CN112381892B - Automobile vision detection error evaluation method and system for unconstrained concentric beam group - Google Patents
Automobile vision detection error evaluation method and system for unconstrained concentric beam group Download PDFInfo
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- CN112381892B CN112381892B CN202011499042.6A CN202011499042A CN112381892B CN 112381892 B CN112381892 B CN 112381892B CN 202011499042 A CN202011499042 A CN 202011499042A CN 112381892 B CN112381892 B CN 112381892B
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- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 238000011156 evaluation Methods 0.000 title claims abstract description 33
- 238000004458 analytical method Methods 0.000 claims abstract description 30
- 238000013519 translation Methods 0.000 claims abstract description 11
- 238000012360 testing method Methods 0.000 claims abstract description 4
- 238000009795 derivation Methods 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000011179 visual inspection Methods 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
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- 238000012795 verification Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
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- 238000007689 inspection Methods 0.000 abstract description 7
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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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
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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
- G06T2207/30244—Camera pose
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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
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
The invention discloses an automobile vision detection error evaluation method and system of an unconstrained concentric beam group, and aims to solve the problem of automobile vision detection error source evaluation of the unconstrained concentric beam group. The automobile vision detection error evaluation system of the unconstrained concentric beam family mainly comprises an error difference analysis plate (2). The method for evaluating the automobile vision detection errors of the unconstrained concentric beam group mainly comprises the steps of obtaining each factor affecting the detection precision of the automobile vision detection error evaluation method of the unconstrained concentric beam group, analyzing the image coordinate influence of laser characteristic points, analyzing the inner parameter influence of a camera, analyzing the translation vector influence of the camera, testing and verifying the accuracy of the automobile vision detection error evaluation method of the unconstrained concentric beam group and the like. A method and system for evaluating performance-stable errors in an automotive vision inspection system usable with an unconstrained concentric beam family is provided.
Description
Technical Field
The invention relates to a detection error evaluation system and method in the field of automobile detection, in particular to an automobile vision detection error evaluation method and system of an unconstrained concentric light beam group.
Background
With the development of the automobile detection and diagnosis industry in recent years, the precision of an automobile detection system is also receiving further attention. An automobile vision detection system of an unconstrained concentric light beam family is a vehicle detection system based on a machine vision technology, but no accurate analysis method for relevant influence factors of detection precision of the system exists at present. Aiming at the problem, an automobile vision detection error evaluation method and system of an unconstrained concentric beam group are provided, the method can analyze influence factors causing the accuracy of the laser automobile body intersection point reconstructed by an automobile vision detection system (publication number: CN 109540040A) of the unconstrained concentric beam group, study the influence of each factor on the detection accuracy, and carry out corresponding experiment by utilizing the error evaluation system to verify the accuracy of the evaluation method.
Disclosure of Invention
Aiming at the current situation that the detection precision of an automobile vision detection system for solving the unconstrained concentric beam group lacks quantitative research, the invention provides a method and a system which are reliable in performance, simple in structure and simple and convenient to operate, and the analysis of each influencing factor of the reconstruction precision of a laser intersection point is realized. The influence of factors such as the internal parameters and the external parameters of the camera, the image coordinates of the laser intersection point images and the like on the system precision is analyzed through solving the partial derivatives of the factors.
The invention is realized by adopting the following technical scheme in combination with the attached drawings of the specification:
the method for evaluating the automobile vision detection errors of the unconstrained concentric beam family comprises the following specific steps of:
the first step: obtaining influence factors of detection accuracy of an automobile vision detection error evaluation method of an unconstrained concentric beam group:
three-dimensional coordinates of laser intersection points in camera coordinate systemEach component is
Wherein,is->Corresponding image projection point coordinates +.>The elements of (a), (b), (c), (u), (v) being the matrix of parameters in the camera +.>Element of (a)>The laser line Plucker matrix represented by a plane->Elements of (a) and (b);
and a second step of: the image coordinates of the laser intersection point influence the precision of the three-dimensional coordinate values of the reconstructed laser intersection point:
image coordinates of laser intersection pointsElements in the direction of the horizontal axis->The derivation is carried out to obtain
Image coordinates of laser intersection pointsElements in the direction of the longitudinal axis->The derivation is carried out to obtain
And a third step of: the three-dimensional coordinate value precision influence of the internal parameter K of the camera on the reconstruction laser intersection point:
deriving alpha element in camera internal parameter K to obtain
Deriving beta element in the camera internal parameter K to obtain
Deriving gamma element in camera internal parameter K to obtain
Deriving u element in internal parameter K of camera internal parameter to obtain
Deriving v element in camera internal parameter K to obtain
Fourth step: the accuracy influence of the external parameter translation vector of the camera on the three-dimensional coordinate value of the reconstructed laser intersection point:
translation vector t for camera external parameters 1 The three elements of (1) are derived as follows
Through further calculation, can be obtained
Fifth step: test verification of accuracy of automobile vision detection error evaluation method of unconstrained concentric beam family:
the automobile visual detection system 1 of the unconstrained concentric beam family is placed on the ground, different distances are kept between a mobile two-dimensional target and a camera, when the two-dimensional target moves, the position of the error difference analysis plate 2 is adjusted, so that a standard circle on the error difference analysis plate 2 is always intersected with a laser beam, the result detection of the two-dimensional target and the camera at different distances can be realized, and the accuracy of derivative analysis on three elements in the translation vector of the external parameters of the camera in the fourth step can be verified by comparing the reconstruction radius with the standard circle radius.
