CN112001974A - Calibration device and calibration method for underwater stereoscopic observation system - Google Patents
Calibration device and calibration method for underwater stereoscopic observation system Download PDFInfo
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Abstract
The invention discloses a calibration device of an underwater stereoscopic observation system, which comprises a calibration plate moving device arranged on a glass water tank, a calibration plate fixed inside the glass water tank through the calibration plate moving device, and binocular vision equipment arranged outside the glass water tank; the calibration plate moving device comprises a positioning track, the positioning track is fixed at the top of the glass water tank through a hanging piece, the positioning track comprises a group of track short shafts and a group of track long shafts which are oppositely arranged, a plurality of first clamping grooves are formed in the track short shafts, two ends of a moving rod are arranged on the track short shafts of the positioning track through the first clamping grooves, a plurality of groups of second clamping grooves are formed in the moving rod, the top end of a moving mechanism is detachably connected with the moving rod through the second clamping grooves, and the calibration plate is fixedly connected with the moving mechanism; the calibration plate changes the position in the glass water tank through the moving mechanism and the moving rod, and the binocular vision equipment acquires a sampling image of the calibration plate at the current position.
Description
Technical Field
The invention relates to the field of aquaculture, in particular to a calibration device and a calibration method for an underwater three-dimensional observation system.
Background
In aquaculture, the target object in the glass water tank is often required to be calibrated. However, when a vision measurement method is used to reconstruct a target body three-dimensionally, a vision system and the target to be measured are often in the same medium environment (such as air), and when the internal standard of a glass water tank is used, in order to not disturb fluid, the vision system is generally placed outside the glass water tank, and the movement of the target body in water is observed through glass, so that the glass medium and the water medium exist between the target to be measured and the vision system besides the medium of air. Under the action of the three media with different refractive indexes, the original imaging light path of the target object is changed, and a large error is generated by reconstructing the space coordinate of the target point by using the positions of the image points with different angles in a linear light path intersection mode.
Disclosure of Invention
The invention aims to provide a calibration device and a calibration method of an underwater stereoscopic observation system aiming at the defects in the prior art, so as to solve the problems in the prior art.
The technical problem solved by the invention can be realized by adopting the following technical scheme:
a calibration device of an underwater stereoscopic observation system comprises a calibration plate moving device arranged on a glass water tank, a calibration plate fixed inside the glass water tank through the calibration plate moving device, and binocular vision equipment arranged outside the glass water tank;
the calibration plate moving device comprises a positioning track, the positioning track is fixed at the top of the glass water tank through a hanging piece, the positioning track comprises a group of track short shafts and a group of track long shafts which are oppositely arranged, a plurality of first clamping grooves are formed in the track short shafts, two ends of a moving rod are arranged on the track short shafts of the positioning track through the first clamping grooves, a plurality of groups of second clamping grooves are formed in the moving rod, the top end of a moving mechanism is detachably connected with the moving rod through the second clamping grooves, and the calibration plate is fixedly connected with the moving mechanism;
the calibration plate changes the position in the glass water tank through the moving mechanism and the moving rod, and the binocular vision equipment acquires a sampling image of the calibration plate at the current position.
Further, the sampling process of the binocular vision device is as follows:
1) installing binocular vision equipment, a calibration plate moving device and a calibration plate, and adjusting the position of the binocular vision equipment to enable the glass water tank to be capable of forming images completely;
2) placing a moving rod at the starting position of a short shaft, placing a moving mechanism at the clamping groove at the starting position of the long shaft, taking the position of the calibration plate at the moment as a sampling starting point, setting the target point at the lower left corner of the calibration plate as the origin of a world coordinate system, and shooting a frame 1 image;
3) sequentially translating the moving mechanism twice along a second clamping groove of the moving rod, and respectively shooting 2 nd to 3 rd frame images;
4) keeping the position of the moving mechanism still, translating the moving rod along the short axis of the track to a next first clamping groove, and shooting a 4 th frame of image;
5) the moving mechanism is translated twice along the second clamping groove of the moving rod in the reverse direction, and images of 5 th to 6 th frames are shot;
6) keeping the position of the moving mechanism still, translating the moving rod to the next first clamping groove along the short axis of the track, and repeating the steps 2) -5) until the last first clamping groove is positioned, thereby completing the full-view sampling.
