CN112747673B - Calibration method of monocular multiline structured light sensor based on calibration cylinder - Google Patents
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Abstract
The invention discloses a calibration method of a monocular multiline structured light sensor based on a calibration cylinder, which comprises the following steps: step 1: processing a cylinder with a fixed radius as a calibration cylinder according to an application scene, taking a flexible checkerboard target surface as a calibration target, and tightly attaching the target surface to the inner surface of the calibration cylinder; step 2: shooting an image of a fixed position of a calibration target by using a camera, detecting the coordinates of the corner points of the checkerboard target surface in the acquired image of the target surface, corresponding to the coordinates of the cylindrical surface of the checkerboard target surface, and establishing the corresponding relation between the coordinates of the cylindrical surface of the cylinder and the acquired image; and step 3: determining a position of the light bar within the fixed radius cylinder; and 4, step 4: determining a deviation coefficient; the calibration method of the monocular multi-line structure optical sensor based on the calibration cylinder is simple and convenient, and can solve the problems of complex calibration procedure, long time consumption and the like of the multi-line structure optical sensor applied to the inner surface of the pipeline; the method can be applied to the detection of the inner wall of the deep-hole part.
Description
Technical Field
The invention relates to a calibration method of a monocular multiline structured light sensor based on a calibration cylinder, and belongs to the technical field of structured light sensor calibration.
Background
The calibration of the line structured light sensor mainly comprises two parts of camera calibration and light plane calibration. The camera calibration methods of the line structured light sensor mainly include the technology of using and not using a calibration target material at present, but the calibration methods are all directed to a pinhole camera model. The telecentric lens has stable magnification and extremely small perspective distortion in a certain object distance range, can correct parallax in machine vision measurement and is commonly used for precision measurement. A telecentric lens is combined in a structured light measuring system to acquire images, and the method has incomparable measurement advantages compared with a pinhole camera in a short-distance high-precision detection scene. The single-line structured light technology can only measure three-dimensional information on one light plane, three-dimensional reconstruction needs to be carried out by means of high-precision mobile equipment in the detection process, the efficiency is low, the multi-line structured light technology can extract three-dimensional coordinates of a plurality of light planes in one image, and the measurement efficiency is greatly improved.
In the measuring process, the multi-line structured light measuring system measures by obtaining the conversion relation between the image coordinate of the measured object and the actual three-dimensional coordinate, and the conversion relation is obtained by calibrating a camera and a light plane of the measuring system. In the prior art, because the spatial coordinates of the light plane are difficult to obtain, a calibration target is often required to be used for shooting for multiple times to obtain the three-dimensional coordinates of the characteristic points of the calibration target to fit the spatial equation of the light plane, and the calibration process is complicated; in addition, because the three-dimensional coordinates of the feature points are acquired through the pinhole camera model, the fitted light plane has accumulated errors.
Disclosure of Invention
In order to solve the problems, the invention provides a calibration method of a monocular multiline structure optical sensor based on a calibration cylinder, which is simple and convenient and can be applied to the detection of the inner wall of a deep-hole part.
The invention discloses a monocular multiline structure optical sensor calibration method based on a calibration cylinder, which comprises the following steps:
step 1: processing a cylinder with a fixed radius as a calibration cylinder according to an application scene, taking a flexible checkerboard target surface as a calibration target, and tightly attaching the flexible checkerboard target surface to the inner surface of the calibration cylinder, wherein the x axis of the plane of the calibration target is the axial direction of the calibration cylinder, and the y axis is the circumferential direction of the calibration cylinder;
step 2: shooting an image of a calibration target fixed position by using a camera, detecting corner point coordinates of the checkered target surface in the target surface acquisition image, corresponding to cylindrical coordinates of the checkered target surface, and establishing a corresponding relation between cylindrical coordinates and the acquired image; the corner points of the checkerboard target surfaces in the collected images correspond to the cylindrical coordinates of the checkerboard target surfaces, and the corresponding relation between the cylindrical coordinates and the collected images is established;
and step 3: shooting an image of a multi-line structured light plane on the inner wall of a calibration cylinder by using a monocular multi-line structured light sensor, and determining the position of a light bar in the cylinder with a fixed radius;
and 4, step 4: and shooting measurement images of the light plane of the multi-line structure in different radiuses in the calibration cylinder by using the monocular multi-line structure light sensor, and determining the offset coefficient.
As a preferred embodiment, the monocular multiline structured light sensor adopts a telecentric lens imaging model for a camera lens.
Further, the inner surface of the calibration cylinder comprises a cylinder inner surface with a fixed inner diameter, a cylinder inner surface with a fixed inner diameter and a cylinder inner surface with a step shape and different inner diameters, wherein the cylinder inner surface with the fixed inner diameter is attached to the checkerboard target surface.
