CN112697072B - Precision self-checking pavement three-dimensional texture measuring method and system and storage medium - Google Patents
Precision self-checking pavement three-dimensional texture measuring method and system and storage medium Download PDFInfo
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- CN112697072B CN112697072B CN202011415731.4A CN202011415731A CN112697072B CN 112697072 B CN112697072 B CN 112697072B CN 202011415731 A CN202011415731 A CN 202011415731A CN 112697072 B CN112697072 B CN 112697072B
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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
- 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
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Abstract
The invention discloses a method and a system for measuring three-dimensional texture of a road surface by precision self-checking, and a storage medium, wherein the method for measuring the three-dimensional texture of the road surface by the precision self-checking comprises the following steps: obtaining a three-dimensional reconstruction result of the road surface to be detected based on the binocular reconstruction device; acquiring a plurality of marking points of a pavement to be tested; obtaining position information of a plurality of marking points based on a binocular reconstruction device; calculating theoretical parallax and theoretical elevation of each marking point according to the position information; acquiring the actual parallax and the actual elevation of each marking point according to the position information and the three-dimensional reconstruction result; and calculating the deviation value of the three-dimensional reconstruction result according to the theoretical parallax, the theoretical elevation, the actual parallax and the actual elevation. The invention can carry out precision self-checking on the three-dimensional reconstruction result of the road surface to be detected, has the characteristics of simple structure and convenient operation, is beneficial to perfecting the reconstruction technology of the three-dimensional texture of the road surface to be detected according to the precision self-checking result, and improves the accuracy of the detection result.
Description
Technical Field
The invention relates to the technical field of road engineering detection, in particular to a method and a system for measuring three-dimensional texture of a road surface by precision self-checking and a storage medium.
Background
The good road surface anti-skid performance is an important guarantee for driving safety and is also the requirement of project quality. The accurate measurement of the three-dimensional texture of the road surface is used for better evaluating the anti-skid performance of the road surface and serving the traffic safety. A great deal of researches show that the road surface anti-skid performance is closely related to three-dimensional textures, and the three-dimensional textures of the road surface are important factors influencing the formation of the road surface anti-skid performance. The international road association researches find that the macroscopic texture and the microscopic texture can influence the skid resistance of the pavement, wherein the wavelength of the macroscopic texture appearance is 0.5 mm-50 mm, and the height dimension is 0.5 mm-20 mm; the wavelength and height of the micro-texture are less than 0.5mm.
In general, the evaluation of the test accuracy of the three-dimensional texture measuring device for a road surface is mainly completed by other topography testing devices, for example: sand laying, surface contact probe profilers, three-dimensional laser scanners, etc. However, the evaluation mode often causes different resolutions and measurement ranges due to the difference of measurement equipment, and the real evaluation of single-point measurement or local measurement is difficult to realize; moreover, the overall statistical average data is often adopted as an evaluation result in the evaluation mode, the comparison of the measurement effects among different measurement devices is carried out, the noise component can be weakened by the data processing mode, the measurement precision is intangibly pulled up, and the actual measurement precision of the device to be evaluated is not realized.
Disclosure of Invention
The invention mainly aims to provide a pavement three-dimensional texture measuring method, a detection system and a storage medium which can realize accurate measurement of pavement three-dimensional textures and accurate self-detection of accurate self-detection.
In order to achieve the above purpose, the invention provides a pavement three-dimensional texture measuring method for precision self-checking, which comprises the following steps:
based on the binocular reconstruction device, obtaining a three-dimensional reconstruction result of the road surface to be detected;
acquiring a plurality of marking points of the pavement to be tested;
obtaining position information of the plurality of marking points based on the binocular reconstruction device;
calculating theoretical parallax and theoretical elevation of each marking point according to the position information;
acquiring the actual parallax and the actual elevation of each marking point according to the position information and the three-dimensional reconstruction result;
and calculating the deviation value of the three-dimensional reconstruction result according to the theoretical parallax, the theoretical elevation, the actual parallax and the actual elevation.
Optionally, the step of obtaining the plurality of marking points of the pavement to be measured includes:
and controlling a light spot emitter to project a plurality of light spots on the pavement to be tested, wherein each light spot forms a marking point position.
