CN113048888A - Binocular vision-based remote three-dimensional displacement measurement method and system - Google Patents
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Abstract
The invention provides a binocular vision-based remote three-dimensional displacement measurement method and system. The method comprises the following steps: fixedly arranging a marking block on a point to be measured of an object to be measured, and shooting the marking block from different angles by using two cameras; initially, two cameras respectively collect images of a mark block, obtain initial pixel coordinates of a common visible vertex of the mark block on two images, obtain pixel coordinate offset between any two vertexes, and obtain a relation matrix between the pixel offset and an actual spatial relative distance through a plurality of groups of point pair data by combining the pixel offset of the two vertexes on the two images according to the actual spatial relative positions of the two vertexes; during measurement, the two cameras respectively collect images of the marking block, pixel coordinates of each vertex are obtained, then the pixel coordinates are compared with the initial pixel coordinates, pixel displacement of the marking block on the two images is obtained, and the actual space displacement of the marking block is obtained by combining the relation matrix. The method does not need to calibrate the internal and external parameters of the camera, and has high measurement precision.
Description
Technical Field
The invention relates to the field of measurement, in particular to a binocular vision-based remote three-dimensional displacement measurement method and system.
Background
Currently, displacement measuring devices based on visual images are mainly divided into monocular measurement and binocular measurement. Monocular measurement can be used for one-dimensional measurement and two-dimensional measurement, three-dimensional measurement accuracy is poor, and binocular measurement is mainly used for three-dimensional displacement measurement at a short distance.
The current binocular-based three-dimensional measurement method basically needs to obtain internal and external parameters of a camera through calibration, then obtains a three-dimensional coordinate through pixel coordinate back-stepping of a target on an image, and calculates displacement according to the change of the three-dimensional coordinate. However, in some scenarios, calibration is often difficult and calibration accuracy is difficult to guarantee, and pixel positioning accuracy often has a great influence on the result. In addition, the binocular effect is realized through the precise displacement sliding table, the outdoor deployment is difficult, and meanwhile, the long-distance small displacement measurement is difficult to realize due to the limited length of the base line.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a binocular vision-based remote three-dimensional displacement measurement method and system.
In order to achieve the above object, the present invention provides a binocular vision-based remote three-dimensional displacement measurement method, comprising the steps of:
fixedly arranging a marking block on a point to be measured of an object to be measured, and respectively carrying out image acquisition on the marking block from different angles by using two cameras, wherein at least 4 non-coplanar vertexes on the marking block need to be simultaneously present in the view fields of the two cameras;
establishing a world coordinate system by taking a vertex on the marking block as an origin; the camera coordinate system is fixed on the cameras, and the camera coordinate system of each camera is established by taking the optical axis direction of the cameras as the z axis;
initially, two cameras respectively collect images of a mark block, obtain initial pixel coordinates of vertexes of the mark block, which are commonly visible on the two cameras, obtain pixel coordinate offset between any two vertexes, and obtain a relation matrix between the pixel offset and actual spatial relative distance through a plurality of groups of point pair data by combining the pixel offset of the two vertexes on the images collected by the two cameras according to the actual spatial relative positions of the two vertexes;
during measurement, the two cameras respectively collect images of the marking blocks, pixel coordinates of each vertex are obtained, pixel displacement amount of each vertex in the images relative to the initial time during measurement is obtained, the pixel displacement amount of any vertex is used as the pixel displacement amount of the marking block on the images, or the pixel displacement amount of part or all of the vertices is averaged to be used as the pixel displacement amount of the marking block on the images;
and obtaining the actual displacement of the mark block during measurement according to the pixel displacement of the mark block on the image and the relation matrix between the pixel displacement and the actual space relative distance, namely the displacement of the point to be measured.
The method realizes binocular-based remote three-dimensional displacement measurement, does not need to calibrate internal and external parameters of a camera, simplifies binocular three-dimensional displacement measurement, has high measurement precision, and reduces the traditional field construction difficulty and measurement cost.
The preferred scheme of the method is as follows: the method for calculating the relation matrix between the pixel offset and the actual space relative distance comprises the following steps:
establishing a pixel distance difference matrix W of any two vertexes of the n vertexes and an actual distance difference matrix T of the any two vertexes in images acquired by the two cameras according to pixel coordinates of the n vertexes which are simultaneously visible and not coplanar and acquired by the two cameras:
performing PCA dimension reduction on the matrix W from an m × 4-dimensional matrix to an m × 3-dimensional matrix, and calculating to obtain a dimension reduction matrix Q, wherein the dimension reduction matrix W is represented by W ', and W' is WQ;
calculation of JK＝minK{||W′K-T||2}＝minK{‖WQK-T‖2The smallest parameter matrix K, resulting in K ═ QTWTWQ)-1QTWTT is a relation matrix between the pixel offset and the actual spatial relative distance.