The automobile vision detection error evaluation system of the unconstrained concentric beam family comprises an error analysis board;
the error analysis board is a rectangular part made of steel plates, and standard circular patterns are attached to the surface of the error analysis board.
The beneficial effects of the invention are as follows:
(1) The invention constructs an error evaluation model of the automobile vision detection system of the unconstrained concentric beam family. The accuracy of the error evaluation method is verified by intersecting the laser beam with a standard circle on the error analysis plate 2 and comparing the radius of the standard circle with the size of the reconstruction result under the condition of different distances between the camera and the two-dimensional target.
(2) The standard circular pattern on the error analysis board 2 adopted by the invention is printed by a printer, has higher precision, can effectively reduce the self-device error of an error evaluation system and improves the evaluation accuracy.
(3) The invention can complete the influence factor analysis of the system precision by only adding an error analysis board 2 to the unconstrained concentric beam group detection system, and has the advantages of simple structure, reliable performance, simple and convenient operation, wide application range and the like.
Drawings
FIG. 1 is a flow chart of solving three-dimensional coordinates of laser intersection points in a camera coordinate system in an automobile vision inspection error evaluation method of an unconstrained concentric beam family;
FIG. 2 is a flow chart of an analysis of the effect of image coordinates on three-dimensional coordinates of reconstruction points in an automobile vision inspection error evaluation method of an unconstrained concentric beam family;
FIG. 3 is a flow chart of an analysis of the effect of focal length element alpha on the three-dimensional coordinates of a reconstruction point in the camera internal parameters in the method for evaluating the visual inspection errors of an automobile with an unconstrained concentric beam family;
FIG. 4 is a flow chart of an analysis of the effect of focal length element beta on the three-dimensional coordinates of a reconstruction point in the camera internal parameters in the method for evaluating the visual inspection errors of an automobile with an unconstrained concentric beam family;
FIG. 5 is a flow chart of an analysis of the effect of a distortion element gamma in parameters in a camera on three-dimensional coordinates of a reconstruction point in an automobile vision inspection error evaluation method of an unconstrained concentric beam family;
FIG. 6 is a flow chart of an analysis of the effect of principal point coordinate elements in parameters in a camera on three-dimensional coordinates of a reconstruction point in an automobile vision inspection error evaluation method of an unconstrained concentric beam family;
FIG. 7 is a flow chart of an analysis of the effect of elements in the translation vector of the camera external parameters on the three-dimensional coordinates of the reconstruction points in the method for evaluating the automobile vision detection errors of the unconstrained concentric beam family;
FIG. 8 is an isometric view of an error assessment system for automotive vision inspection of an unconstrained concentric beam family;
FIG. 9 is an isometric view of the error analysis plate 2 in the error assessment system for the visual inspection of an automobile with an unconstrained concentric beam of light;
in the figure: 1. and 2, an automobile vision detection system of an unconstrained concentric light beam family, namely a false differential analysis board.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1 to 7, the method for evaluating the automobile vision detection error of the unconstrained concentric beam group can be divided into the following five steps:
the first step: obtaining influence factors of detection accuracy of an automobile vision detection error evaluation method of an unconstrained concentric beam group:
three-dimensional coordinates of laser intersection points in camera coordinate systemEach component is
Wherein,is->Corresponding image projection point coordinates +.>The elements of (a), (b), (c), (u), (v) being the matrix of parameters in the camera +.>Element of (a)>The laser line Plucker matrix represented by a plane->Elements of (a) and (b);
and a second step of: the image coordinates of the laser intersection point influence the precision of the three-dimensional coordinate values of the reconstructed laser intersection point:
image coordinates of laser intersection pointsElements in the direction of the horizontal axis->The derivation is carried out to obtain
Image coordinates of laser intersection pointsElements in the direction of the longitudinal axis->The derivation is carried out to obtain
And a third step of: the three-dimensional coordinate value precision influence of the internal parameter K of the camera on the reconstruction laser intersection point:
deriving alpha element in camera internal parameter K to obtain
Deriving beta element in the camera internal parameter K to obtain
Deriving gamma element in camera internal parameter K to obtain
Deriving u element in internal parameter K of camera internal parameter to obtain
Deriving v element in camera internal parameter K to obtain
Fourth step: the accuracy influence of the external parameter translation vector of the camera on the three-dimensional coordinate value of the reconstructed laser intersection point:
translation vector t for camera external parameters 1 The three elements of (1) are derived as follows
Through further calculation, can be obtained
Fifth step: test verification of accuracy of automobile vision detection error evaluation method of unconstrained concentric beam family:
the automobile visual detection system 1 of the unconstrained concentric beam family is placed on the ground, different distances are kept between a mobile two-dimensional target and a camera, when the two-dimensional target moves, the position of the error difference analysis plate 2 is adjusted, so that a standard circle on the error difference analysis plate 2 is always intersected with a laser beam, the result detection of the two-dimensional target and the camera at different distances can be realized, and the accuracy of derivative analysis on three elements in the translation vector of the external parameters of the camera in the fourth step can be verified by comparing the reconstruction radius with the standard circle radius.