Further, the calibration method of the binocular vision device comprises the following steps:
1) obtaining the position information of the calibration plate through machine vision software, after obtaining the position of the calibration plate, utilizing an operator to segment circles in the area, and finding out the number, the perimeter, the coordinate position of the circles and consistent target points in the description file of the calibration plate;
2) calculating to obtain the pixel coordinates of the target point; setting a world coordinate system with an X axis parallel to a long axis of the fish tank, a Y axis vertical to the bottom of the fish tank, a Z axis parallel to a short axis of the fish tank and an origin as a lower right target point of an initial position of a calibration plate, and combining the moving distance of the calibration plate and the spatial distribution of the target points to obtain world coordinate system coordinates of the target points;
3) dividing effectively collected target points into a training set and a testing set; optimizing the parameters of the training set of the coordinate system by using a genetic algorithm, and outputting an optimal combination to obtain optimized model parameters after iteration reaches the maximum times;
4) constructing an SVR training model of a coordinate system by using the model parameters determined by the genetic algorithm, and predicting three parameters in a world coordinate system; the target point comprises left and right image pixel coordinates and world coordinate information, and the unit of the image coordinate value is a pixel, namely the pixel coordinate of the target point in the image.
Further, the calibration method of the binocular vision device comprises an error evaluation process, and the method comprises the following steps:
the method combining axial error evaluation and single-point error evaluation is adopted, the MSE function is adopted for the axial error evaluation, and the P function is adopted for the single-point error evaluationMSEThe function is specifically as follows:
in the formula, x ', y ' and z ' are actual space coordinates of the measuring points, xi′、yi′、zi' predicting data for a model of a measurement point, diFor all measurement points the actual spatial coordinates in the x, y or z axis, di' model predicted data at X, Y or the Z-axis for all measurement points.
Compared with the prior art, the invention has the beneficial effects that:
the three-dimensional space coordinate information of the target is reconstructed in an image acquisition and analysis mode, and the method has the advantages of non-contact, high precision, wide measurement range and the like, and can well meet the calibration requirement.
Drawings
Fig. 1 is a schematic diagram of a calibration device of an underwater stereo observation system according to the present invention.
Fig. 2 is a schematic view of a calibration plate according to the present invention.
Fig. 3 is a schematic position diagram of the binocular vision apparatus and the glass water tank according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1, 2 and 3, the calibration device of the underwater stereoscopic observation system comprises a calibration plate moving device arranged on a glass water tank (3), a calibration plate fixed inside the glass water tank (3) through the calibration plate moving device, and binocular vision equipment arranged outside the glass water tank (3);
the calibration plate moving device comprises a positioning track (1), the positioning track (1) is fixed at the top of the glass water tank (3) through a hanging piece (5), the positioning track (1) comprises a group of track short shafts (6) and a group of track long shafts (7) which are arranged oppositely, a plurality of first clamping grooves (61) are formed in the track short shafts (6), two ends of a moving rod (4) are arranged on the track short shafts (6) of the positioning track (1) through the first clamping grooves (61), a plurality of groups of second clamping grooves (41) are formed in the moving rod (4), the top end of a moving mechanism (2) is detachably connected with the moving rod (4) through the second clamping grooves (41), and the calibration plate is fixedly connected with the moving mechanism (2);
the calibration plate changes the position in the glass water tank (3) through the moving mechanism (2) and the moving rod (4), and the binocular vision equipment acquires a sampling image of the calibration plate at the current position.
Example 1
The inner diameter of the positioning track (1) is 1300 mm multiplied by 900mm, the upper and lower thicknesses are 20mm, the single-side width is 50mm, the distance between the track long shaft (7) and the inner wall of the glass water tank (3) is 41mm, and the distance between the track short shaft (6) and the inner wall of the glass water tank (3) is 16 mm. The hanging piece (5) is connected with the glass water tank (3), and the upper plane of the positioning track (1) is flush with the top of the glass water tank (3).
The length of the movable rod (4) is 1320mm, the upper and lower thickness is 20mm, the width is 20mm, and the movable rod is fixed on the short axis (6) of the track through the first clamping groove (61).
A first clamping groove (61) (with the length of 10mm, the width of 20mm and the depth of 10mm) is machined from the initial position of the track short shaft (6) every 50mm, and 17 pairs of clamping grooves are machined.
Along the direction of the long shaft (7) of the rail, a pair of second clamping grooves (41) (with the length of 20mm, the width of 20mm and the depth of 10mm) are machined on the movable rod (4) at intervals of 400mm from the starting position of the long shaft, the interval of each pair of second clamping grooves (41) is 550mm, the width of each pair of second clamping grooves is equal to that of a hanging arm of the moving mechanism (2), and 3 pairs of second clamping grooves (41) are machined.
The height of the moving mechanism (2) is 900mm, the width of the moving mechanism is 550mm, the moving mechanism is fixed on the moving rod through a second clamping groove (41), and the calibration plate is fixed at the bottom end of the moving mechanism (2).