Actual displacement of the object
Wherein (Δ u)l，Δvl) For the pixel displacement of the marker block on the image acquired by the first camera, (Delauu)r，Δvr) Pixel displacement of the marker block on the image captured by the second camera. The method has simple calculation, does not need to calibrate the internal and external parameters of the camera, has high precision and can realize remote three-dimensional small displacement measurement.
The preferred scheme of the method is as follows: the marker block is a cube on which at least 4 non-coplanar vertices need to appear simultaneously within the field of view of each camera.
The preferred scheme of the method is as follows: when the matrix W and the matrix T are established, connecting lines between every two vertexes are not parallel. This avoids duplicate calculations.
The preferred scheme of the method is as follows: when the matrix W and the matrix T are established, all the selected connecting lines between every two vertexes are not coplanar. This further ensures that a three-dimensional displacement measurement is performed.
According to the preferred scheme of the method, the mark block is fixedly arranged on the point to be measured, and two fixed-focus industrial cameras are adopted to carry out remote three-dimensional displacement measurement on the mark block. And the three-dimensional displacement measurement is carried out on the object to be measured from the multiple points to be measured, so that the accuracy is higher.
The application also provides a remote three-dimensional displacement measurement system based on binocular vision, which comprises two cameras, a mark block and a control module, wherein the mark block is fixedly arranged on the object to be measured, the control module is connected with the cameras, the cameras are controlled to carry out binocular imaging on the object to be measured, and the actual displacement of the object to be measured is calculated according to the remote three-dimensional displacement measurement method.
The invention has the beneficial effects that: according to the invention, the internal and external parameters of the camera do not need to be calibrated, the binocular three-dimensional displacement measurement is simplified, the relation matrix between the pixel offset and the relative distance of the actual space is rapidly obtained through the three-dimensional position relation of each point on the marking block, the pixel displacement characteristic is more stable through PCA dimension reduction in the calculation process, and the remote three-dimensional displacement measurement precision is higher.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a graph of an error analysis surface;
FIG. 2 is an error analysis curve;
fig. 3 is a schematic structural diagram of a remote three-dimensional displacement measurement system.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The invention provides a binocular vision-based remote three-dimensional displacement measurement method, which comprises the following steps of:
the marking block is fixedly arranged on the point to be measured of the object to be measured, namely the object to be measured and the marking block are considered to be relatively static, the two cameras are used for respectively acquiring images of the marking block from different angles, the distance between the cameras and the marking block is preferably but not limited to about 30m, and at least 4 non-coplanar vertexes on the marking block need to be simultaneously present in the fields of view of the two cameras.
When the camera is arranged, a fixed-focus camera is selected according to the actual measurement distance, and in order to ensure the measurement accuracy, the depth of the mark block is preferably less than 0.5 mm. The marker block is preferably, but not limited to, a cube, on which at least 4 non-coplanar vertices are required to appear simultaneously within the field of view of each camera.
And taking one vertex on the marking block as an origin, establishing a world coordinate system, and obtaining world coordinates of other vertexes on the marking block. The displacement finally obtained is the displacement in the world coordinate system. When the marking block is a cube, a vertex of the cube is used as an origin, and three edges connected with the vertex are respectively an x axis, a y axis and a z axis, so that a world coordinate system is established, and world coordinates of other vertexes on the cube are obtained.
The camera coordinate system is fixed on the camera, the optical axis direction of the camera is taken as the z-axis direction of the coordinate system, and the optical center of the camera is taken as the origin of the coordinate system.
At the beginning of a detection period, the two cameras respectively collect images of the mark block, initial pixel coordinates of vertexes of the mark block which are visible on the two cameras together are obtained, pixel coordinate offset between any two vertexes is obtained, and according to actual space relative positions of the two vertexes, the pixel offset of the two vertexes on the images collected by the two cameras is combined, and a relation matrix between the pixel offset and actual space relative distance is obtained through multiple groups of point pair data.