Optionally, the step of obtaining the position information of the plurality of marker points based on the binocular reconstruction device includes:
acquiring a first image and a second image of the pavement to be tested based on a binocular camera;
identifying the plurality of marker points displayed on the first image and the second image respectively;
and respectively extracting first position information of each marking point position on the first image and second position information on the second image.
Optionally, the step of calculating the theoretical parallax and the theoretical elevation of each marking point location according to the position information includes:
calculating to obtain theoretical parallax of each marking point according to the first position information and the second position information of each marking point;
and calculating and obtaining the theoretical elevation of each marking point according to the theoretical parallax and the camera parameters of the binocular camera.
Optionally, the step of obtaining the actual parallax and the actual elevation of each marking point location according to the position information and the three-dimensional reconstruction result includes:
and acquiring the actual parallax and the actual elevation corresponding to the first position information from the three-dimensional reconstruction result according to the first position information of each marking point.
Optionally, before the step of obtaining the three-dimensional reconstruction result of the road surface to be measured based on the binocular reconstruction device, the method further includes:
and controlling the reinforcing light source in the binocular reconstruction device to work so as to adjust the illuminance of the binocular camera to 150-300 LUX.
Optionally, before the step of obtaining the three-dimensional reconstruction result of the road surface to be measured based on the binocular reconstruction device, the method further includes:
controlling a chessboard projector in the binocular reconstruction device to project a chessboard image in a calibration area;
controlling the chessboard projector to rotate so as to project a plurality of chessboard images with different deflection angles in the calibration area, and correspondingly obtaining a plurality of groups of calibration parameters;
and calibrating the binocular camera according to the plurality of groups of calibration parameters, and obtaining camera parameters of the binocular camera.
In addition, in order to achieve the above object, the present invention provides a road surface three-dimensional texture measurement system of precision self-inspection, comprising:
a body comprising a binocular reconstruction device; the method comprises the steps of,
the control device is electrically connected with the binocular reconstruction device and comprises a memory, a processor and a precision self-checking road surface three-dimensional texture measuring program which is stored on the memory and can run on the processor, wherein the precision self-checking road surface three-dimensional texture measuring program is configured to realize the steps of the precision self-checking road surface three-dimensional texture measuring method.
Optionally, the binocular reconstruction device comprises a binocular camera; and/or the number of the groups of groups,
the main body further comprises a light spot emitter, a reinforcing light source and/or a chessboard projector, and the control device is electrically connected with the light spot emitter, the reinforcing light source and/or the chessboard projector respectively.
Further, in order to achieve the above object, the present invention provides a storage medium having stored thereon a precision self-checking road surface three-dimensional texture measurement program which, when executed by a processor, implements the steps of the precision self-checking road surface three-dimensional texture measurement method as described above
In the technical scheme provided by the invention, the binocular reconstruction device can carry out three-dimensional reconstruction on the road surface to be detected; the method has the advantages that the method randomly sets the marking points on the pavement to be detected, compares the deviation conditions between the theoretical parallax and the actual parallax of each marking point and between the theoretical elevation and the actual elevation, can carry out precision self-checking on the three-dimensional reconstruction result of the pavement to be detected, has the characteristics of simple structure and convenient operation, is beneficial to perfecting the reconstruction technology of the three-dimensional texture of the pavement to be detected according to the precision self-checking result, and improves the accuracy of the detection result.
Drawings
FIG. 1 is a schematic diagram of a control device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for measuring three-dimensional texture of a road surface for precision self-inspection according to the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of a method for measuring three-dimensional texture of a road surface for precision self-inspection according to the present invention;
FIG. 4 is a schematic flow chart of a third embodiment of a method for measuring three-dimensional texture of a road surface for precision self-inspection according to the present invention;
FIG. 5 is a flowchart of a third embodiment of a method for measuring three-dimensional texture of a road surface according to the present invention;
FIG. 6 is a schematic structural diagram of an embodiment of a system for measuring three-dimensional texture of a road surface for precision self-inspection according to the present invention;
FIG. 7 is a schematic diagram of the binocular reconstruction device of FIG. 6;
FIG. 8 is a schematic diagram of the structure of the constraint marker transmitter of FIG. 6;
FIG. 9 is a schematic diagram of the spot emitter and checkerboard projector of FIG. 6;
fig. 10 is a schematic view of the stent system of fig. 6.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the |
| 100 | Bracket |
122 | |
| 101 | |
123 | |
| 102 | |
124 | |
| 103 | Upright post | 125 | |
| 104 | |
130 | |
| 105 | |
140 | |
| 110 | |
141 | |
| 111 | |
150 | |
| 120 | |
151 | Connecting |
| 121 | Processor and method for controlling the same | 160 | Chessboard projector |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a precision self-checking road surface three-dimensional texture measuring system, which at least comprises a control device 120, please refer to fig. 1, fig. 1 is a schematic structural diagram of the control device 120 of a hardware running environment according to an embodiment of the invention.