The calibration plate moving device is processed by a high-precision numerical control machine tool, the processing precision is +/-0.05 mm, and the installation precision of the second clamping groove (61) and the second clamping groove (41) is +/-0.1 mm. When the camera is calibrated, the calibration plate is vertically fixed on the movable rod (4), the calibration plate is moved along the long axis direction and the movable rod is moved along the short axis direction according to the clamping groove position, and a sample image is shot at each position, so that the collected calibration plate image can cover the space of the whole glass water tank (3), and full-view sampling is realized.
The sampling process of the binocular vision device is as follows:
1) installing binocular vision equipment and a calibration plate moving device, and adjusting the position of a binocular camera to enable the water tank to be capable of completely imaging, wherein the equipment is arranged as shown in figure 2;
2) placing a moving rod in a short shaft initial position clamping groove shown in figure 1, placing a moving mechanism in a long shaft initial position clamping groove on a calibration rod, taking the position as a sampling starting point, setting a target point at the lower left corner of a calibration plate as a world coordinate system origin, and shooting a frame 1 image;
3) translating the moving mechanism for 2 times along the long axis direction according to the sequence of the positions of the clamping grooves, moving for 400mm, and respectively shooting 2 nd to 3 rd frames of images;
4) keeping the position of the moving mechanism, translating the moving rod by 50mm along the short axis direction, placing the moving rod at the position of the next clamping groove of the positioning track, and shooting a 4 th frame of image;
5) the moving mechanism is translated twice in a reverse sequence, the moving distance is 400mm, and 5 th to 6 th frame images are shot;
6) and (5) keeping the position of the moving mechanism, translating the moving rod by 50mm along the short axis direction, and repeating the steps (2) to (5) until the position of the last slot stops, so that the full-view sampling is completed.
According to the equipment installation layout and the size of the calibration plate, the upper limit of the distance of the calibration plate which can move from left to right is set to 1200mm, and the upper limit of the distance of the calibration rod which can move from front to back is set to 850 mm; after the above sampling process is completed, there will be 51 pairs of 102 images in the sample library, and the first 47 pairs are selected as training set, the 48 th pair as test set, and the last 3 pairs as evaluation samples. Since there are 49 target points (71) per picture, 2303 target points (71) are shared in the first 47 pairs of images as training sets, 49 target points (71) are shared in the 48 th pair of images as test sets, and 147 target points (71) are shared in the last 3 pairs of images as evaluation samples.
The calibration method of the binocular vision equipment comprises an error evaluation process, and the method comprises the following steps:
and obtaining the position information of the calibration plate through a find _ calltab () operator carried by HALCON software, after obtaining the position of the calibration plate, utilizing the find _ marks _ and _ position () operator to segment circles in the area, and finding out consistent target points (71) of the number, the perimeter, the coordinate position and the like of the circles and in the description file of the calibration plate.
The pixel coordinates of the target point (71) can be obtained by the operator operation. Setting the X axis of a world coordinate system to be parallel to the long axis of the fish tank, the Y axis to be vertical to the bottom of the fish tank, the Z axis to be parallel to the short axis of the fish tank, and the origin point to be the lower right target point (71) of the initial position of the calibration plate, and combining the moving distance of the calibration plate and the spatial distribution of the target points (71) to obtain the world coordinate system coordinates of the target points (71). A total effect is collected for 2352 target points (71), wherein the first 2303 points are selected as a training set, and the last 49 points are selected as a testing set.
And (3) optimizing the parameters of the training set of the 3 coordinate systems by using a genetic algorithm, comprehensively considering the operation running speed of the algorithm and the convergence of fitness functions of different calibration models, and uniformly selecting the population scale and the evolution algebra of the 3 groups of optimized samples as 60 and 200. The search ranges for parameters C and g are [1000, 10000], [0.0001, 0.000001], respectively. When the iteration reaches the maximum times, the optimal combination is output, and the optimized model parameters are shown in the following table.
The method combining axial error evaluation and single-point error evaluation is adopted, the MSE function is adopted for the axial error evaluation, and the P function is adopted for the single-point error evaluationMSEThe function is specifically as follows:
in the formula, x ', y ' and z ' are actual space coordinates of the measuring points, xi′、yi′、zi' predicting data for a model of a measurement point, diFor all measurement points the actual spatial coordinates in the x, y or z axis, di' model predicted data at X, Y or the Z-axis for all measurement points.