Referring to fig. 8 to 9, the automobile vision inspection error evaluation system of the unconstrained concentric beam family includes an error analysis board 2.
The error analysis board 2 is a rectangular part made of steel plate, and the surface is pasted with a standard circle pattern.
Claims (2)
1. The error evaluation method of the automobile vision detection error evaluation system of the unconstrained concentric beam group is characterized by comprising the following specific steps of
The first step: obtaining influence factors of detection precision of an error evaluation method for automobile vision detection of an unconstrained concentric beam group:
three-dimensional coordinates of laser intersection points in camera coordinate systemEach component is
Wherein,is->Corresponding image projection point coordinates +.>The elements of (a), (b), (c), (u), (v) being the matrix of parameters in the camera +.>Element of (a)>Is a matrix of laser lines Plucker represented by facetsElements of (a) and (b);
and a second step of: the image coordinates of the laser intersection point influence the precision of the three-dimensional coordinate values of the reconstructed laser intersection point:
image coordinates of laser intersection pointsElements in the direction of the horizontal axis->The derivation is carried out to obtain
Image coordinates of laser intersection pointsElements in the direction of the longitudinal axis->The derivation is carried out to obtain
And a third step of: the three-dimensional coordinate value precision influence of the internal parameter K of the camera on the reconstruction laser intersection point: deriving alpha element in camera internal parameter K to obtain
Deriving beta element in the camera internal parameter K to obtain
Deriving gamma element in camera internal parameter K to obtain
Deriving u element in internal parameter K of camera internal parameter to obtain
Deriving v element in camera internal parameter K to obtain
Fourth step: the accuracy influence of the external parameter translation vector of the camera on the three-dimensional coordinate value of the reconstructed laser intersection point:
translation vector t for camera external parameters 1 According to 3 elements in (3)The derivation is performed in the following way
Through further calculation, can be obtained
Fifth step: test verification of accuracy of error evaluation method for automobile vision detection of unconstrained concentric beam family:
the automobile visual detection system (1) of the unconstrained concentric beam family is placed on the ground, different distances are kept between a mobile two-dimensional target and a camera, when the two-dimensional target moves, the position of the error difference analysis plate (2) is adjusted, so that a standard circle on the error analysis plate (2) is always intersected with a laser beam, the result detection of the two-dimensional target and the camera at different distances can be realized, and the accuracy of derivation analysis on three elements in the translation vector of the external parameters of the camera in the fourth step can be verified by comparing the reconstruction radius with the standard circle radius.
2. The evaluation system of the automobile visual inspection error evaluation method of the unconstrained concentric beam family according to claim 1, characterized in that the evaluation system of the automobile visual inspection error evaluation method of the unconstrained concentric beam family comprises a false difference analysis board (2); the error analysis board (2) is a rectangular part made of steel plates, and standard circular patterns are attached to the surfaces of the rectangular part.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005017286A (en) * | 2003-06-06 | 2005-01-20 | Mitsubishi Electric Corp | Method and system for camera calibration |
| KR20130075712A (en) * | 2011-12-27 | 2013-07-05 | (재)대구기계부품연구원 | A laser-vision sensor and calibration method thereof |
| CN109540040A (en) * | 2019-01-14 | 2019-03-29 | 吉林大学 | Based on without constraint homocentric beam race automobile pattern Active visual inspection System and method for |
| CN209230559U (en) * | 2019-01-14 | 2019-08-09 | 吉林大学 | Based on the automobile pattern Active visual inspection system without constraint optical plane |
| CN209399945U (en) * | 2019-01-14 | 2019-09-17 | 吉林大学 | Based on without constraint homocentric beam race automobile pattern Active visual inspection system |
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- 2020-12-09 CN CN202011499042.6A patent/CN112381892B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005017286A (en) * | 2003-06-06 | 2005-01-20 | Mitsubishi Electric Corp | Method and system for camera calibration |
| KR20130075712A (en) * | 2011-12-27 | 2013-07-05 | (재)대구기계부품연구원 | A laser-vision sensor and calibration method thereof |
| CN109540040A (en) * | 2019-01-14 | 2019-03-29 | 吉林大学 | Based on without constraint homocentric beam race automobile pattern Active visual inspection System and method for |
| CN209230559U (en) * | 2019-01-14 | 2019-08-09 | 吉林大学 | Based on the automobile pattern Active visual inspection system without constraint optical plane |
| CN209399945U (en) * | 2019-01-14 | 2019-09-17 | 吉林大学 | Based on without constraint homocentric beam race automobile pattern Active visual inspection system |
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