As shown in fig. 1, the control device 120 may include: a processor 121, such as a CPU, a communication bus 122, a user interface 123, a network interface 124, and a memory 125. Wherein the communication bus 122 is used to enable connected communication between these components. The user interface 123 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 123 may also include a standard wired interface, a wireless interface. The network interface 124 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 125 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 125 may alternatively be a storage device separate from the aforementioned processor 121.
It will be appreciated by those skilled in the art that the configuration of the control device 120 shown in fig. 1 does not constitute a limitation of the control device 120, and may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a road surface three-dimensional texture measurement program for precision self-inspection may be included in the memory 125 as one type of computer storage medium.
In the control device 120 shown in fig. 1, the processor 121 and the memory 125 may be provided in a precision self-checking road surface three-dimensional texture measuring system, which calls a precision self-checking road surface three-dimensional texture measuring program stored in the memory 125 through the processor 121 and performs the following operations:
based on the binocular reconstruction device 110, obtaining a three-dimensional reconstruction result of the road surface to be detected;
acquiring a plurality of marking points of the pavement to be tested;
obtaining location information of the plurality of marker points based on the binocular reconstruction device 110;
calculating theoretical parallax and theoretical elevation of each marking point according to the position information;
acquiring the actual parallax and the actual elevation of each marking point according to the position information and the three-dimensional reconstruction result;
and calculating the deviation value of the three-dimensional reconstruction result according to the theoretical parallax, the theoretical elevation, the actual parallax and the actual elevation.
Further, the processor 121 may call the precision self-checking road surface three-dimensional texture measurement program stored in the memory 125, and further perform the following operations:
the step of obtaining the marking points of the pavement to be measured comprises the following steps:
the light spot emitter 150 is controlled to project a plurality of light spots on the road surface to be measured, wherein each light spot forms a marking point.
Further, the processor 121 may call the precision self-checking road surface three-dimensional texture measurement program stored in the memory 125, and further perform the following operations:
the step of obtaining the position information of the plurality of marker points based on the binocular reconstruction device 110 includes:
acquiring a first image and a second image of the road surface to be tested based on the binocular camera 111;
identifying the plurality of marker points displayed on the first image and the second image respectively;
and respectively extracting first position information of each marking point position on the first image and second position information on the second image.
Further, the processor 121 may call the precision self-checking road surface three-dimensional texture measurement program stored in the memory 125, and further perform the following operations:
the step of calculating the theoretical parallax and the theoretical elevation of each marking point position according to the position information comprises the following steps:
calculating to obtain theoretical parallax of each marking point according to the first position information and the second position information of each marking point;
and calculating and obtaining the theoretical elevation of each marking point according to the theoretical parallax and the camera parameters of the binocular camera 111.
Further, the processor 121 may call the precision self-checking road surface three-dimensional texture measurement program stored in the memory 125, and further perform the following operations:
the step of obtaining the actual parallax and the actual elevation of each marking point position according to the position information and the three-dimensional reconstruction result comprises the following steps:
and acquiring the actual parallax and the actual elevation corresponding to the first position information from the three-dimensional reconstruction result according to the first position information of each marking point.
Further, the processor 121 may call the precision self-checking road surface three-dimensional texture measurement program stored in the memory 125, and further perform the following operations:
before the step of obtaining the three-dimensional reconstruction result of the road surface to be measured based on the binocular reconstruction device 110, the method further includes:
the operation of the reinforcement light source 130 in the binocular reconstruction device 110 is controlled to adjust the illuminance of the binocular camera 111 to 150-300 LUX.