As a preferred embodiment, the target surface of the flexible checkerboard attached within the calibration cylinder is not limited to a fixed checkerboard size, which contains not less than 4 feature points of precise dimensions.
Further, the step 2 specifically includes the following steps:
the first step is as follows: adjusting the position of a camera, and shooting an image of the checkerboard target surface;
the second step is that: extracting characteristic point p of chessboard target surface i ＝(u i ,v i ) Corresponding cylindrical coordinates P i ＝(r,iΔθ,iΔz)；
The third step: and calibrating projection matrixes M and t of the telecentric lens by adopting a direct linear calibration method.
Furthermore, the cylindrical surface coordinate P of the checkerboard target surface in the second step i The = (= (r, i Δ θ, i Δ z)) is related to the spacing distance Δ h of the characteristic corner points and the radius r of the calibration cylinder, wherein a characteristic point P is selected 0 = (= (r, 0,0)) as an initial point, Δ θ = Δ h/r, Δ z = Δ h.
Still further, the projection matrixes M and t of the telecentric lens in the third step are represented by a formula p i ＝M 2×3 P iw + t is solved simultaneously, where p i ＝(u i ,v i ),P iw ＝(rsin(iΔθ),rcos(iΔθ),iΔz)。
Further, the position of the light bar in the cylinder with a fixed radius in the step 3 is specifically a quadratic curve equation fitted by extracting the center of the light bar.
Further, the method for calculating the offset coefficient in step 4 is to extract image fitting straight lines of the monocular multiline structured light sensor on different inner diameters, and calculate the offset coefficient α = Δ r/Δ p by the inner diameter variation Δ r and the straight line offset Δ p.
Compared with the prior art, the calibration method of the monocular multiline structure optical sensor based on the calibration cylinder firstly extracts the light strip center of a measured object in the measurement process, calculates the distance delta p between the characteristic point and the standard curve in the measurement process, determines the deviation delta r = alpha delta p between the inner diameter of the cylindrical coordinate of the measuring point and the calibration through inner diameter, and substitutes the r value of the measured point into p% = M 2×3 Solving theta and z in the P% + t% to obtain the three-dimensional coordinate of the measured point; the calibration method is simple and convenient, and can solve the problems of complicated calibration procedure, long time consumption and the like of the multi-line structured light sensor applied to the inner surface of the pipeline; the method can be applied to the detection of the inner wall of the deep-hole part.
Drawings
FIG. 1 is a schematic flow diagram of a calibration method of the present invention.
Fig. 2 is a schematic structural diagram of a calibration cylinder in embodiment 1 of the present invention.
Fig. 3 is a schematic view of the imaging principle of the camera according to embodiment 1 of the present invention.
Fig. 4 is a schematic diagram of calibrating the position of the light bar according to embodiment 1 of the present invention.
Detailed Description
Example 1:
the calibration method of the monocular multi-line structured light sensor based on the calibration cylinder as shown in fig. 1 comprises the following steps:
step 1: processing a cylinder with a fixed radius as a calibration cylinder according to an application scene, taking a flexible checkerboard target surface as a calibration target, and tightly attaching the flexible checkerboard target surface to the inner surface of the calibration cylinder, wherein the x axis of the plane of the calibration target is the axial direction of the calibration cylinder, and the y axis is the circumferential direction of the calibration cylinder;
and 2, step: shooting an image of a fixed position of a calibration target by using a camera, and establishing a corresponding relation between cylindrical coordinates and an acquired image by corresponding corner points of a checkerboard target surface in the acquired image and cylindrical coordinates of the checkerboard target surface;
and step 3: shooting an image of a multi-line structured light plane on the inner wall of a calibration cylinder by using a monocular multi-line structured light sensor, and determining the position of a light bar in the cylinder with a fixed radius;
and 4, step 4: and shooting measurement images of the light plane of the multi-line structure in different radiuses in the calibration cylinder by using the monocular multi-line structure light sensor, and determining the offset coefficient.
The camera lens of the monocular multiline structured light sensor adopts a telecentric lens imaging model.
As shown in fig. 2, the step 1 of calibrating the cartridge design includes:
a smooth cylindrical inner surface with a fixed radius of 77.5mm, a cylindrical inner surface with a fixed inner diameter attached with a checkerboard target surface and a stepped cylindrical inner surface with different inner diameters; the flexible checkerboard target surface distribution in the calibration cylinder is 7 multiplied by 10, the size of a single checkerboard is 1mm, wherein the flexible checkerboard target surface attached in the calibration cylinder is not limited to the size of a fixed checkerboard, and the number of characteristic points containing accurate size is not less than 4.