During measurement, the two cameras respectively collect images of the marking blocks, pixel coordinates of each vertex are obtained, and pixel displacement of each vertex in the images relative to the original position during measurement is obtained. Since the measurement is performed at a long distance and the size of the mark block is small, it is considered that the pixel displacement amount of each vertex of the mark block is uniform. Therefore, the pixel displacement amount of any one vertex is taken as the pixel displacement amount of the mark block on the image. In order to improve the calculation accuracy of the pixel shift amount, the pixel shifts of some or all of the vertices may be averaged as the pixel shift amount of the marker block on the image.
And then obtaining the actual displacement of the mark block during measurement according to the pixel displacement of the mark block on the image and the relation matrix between the pixel displacement and the actual space relative distance, namely the displacement of the point to be measured.
Specifically, assume that the coordinates of the point P in the world coordinate system are (x, y, z), and the coordinates in the camera coordinate system are (x)c,yc,zc) The transformation matrix from the world coordinate system to the camera coordinate system is M, then
The pixel coordinate (u, v) of the point P on the image can be obtained according to the camera pinhole imaging model as follows:
Order to
Then:
when the point P is displaced, the relation between the point in the image and the world coordinate and the camera coordinate thereof during measurement is as follows:
Due to the fact that the measurement is carried out at a long distance,
so assume that z is maintained before and after the displacementcNot changed, then zc≈zc+ δ z ≈ L, L is the measured distance in the direction of the optical axis of the camera. Here, a long-distance three-dimensional small displacement measurement is embodied.
Then according to
To obtain
Namely, it is
When the world coordinate system and the object to be measured are specified, the coefficients A, B, C, E, F and G are only related to the internal reference of the camera and the fixed position and posture and are not changed along with the external environment, and the coefficients can be regarded as constants. When two cameras are arranged, two groups of parameters are respectively Al,Bl,Cl,El,Fl,GlAnd Ar,Br,Cr,Er,Fr,Gr。
The pixel displacement of a point on the acquired image for two cameras is given by four sets of equations:
conversion to matrix form:
wherein (Δ u)l,Δvl) Capturing a pixel displacement, L, of a point on an image for a first cameralFor the distance measured by the first camera in the direction of the optical axis of the camera, Al,Bl,Cl,El,Fl,GlAll are constant coefficients obtained according to internal parameters of the first camera; (Δ u)r,Δvr) Acquiring a pixel displacement amount, L, of a point on an image for a second camerarFor measuring the distance of the second camera along the optical axis of the camera, Ar,Br,Cr,Er,Fr,GrAll are constant coefficients obtained from the second camera internal reference, and can be seen as (Deltau u)l,Δvl,Δur,Δvr) The linear correlation can be represented by (Δ x, Δ y, Δ z) linearity. The linear relation between the pixel displacement and the actual three-dimensional displacement is obtained by assuming long-distance small displacement measurement, so that the three-dimensional displacement calculation process is simplified.
Thus, establishing (Δ u)l,Δvl,Δur,Δvr) And (Δ x, Δ y, Δ z) to obtain the three-dimensional displacement of the object. The establishment method comprises the following steps:
establishing a relation matrix between the pixel offset and the actual space relative distance:
establishing a pixel distance difference matrix W of any two vertexes of the n vertexes and an actual distance difference matrix T of the any two vertexes in images acquired by the two cameras according to pixel coordinates of the n vertexes which are simultaneously visible and not coplanar and acquired by the two cameras:
taking the first set of data as an example, if the side length of the mark block is a, the world coordinates of the vertices of the two selected mark blocks are (a,0, a) and (a, a,0), respectively, and the pixel coordinates of the two vertices on the image captured by the first camera are (u), respectivelyli,vli) And (u)lj,vlj) The coordinates of the pixels on the image captured by the second camera are (u)ri,vri) And (u)rj,vrj) Then there is
Other group data acquisition methods are similar.
Performing PCA dimension reduction on the matrix W from an m × 4-dimensional matrix to an m × 3-dimensional matrix, and calculating to obtain a dimension reduction matrix Q, wherein the dimension reduction matrix W is represented by W ', and W' is WQ;
finding J by least square methodK＝minK{||W′K-T||2}＝minK{‖WQK-T‖2The smallest parameter matrix K, resulting in K ═ QTWTWQ)-1QTWTT。
Actual displacement of the object
Wherein (Δ u)l，Δvl) For the pixel displacement of the marker block on the image acquired by the first camera, (Delauu)r，Δvr) Pixel displacement of the marker block on the image captured by the second camera.