Further, the processor 121 may call the precision self-checking road surface three-dimensional texture measurement program stored in the memory 125, and further perform the following operations:
before the step of obtaining the three-dimensional reconstruction result of the road surface to be measured based on the binocular reconstruction device 110, the method further includes:
controlling the checkerboard projector 160 in the binocular reconstruction apparatus 110 to project a checkerboard image in a calibration area;
controlling the chessboard projector 160 to rotate so as to project a plurality of chessboard images with different deflection angles in the calibration area and correspondingly obtain a plurality of groups of calibration parameters;
and calibrating the binocular camera 111 according to the plurality of groups of calibration parameters, and obtaining camera parameters of the binocular camera 111.
In addition, referring to fig. 6, the three-dimensional texture measurement of the road surface for precision self-inspection according to the present invention further includes a main body, wherein the main body includes a binocular reconstruction device 110, and the binocular reconstruction device 110 is electrically connected with the control device 120. The present design is not limited to the specific form of the binocular reconstruction device 110, for example, the binocular reconstruction device 110 includes a binocular camera 111, and the main body further includes a bracket system 100 and a constraint marker transmitter 140.
Referring to fig. 10, in one embodiment, the main body has a transverse direction corresponding to a length direction of a road surface to be measured and a longitudinal direction corresponding to a width direction of the road surface to be measured, and the bracket system 100 includes a base 101, a column sleeve 102, a column 103, a top plate 104, and a rail beam 105. Wherein, the top plate 104 and the base 101 are arranged at opposite intervals along the up-down direction, and the upright post 103 and the upright post sleeve 102 are arranged at intervals between the top plate 104 and the base 101; the upright post 103 and the upright post sleeve 102 are movably sleeved along the up-down direction to form a lifting adjusting rod together, and the spacing between the top plate 104 and the base 101 can be specifically adjusted by adjusting the sleeve depth between the upright post 103 and the upright post sleeve 102; the lift adjustment bars may be disposed in plurality between the top plate 104 and the base 101 at intervals to cooperate to form a stable support for the top plate 104. The guide rail beams 105 are disposed between the top plate 104 and the base 101, and are longitudinally spaced apart by two.
Referring to fig. 7, in an embodiment, the binocular camera 111 is movably disposed on a rail beam 105 of the bracket system 100 along a lateral direction, so as to be able to adjust a shooting area of the binocular camera 111 according to actual needs. Specifically, the left and right cameras of the binocular camera 111 are both disposed toward the road surface to be measured. Wherein the binocular camera 111 is optional but not limited to: the outer diameter of the lens was 15mm, the center-to-center distance was 6cm, and the resolution and frame rate were 2560×960@24fps. It should be noted that, the binocular camera 111 may directly purchase the existing product, or may be assembled on the rail beam 105 at intervals by using a circuit board to capture images of the same road surface to be tested. The binocular camera 111 may be fastened to the top plate 104 by screwing or bonding.
Referring to fig. 7, in an embodiment, the main body may further include a reinforcing light source 130, the reinforcing light source 130 is a hollow annular light source, the reinforcing light source 130 is sleeved on the periphery of the binocular camera 111, and parameters of the reinforcing light source 130 are adapted to the setting of the binocular camera 111, which is optional but not limited to: the inner diameter is 16mm, the outer diameter is 34mm, the working voltage is 24V, the power is 3.5W, and the brightness can be manually adjusted through a knob. The main body further comprises fastening screws for fixing the reinforcing light source 130 to the periphery of the binocular camera 111, wherein three fastening screws can be arranged on the periphery of the reinforcing light source 130, and the fastening screws are arranged at an angle of 120 degrees between every two fastening screws. The number of the reinforcing light sources 130 may be one, or two corresponding to two cameras of the binocular camera 111 may be provided.
Referring to fig. 8, in one embodiment, the constraint marker emitter 140 may alternatively be provided as a single and laterally movable laser line emitter. The laser line emitter is connected to the sliding block 141 through strong magnetic attraction, and the constraint mark emitter 140 further includes a hard hose for adjusting the laser line emitter, and the hard hose can adjust the constraint direction of the laser line. In practical application, the sliding block 141 can be set to move at a speed of 3.2mm/s, so as to complete the scanning of the area of the pavement target to be tested by a single laser constraint line, and simultaneously, the binocular camera 111 is used for completing the shooting of the first image and the second image of the pavement to be tested under the constraint of the moving laser line, and then, the accurate measurement of the three-dimensional texture of the pavement target to be tested is completed through the program running of the control device 120.
