used for determining a point group of intersection points of the plane position of the target cable and the three-dimensional area of the target cable; calculating to obtain a point cloud cluster in the point group through a clustering algorithm;
And taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
In the embodiment of the invention, the calculating unit is further used for adjusting the measuring mode of the laser radar to calculate and obtain the other three-dimensional position of the target cable;
and connecting the obtained three-dimensional positions of the target cables to obtain the overall three-dimensional position of the target cable.
Claims (5)
1. A cable three-dimensional position calculation method for fusing an image and a laser radar is characterized by comprising the following steps:
acquiring a cable image in a target space range; the relative position between the image shooting device and the laser radar is fixed;
identifying the cable position in the cable image acquired by the image shooting device and marking the cable position; correspondingly projecting the planar two-dimensional position of the cable measured by the laser radar into a cable image acquired by an image shooting device, and marking the cable image;
Taking the position of the target cable determined in the marked position and the neighborhood as a basic plane area; extending each pixel point in the basic plane area to form a conical three-dimensional space or a trapezoid three-dimensional space by taking each pixel point as a ray starting point;
And calculating an intersection point of the plane position of the target cable measured by the laser radar and a three-dimensional area of the target cable in the three-dimensional space, and taking the intersection point as the three-dimensional position of the target cable.
2. The method for calculating the three-dimensional position of the cable by fusing the image and the laser radar according to claim 1, wherein the calculating the intersection point of the planar position of the target cable measured by the laser radar and the three-dimensional region of the target cable in the three-dimensional space as the three-dimensional position of the target cable includes:
determining a point group of intersection points of the plane position of the target cable and the three-dimensional area of the target cable;
calculating to obtain a point cloud cluster in the point group through a clustering algorithm;
And taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
3. The method for calculating the three-dimensional position of a cable by fusing an image and a lidar according to claim 2, further comprising, after the three-dimensional position of the target cable:
adjusting the measuring mode of the laser radar, and calculating to obtain another three-dimensional position of the target cable;
and connecting the obtained three-dimensional positions of the target cables to obtain the overall three-dimensional position of the target cable.
4. A cable three-dimensional position calculation device that fuses an image with a lidar, comprising: the system comprises an acquisition unit, a display unit, a projection unit and a calculation unit, wherein:
The acquisition unit is used for acquiring cable images in the target space range; the relative position between the image shooting device and the laser radar is fixed;
The display unit is used for identifying the cable position in the cable image acquired by the image shooting device and labeling the cable position; correspondingly projecting the plane position of the cable measured by the laser radar into a cable image acquired by an image shooting device, and marking the cable image;
The projection unit is used for taking the position of the target cable determined in the marked position and the neighborhood as a basic plane area; extending each pixel point in the basic plane area to form a conical three-dimensional space or a trapezoid three-dimensional space by taking each pixel point as a ray starting point;
The calculating unit is used for calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space to serve as the three-dimensional position of the target cable.
5. The apparatus for calculating a cable three-dimensional position of a fusion image and a lidar according to claim 4, wherein the calculation unit is further configured to determine a point group of intersection points of a planar position of the target cable and a three-dimensional region of the target cable;
calculating to obtain a point cloud cluster in the point group through a clustering algorithm;
And taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
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| CN112034470B (en) * | 2020-09-02 | 2022-10-18 | 亿嘉和科技股份有限公司 | Cable identification and positioning method based on solid-state area array laser radar |
| CN113205581B (en) * | 2021-05-21 | 2023-03-21 | 广东电网有限责任公司 | Detection method and system for cable jacking pipe |
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| JP2007171092A (en) * | 2005-12-26 | 2007-07-05 | Ishikawajima Harima Heavy Ind Co Ltd | Marker for three-dimensional measurement, and three-dimensional measurement method using the same |
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