As shown in fig. 3, step 2 includes:
calibrating cylindrical surface coordinate P of target surface characteristic point i = (77.5, i 1/77.5, i 1) on the distance Δ h between characteristic corner points and the radius r of the calibration cylinder, wherein a characteristic point P in the target surface is selected 0 = (77.5,0,0) as initial point; image coordinates p of feature points i ＝(u i ,v i ) And corresponding cylindrical coordinates P iw Substitution of "= (rsin (i Δ θ), rcos (i Δ θ), i Δ z) into formula p i ＝M 2×3 P iw And + t, the telecentric lens projection matrixes M and t are obtained by simultaneously solving a parameter equation by a direct linear transformation calibration method, and the final calibration result is as follows: m =[46.4668,1.2018,8.3604；8.5260,0.6961,-46.5363]，
t＝[12.5565,279.3401] T ；
As shown in fig. 4, step 3 includes:
shooting a structured light image in the fixed inner diameter r by using a structured light measurement system, taking the positions of the light bars as reference positions, obtaining the positions of the light bars by fitting and extracting a quadratic curve at the center of the light bars, and finally obtaining quadratic curve equations of different light bars as shown in FIG. 4;
the step 4 comprises the following steps:
and (3) shooting cylinder images of different inner diameter parts by using a multi-line structured light measuring device, and calculating the offset of the same light bar on different inner diameters to finally obtain alpha =1/29.5108mm/pixel.
The calibration method of the monocular multiline structure optical sensor based on the calibration cylinder comprises the steps of firstly extracting the light strip center of a measured object in measurement, calculating the distance delta p between a characteristic point and a standard curve in measurement, determining the deviation delta r = alpha delta p between the inner diameter of a cylindrical coordinate of a measuring point and the inner diameter of a calibration through, and substituting the r value of the measured point into p% = M 2×3 And solving theta and z in the P% + t% to obtain the three-dimensional coordinate of the measured point.
The above-described embodiments are merely preferred embodiments of the present invention, and all equivalent changes or modifications of the structures, features and principles described in the claims of the present invention are included in the scope of the present invention.
Claims (2)
1. A monocular multiline structure optical sensor calibration method based on a calibration cylinder is characterized by comprising the following steps:
step 1: processing a calibration cylinder according to an application scene, wherein the inner surface of the calibration cylinder comprises a fixed inner diameter cylinder inner surface without attached checkerboard target surfaces, a fixed inner diameter cylinder inner surface attached with flexible checkerboard target surfaces and a stepped cylinder inner surface with different inner diameters; when the flexible checkerboard target surface is used as a calibration target, the x axis of the calibration target plane is the axial direction of the calibration cylinder, and the y axis is the circumferential direction of the calibration cylinder;
step 2: shooting an image of a calibration target fixed position by using a camera, detecting corner point coordinates of the checkered target surface in the target surface acquisition image, corresponding to cylindrical coordinates of the checkered target surface, and establishing a corresponding relation between cylindrical coordinates and the acquired image; in particular, the amount of the solvent to be used,
the first step is as follows: adjusting the position of a camera, and shooting an image of the checkerboard target surface;
the second step is that: extracting characteristic point p of chessboard target surface i ＝(u i ,v i ) Corresponding cylindrical coordinates P i = (r, i Δ θ, i Δ z); wherein, the cylindrical surface coordinate P of the checkerboard target surface i Selecting a characteristic point P in the relation of the distance delta h between the = (r, i delta theta, i delta z) and the characteristic corner point and the radius r of the calibration cylinder 0 = (= (r, 0,0)) as an initial point, Δ θ = Δ h/r, Δ z = Δ h;
the third step: calibrating projection matrixes M and t of the telecentric lens by adopting a direct linear calibration method, wherein the projection matrixes M and t of the telecentric lens are represented by a formula p i ＝M 2×3 P iw + t is solved simultaneously, in which p is i ＝(u i ,v i ),P iw ＝(rsin(iΔθ),rcos(iΔθ),iΔz)；
And step 3: shooting an image of a multi-line structured light plane on the inner wall of a calibration cylinder by using a monocular multi-line structured light sensor, determining the position of a light strip in the cylinder with a fixed radius, taking the position of the light strip as a reference position, and extracting a quadratic curve equation fitted by the center of the light strip;
and 4, step 4: shooting measurement images of the multi-line structured light plane in different radiuses in the calibration cylinder by using a monocular multi-line structured light sensor, and determining an offset coefficient; specifically, extracting image fitting straight lines of the monocular multiline structured light sensor on different inner diameters, calculating the offset of the same light bar on different inner diameters, and calculating an offset coefficient alpha = delta r/delta p according to inner diameter variation delta r and straight line offset delta p; and substituting the r value of the measured point into
And solving theta and z to obtain the three-dimensional coordinates of the measured point.
2. The calibration method of claim 1, wherein said flexible checkerboard target surface attached to said calibration cylinder is not limited to a fixed checkerboard size, and has not less than 4 feature points with precise dimensions.
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