It will be appreciated that in alternative embodiments, the constraint marker emitter 140 may employ a fixed laser constraint line emitting a plurality of grating constraint lines; other moving speeds of the sliding block 141 can be adopted to adapt to different video image acquisition devices, so as to achieve different measurement purposes. The movement of the slide block 141 may be performed by a manual operation by a user, or may be performed by driving by a driver such as a linear cylinder.
However, for ease of understanding, in the following embodiments, a constraint marker emitter 140 is illustrated that is configured to move the slider 141 at a speed of 3.2mm/s to complete scanning of the area of the pavement object to be measured by a single laser constraint line.
Referring to fig. 9, in an embodiment, the main body may further include a light spot emitter 150, where the light spot emitter 150 projects a plurality of light spots on the road surface to be measured according to a preset rule or randomly, and the light spots form mark points. The spot emitter 150 is, for example, a laser emitter, and its color and spot size may be specifically set according to the needs, for example, specifically set as a red laser spot. The spot emitters 150 may be arranged in a plurality of laterally spaced apart relationship, with the plurality of spot emitters 150 being slidably coupled to another rail beam 105 via a coupling block 151.
Referring to fig. 10, in one embodiment, the body may further include a checkerboard projector 160, wherein the checkerboard projector 160 is rotatably mounted on the stand system 100 along its own axis.
It can be understood that the binocular camera 111, the constraint mark emitter 140, the light spot emitter 150, the reinforcement light source 130, the chessboard projector 160, and the like are electrically connected with the control device 120, so as to realize intelligent automation of the precision self-checking road surface three-dimensional texture measuring system.
Based on the hardware structure, the embodiment of the pavement three-dimensional texture measuring method for the precision self-checking is provided.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a method for measuring three-dimensional texture of a road surface according to the present invention.
The method for measuring the three-dimensional texture of the pavement by the precision self-checking comprises the following steps:
s10: based on the binocular reconstruction device 110, obtaining a three-dimensional reconstruction result of the road surface to be detected;
in an embodiment, based on the binocular reconstruction device 110, operations of frame-by-frame reading, separation and correction, background removal, decorrelation chroma pulling, identification and extraction of laser line constraint targets, combination of all laser line constraints, stereo matching under the laser line constraints and the like of the captured video image can be sequentially completed, and finally, accurate measurement of the three-dimensional texture of the pavement to be measured is finally realized, for example, the specific steps include:
controlling the constraint mark transmitter 140 to project a single movable laser line on the road surface to be measured to obtain a laser beam for dividing the road surface to be measured into a plurality of segments;
controlling the binocular camera 111 to shoot a pavement to be detected, and acquiring a first image and a second image shot by the same pavement to be detected at different angles, wherein a laser beam and a plurality of segments form a marking line and a plurality of subareas on the first image and the second image respectively;
identifying the marking lines of the first image and the second image respectively, for example, performing decorrelation stretching treatment on target areas in the first image and the second image respectively, and correspondingly identifying the marking lines of the first image and the second image according to the difference of red and green color components in the first image and the second image after the decorrelation stretching treatment;
matching the boundary and the pixel point of each corresponding sub-region in the first image and the second image according to the identified marking line and a preset semi-global matching algorithm to obtain a plurality of matching sub-regions and matching parallax of each matching sub-region;
according to the matching parallaxes, a three-dimensional reconstruction result of the road surface to be detected is obtained, for example, the matching parallaxes of each matching subarea are combined and overlapped, and a parallax matrix of the target area is obtained; and obtaining the space coordinates of the target area according to the preset corresponding relation among the camera parameters, the parallax matrix and the space coordinates of the target area, and forming a three-dimensional reconstruction result of the road surface to be detected.
S20: acquiring a plurality of marking points of the pavement to be tested;
it will be appreciated that a plurality of marking points may be formed on the road surface to be measured in a desired manner, for example, the control device 120 controls the spot emitter 150 to project a plurality of spots on the road surface to be measured, wherein each of the spots constitutes a marking point.
Wherein the color of the spot is not limited, for example, for the purpose of making the subsequent binocular camera 111 easier to recognize for more conspicuous, the spot may be set as a red laser spot; the size and shape of the light spot are not limited, and may be set to, for example, a circle, an ellipse, a polygon, a desired profile, or the like according to actual needs.