In addition, since the μm measurement accuracy is already a very good measurement accuracy, and the predicted value based on the training model is not affected by the actual measurement accuracy, the predicted value can reach an infinite number of digits, and therefore, in order to ensure the effectiveness of the evaluation accuracy, the accuracy error is set to three digits after the decimal point.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A calibration device of an underwater stereoscopic observation system is characterized by comprising a calibration plate moving device arranged on a glass water tank (3), a calibration plate fixed inside the glass water tank (3) through the calibration plate moving device, and binocular vision equipment arranged outside the glass water tank (3);
the calibration plate moving device comprises a positioning track (1), the positioning track (1) is fixed at the top of the glass water tank (3) through a hanging piece (5), the positioning track (1) comprises a group of track short shafts (6) and a group of track long shafts (7) which are arranged oppositely, a plurality of first clamping grooves (61) are formed in the track short shafts (6), two ends of a moving rod (4) are arranged on the track short shafts (6) of the positioning track (1) through the first clamping grooves (61), a plurality of groups of second clamping grooves (41) are formed in the moving rod (4), the top end of a moving mechanism (2) is detachably connected with the moving rod (4) through the second clamping grooves (41), and the calibration plate is fixedly connected with the moving mechanism (2);
the calibration plate changes the position in the glass water tank (3) through the moving mechanism (2) and the moving rod (4), and the binocular vision equipment acquires a sampling image of the calibration plate at the current position.
2. The calibration device for the underwater stereoscopic observation system according to claim 1, wherein the sampling process of the binocular vision equipment is as follows:
1) installing binocular vision equipment, a calibration plate moving device and a calibration plate, and adjusting the position of the binocular vision equipment to enable the glass water tank to be capable of forming images completely;
2) placing the moving rod (4) at the starting position of the short shaft, placing the moving mechanism (2) at the clamping groove at the starting position of the long shaft, taking the position of the calibration plate at the moment as a sampling starting point, setting the target point at the lower left corner of the calibration plate as the origin of a world coordinate system, and shooting a frame 1 image;
3) sequentially translating the moving mechanism (2) twice along a second clamping groove (41) of the moving rod (4), and respectively shooting 2 nd to 3 rd frames of images;
4) keeping the position of the moving mechanism (2) still, translating the moving rod (4) to a next first clamping groove (61) along the track short shaft (6), and shooting a 4 th frame image;
5) the moving mechanism (2) is translated twice along the second clamping groove (41) of the moving rod (4) in the reverse direction, and images of 5 th to 6 th frames are shot;
6) keeping the position of the moving mechanism (2) still, translating the moving rod (4) to the next first card slot (61) along the short axis (6) of the track, and repeating the steps 2) -5 until the position of the last first card slot (61) is reached, thereby completing the full-view sampling.
3. The calibration device of the underwater stereo observation system according to claim 2, wherein the calibration method of the binocular vision equipment is as follows:
1) obtaining the position information of the calibration plate through machine vision software, after obtaining the position of the calibration plate, utilizing an operator to segment circles in the area, and finding out the number, the perimeter, the coordinate position of the circles and the consistent target point (71) in the description file of the calibration plate;
2) calculating to obtain the pixel coordinates of the target point (71); setting a world coordinate system X axis parallel to the long axis of the fish tank, a Y axis vertical to the bottom of the fish tank, a Z axis parallel to the short axis of the fish tank and an origin as a lower right target point (71) of the initial position of the calibration plate, and combining the moving distance of the calibration plate and the spatial distribution of the target points (71) to obtain the world coordinate system coordinate of the target points (71);
3) dividing effectively collected target points (71) into a training set and a testing set; optimizing the parameters of the training set of the coordinate system by using a genetic algorithm, and outputting an optimal combination to obtain optimized model parameters after iteration reaches the maximum times;
4) constructing an SVR training model of a coordinate system by using the model parameters determined by the genetic algorithm, and predicting three parameters in a world coordinate system; the target point (71) comprises left and right image pixel coordinates and world coordinate information, and the unit of the image coordinate value is a pixel, namely the pixel coordinate of the target point (71) in the image.
4. The calibration device for the underwater stereoscopic observation system according to claim 3, wherein the calibration method for the binocular vision device comprises an error evaluation process, and the method comprises the following steps:
the method combining axial error evaluation and single-point error evaluation is adopted, the MSE function is adopted for the axial error evaluation, and the P function is adopted for the single-point error evaluationMSEThe function is specifically as follows:
in the formula, x ', y ' and z ' are actual space coordinates of the measuring points, xi′、yi′、zi' predicting data for a model of a measurement point, diFor all measurement points the actual spatial coordinates in the x, y or z axis, di' model predicted data at X, Y or the Z-axis for all measurement points.
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