The number of the projected light spots is not limited, the projected light spots can be selected according to actual needs and computing power, and it can be understood that the more the number of the projected light spots is, the more accurate the subsequent precision evaluation result can be made to a certain extent, but the computing power is easy to increase; conversely, the smaller the number of light spots projected, the less the computational burden can be reduced, but the accuracy of the subsequent accuracy evaluation is affected to some extent.
The arrangement mode of the plurality of light spots is not limited, and the light spots can be randomly distributed or selected in a targeted manner according to a preset rule.
S30: obtaining location information of the plurality of marker points based on the binocular reconstruction device 110;
it can be understood that, since a plurality of visible marking points are formed on the road surface to be measured, when the binocular camera 111 reuses the road surface to be measured, an image with the marking points can be obtained, and by processing the image, such as removing background, decorrelation chroma pulling, and laser point target recognition and extraction, the position information corresponding to the marking points, such as three-dimensional coordinate values of the same marking point on the first image and the second image, respectively, can be obtained. The specific steps of background removal, decorrelation chroma pulling, laser point location target identification and extraction and the like can refer to the prior art, and are not described in detail herein.
Specifically, referring to fig. 3, in this embodiment, the step of S30 includes:
s31: acquiring a first image and a second image of the road surface to be tested based on the binocular camera 111;
s32: identifying the plurality of marker points displayed on the first image and the second image respectively;
s33: and respectively extracting first position information of each marking point position on the first image and second position information on the second image.
It can be understood that the two cameras of the binocular camera 111 can respectively capture a first image and a second image of the same road surface to be tested at different angles; the pavement to be detected is provided with a plurality of visible marking points, so that the marking points can be clearly shot by the binocular camera 111; the control device 120 identifies a plurality of marking points corresponding to the pavement to be detected on the first image and the second image, and performs one-to-one matching correspondence; and then respectively extracting the position of each marking point on the first image, obtaining the first position information of the marking point, and the position of each marking point on the second image, and obtaining the second position information of the marking point, namely, each marking point is correspondingly provided with two three-dimensional coordinate values.
S40: calculating theoretical parallax and theoretical elevation of each marking point according to the position information;
referring specifically to fig. 4, in this embodiment, the step S30 includes:
the S40: the step of calculating the theoretical parallax and the theoretical elevation of each marking point position according to the position information comprises the following steps:
s41: calculating to obtain theoretical parallax of each marking point according to the first position information and the second position information of each marking point;
s42: and calculating and obtaining the theoretical elevation of each marking point according to the theoretical parallax and the camera parameters of the binocular camera 111.
It can be understood that when the same mark point has two three-dimensional coordinate values on the first image and the second image correspondingly, according to the calculation of the two three-dimensional coordinate values, the parallax between each mark point, that is, the theoretical parallax can be obtained by calculation; then, according to the theoretical parallax and the camera parameters of the binocular camera 111, the theoretical elevation of the marker point can be calculated.
S50: acquiring the actual parallax and the actual elevation of each marking point according to the position information and the three-dimensional reconstruction result;
in this embodiment, since the three-dimensional reconstruction result of the same road surface to be measured is already generated, the actual parallax and the actual elevation of the target point corresponding to the position information can be queried or retrieved from the three-dimensional reconstruction result by marking the position information of the point.
Specifically, the step S50 includes a step S51 of: and acquiring the actual parallax and the actual elevation corresponding to the first position information from the three-dimensional reconstruction result according to the first position information of each marking point.
In the three-dimensional reconstruction process, the three-dimensional reconstruction result finally presented generally takes the first image as a reference, and based on the first image, the first position information of each marking point on the first image is obtained, and compared with the second position information on the second image, the three-dimensional reconstruction result has more uniformity with the theoretical parallax and the theoretical elevation, so that the comparison result is more accurate. Based on the three-dimensional reconstruction result, the actual parallax and the actual elevation of the target point corresponding to the first position information can be directly inquired and obtained.
S60: and calculating the deviation value of the three-dimensional reconstruction result according to the theoretical parallax, the theoretical elevation, the actual parallax and the actual elevation.
It can be understood that when the theoretical parallax, the theoretical elevation, the actual parallax and the actual elevation are known, for example, absolute parallax deviation, relative parallax deviation, absolute elevation deviation, relative elevation deviation and the like can be calculated according to actual needs, and according to the deviation values, an evaluation result of the accuracy of the binocular reconstruction result can be obtained, so that the accuracy evaluation of the accuracy self-checking pavement three-dimensional texture measuring system is completed.
In the technical scheme provided by the invention, the binocular reconstruction device 110 can perform three-dimensional reconstruction on the road surface to be detected; the method has the advantages that the method randomly sets the marking points on the pavement to be detected, compares the deviation conditions between the theoretical parallax and the actual parallax of each marking point and between the theoretical elevation and the actual elevation, can carry out precision self-checking on the three-dimensional reconstruction result of the pavement to be detected, has the characteristics of simple structure and convenient operation, is beneficial to perfecting the reconstruction technology of the three-dimensional texture of the pavement to be detected according to the precision self-checking result, and improves the accuracy of the detection result.
Furthermore, in an embodiment, before the step S10, the method further includes:
s01: the operation of the reinforcement light source 130 in the binocular reconstruction device 110 is controlled to adjust the illuminance of the binocular camera 111 to 150-300 LUX.
It can be appreciated that the purpose of the light-adjusting of the binocular camera 111 by the reinforcement light source 130 is to stabilize the imaging quality, and the reinforcement light source 130 can always ensure that the illuminance obtained by the binocular camera 111 is balanced and stable no matter the external light environment is dark or bright; in addition, the reinforcing light source 130 is arranged around the periphery of the binocular camera 111, which is helpful for dimming the directions of the binocular camera 111, eliminating the influence of light and shadow on the road surface to be measured, and further optimizing the imaging quality.
Further, referring to fig. 5, fig. 5 is a flowchart of a fourth embodiment of the method for measuring three-dimensional texture of a road surface according to the present invention.
Before the step S10, the method further includes:
s02: controlling the checkerboard projector 160 in the binocular reconstruction apparatus 110 to project a checkerboard image in a calibration area;
s03: controlling the chessboard projector 160 to rotate so as to project a plurality of chessboard images with different deflection angles in the calibration area and correspondingly obtain a plurality of groups of calibration parameters;
s04: and calibrating the binocular camera 111 according to the plurality of groups of calibration parameters, and obtaining camera parameters of the binocular camera 111.
In view of the above, when the parallax is known, the elevation can be obtained by calculating the parallax and the camera parameters of the binocular camera 111, and the specific calculation process is referred to the prior art and will not be described in detail herein. The camera parameters include internal parameters, external parameters, and distortion parameters. Wherein the internal parameters are parameters related to the characteristics of the binocular camera 111, such as focal lengths, pixel sizes, etc. of two cameras in the binocular camera 111; the external parameters, i.e. the parameters of the binocular camera 111 in the world coordinate system, such as the position, the direction of rotation, etc. of the binocular camera 111; the distortion parameters comprise radial distortion coefficients and tangential distortion coefficients, and the radial distortion occurs in the process of converting a camera coordinate system into a physical coordinate system; tangential distortion occurs because the lens is not perfectly parallel to the image.
Multiple groups of calibration parameters can be correspondingly obtained by controlling the chessboard projector 160 to project a plurality of chessboard images with different deflection angles in the same calibration area; by performing statistical calculation on multiple groups of calibration parameters, the calibration of the binocular camera 111 can be more accurate, so that more accurate camera parameters can be obtained. Specific calibration calculation methods may refer to Zhang Youzheng checkerboard calibration methods, which are not described in detail herein. The design has the advantages of simple structure and convenient operation.
In order to further analyze and evaluate the measurement result and the precision self-checking effect of the precision self-checking pavement three-dimensional texture measurement method in this embodiment, an asphalt pavement core sample test piece is selected as a pavement to be tested, 7 marking points are randomly projected on the pavement to be tested by controlling the light spot emitter 150 as an example, and according to the operation flow of the pavement three-dimensional texture measurement method for realizing the precision self-checking, a MATLAB programmed control system is adopted to complete calculation of the specified laser point theoretical parallax, theoretical elevation, actual measurement parallax and actual measurement elevation, and solve absolute deviation and relative deviation. The specific results are shown in Table 1.
Table 1 table of analysis and evaluation of measurement results of examples
As can be seen from table 1, the maximum absolute deviation between the theoretical parallax and the actual parallax is 0.8780pixel, less than 1pixel, and the maximum relative deviation is only 0.19%; the maximum absolute deviation between the heights of the theories Gao Chengtong is 0.1153mm, less than 0.2mm and only 0.10 percent. Therefore, in the moving laser line global scanning constraint mode adopted by the embodiment, the combined laser line constraint improved binocular reconstruction algorithm can finish accurate measurement of the three-dimensional texture of the pavement, so that the average measurement deviation of the three-dimensional texture reaches 0.0132mm. The results show that the measuring device and the measuring method provided by the invention can finish accurate measurement and precision self-inspection of the three-dimensional texture of the pavement at the same time.
In summary, according to the method and the system for measuring the three-dimensional texture of the pavement with the precision self-checking function, the constraint characteristic line is transmitted through the characteristic mark transmitter, and the precise measurement of the three-dimensional texture of the pavement is completed by combining the binocular reconstruction device 110. The light point transmitter 150 can randomly generate a plurality of marking points on the road surface to be measured, and the operations of shooting images, identifying and extracting the points, solving coordinates, calculating and comparing parallax and elevation and the like are combined by the binocular reconstruction device 110, so that the precision self-checking of the measuring device is realized, and the development and application of the road detection technology to the intelligent, informatization and automation directions are facilitated.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (4)
1. The method for measuring the three-dimensional texture of the pavement by using the precision self-inspection is characterized by comprising the following steps of:
based on the binocular reconstruction device, obtaining a three-dimensional reconstruction result of the road surface to be detected;
acquiring a plurality of marking points of the pavement to be tested;
controlling a light spot emitter to project a plurality of light spots on the pavement to be detected, wherein each light spot forms a marking point position;
obtaining position information of the plurality of marking points based on the binocular reconstruction device;
acquiring a first image and a second image of the pavement to be tested based on a binocular camera;
identifying the plurality of marker points displayed on the first image and the second image respectively;
respectively extracting first position information of each marking point position on the first image and second position information of each marking point position on the second image;
calculating theoretical parallax and theoretical elevation of each marking point according to the position information;
calculating to obtain theoretical parallax of each marking point according to the first position information and the second position information of each marking point;
calculating to obtain the theoretical elevation of each marking point according to the theoretical parallax and the camera parameters of the binocular camera;
acquiring the actual parallax and the actual elevation of each marking point according to the position information and the three-dimensional reconstruction result;
acquiring actual parallax and actual elevation corresponding to the first position information from the three-dimensional reconstruction result according to the first position information of each marking point;
calculating a deviation value of the three-dimensional reconstruction result according to the theoretical parallax, the theoretical elevation, the actual parallax and the actual elevation;
before the step of obtaining the three-dimensional reconstruction result of the road surface to be detected based on the binocular reconstruction device, the method further comprises the following steps:
controlling the reinforcing light source in the binocular reconstruction device to work so as to adjust the illuminance of the binocular camera to 150-300 LUX;
controlling a chessboard projector in the binocular reconstruction device to project a chessboard image in a calibration area;
controlling the chessboard projector to rotate so as to project a plurality of chessboard images with different deflection angles in the calibration area, and correspondingly obtaining a plurality of groups of calibration parameters;
and calibrating the binocular camera according to the plurality of groups of calibration parameters, and obtaining camera parameters of the binocular camera.
2. The utility model provides a three-dimensional texture measurement system of road surface of precision self-checking which characterized in that includes:
a body comprising a binocular reconstruction device; the method comprises the steps of,
the control device is electrically connected with the binocular reconstruction device, and comprises a memory, a processor and a precision self-checking road surface three-dimensional texture measuring program which is stored on the memory and can run on the processor, wherein the precision self-checking road surface three-dimensional texture measuring program is configured to realize the steps of the precision self-checking road surface three-dimensional texture measuring method according to claim 1.
3. The precision self-checking pavement three-dimensional texture measuring system according to claim 2, wherein the binocular reconstruction means comprises a binocular camera;
the main body further comprises a light spot emitter, a reinforcing light source and a chessboard projector, and the control device is respectively and electrically connected with the light spot emitter, the reinforcing light source and the chessboard projector.
4. A storage medium, wherein a precision self-checking road surface three-dimensional texture measurement program is stored on the storage medium, and the precision self-checking road surface three-dimensional texture measurement program, when executed by a processor, implements the steps of the precision self-checking road surface three-dimensional texture measurement method according to any one of claims 1 to 2.
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