According to the preferable scheme of the embodiment, a plurality of point positions to be measured can be arranged on the object to be measured, a marking block is fixedly arranged on each point position to be measured, and two PTZ industrial cameras are adopted to carry out remote three-dimensional displacement measurement on each marking block. And determining the fixed position of the camera according to the positions of all the point positions to be detected, and setting a camera preset point for each point position to be detected. The fixed position at least meets the condition that the camera can shoot all points to be detected, when the preset point is called, the camera can shoot the points to be detected corresponding to the preset point at the preset point, the preset point can be called through an industrial personal computer, the camera is controlled to shoot at the preset point, and the preset point comprises a shooting angle, exposure, focal length and the like.
In a preferred embodiment of the present invention, when the matrix W and the matrix T are established, the connecting lines between every two vertexes are not parallel.
In another preferred embodiment of the present invention, when the matrix W and the matrix T are established, all the selected connecting lines between two vertexes are not coplanar.
The measurement accuracy of this embodiment can reach the millimeter level, and then the measurement accuracy is analyzed:
when the marking block is a cube with the side length of 100mm, the image resolution of the cameras is 3840 × 2160, the distance between the marking block and the cameras is 30m, the connecting line of the two cameras and the marking block forms an angle of 30 degrees, and the horizontal view field of the cameras outside 30m is 1.92m (namely each pixel is 0.5mm), simulation error analysis is carried out.
The obtained result is shown in fig. 1 and fig. 2, and the error is mainly influenced by two factors, namely, the positioning precision of the pixel coordinates of the top point of the mark block and the actual displacement. When the pixel positioning deviation is 0 and the actual displacement is within 100mm, the mean value of the displacement calculation deviation is less than 0.3 mm; when the displacement is 50mm and the positioning deviation of the top point of the marking block is less than 2 pixels, the mean value of the calculated deviation of the displacement is less than 2.5 mm.
The positioning accuracy of the vertex pixel coordinates of the mark block is the most important factor influencing the displacement measurement accuracy. In order to further improve the displacement measurement accuracy, the displacement measurement can be realized by increasing the focal length or improving the image resolution.
As shown in fig. 3, the invention further provides a binocular vision-based remote three-dimensional displacement measurement system, which comprises two cameras 2, a marking block 1 and a control module 4, wherein the marking block 1 is fixedly arranged on an object to be measured, and the control module 4 is connected with the cameras 2. The object to be measured can be provided with a plurality of points to be measured, and each point to be measured is fixedly provided with a mark block 1. A switch 3 can be provided here, each of the cameras 2 being connected to the switch 3, the switch 3 being connected to the control module 4. The control module 4 controls the camera 2 to carry out binocular imaging on the object to be measured, and calculates the actual displacement of the object to be measured according to the remote three-dimensional displacement measurement method. The camera 2 can be replaced by a PTZ camera, and a camera preset point is set for each marking block 1 to realize multi-point displacement measurement. The control module 4 calls a preset point to control the PTZ camera to shoot the mark block 1 at the preset point, wherein the preset point comprises a shooting angle, exposure, focal length and the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A binocular vision-based remote three-dimensional displacement measurement method is characterized by comprising the following steps:
fixedly arranging a marking block on a point to be measured of an object to be measured, and respectively carrying out image acquisition on the marking block from different angles by using two cameras, wherein at least 4 non-coplanar vertexes on the marking block need to be simultaneously present in the view fields of the two cameras;
establishing a world coordinate system by taking a vertex on the marking block as an origin; the camera coordinate system is fixed on the cameras, and the camera coordinate system of each camera is established by taking the optical axis direction of the cameras as the z axis;
initially, two cameras respectively collect images of a mark block, obtain initial pixel coordinates of vertexes of the mark block, which are commonly visible on the two cameras, obtain pixel coordinate offset between any two vertexes, and obtain a relation matrix between the pixel offset and actual spatial relative distance through a plurality of groups of point pair data by combining the pixel offset of the two vertexes on the images collected by the two cameras according to the actual spatial relative positions of the two vertexes;
during measurement, the two cameras respectively collect images of the marking blocks, pixel coordinates of each vertex are obtained, pixel displacement amount of each vertex in the images relative to the initial time during measurement is obtained, the pixel displacement amount of any vertex is used as the pixel displacement amount of the marking block on the images, or the pixel displacement amount of part or all of the vertices is averaged to be used as the pixel displacement amount of the marking block on the images;
and obtaining the actual displacement of the mark block during measurement according to the pixel displacement of the mark block on the image and the relation matrix between the pixel displacement and the actual space relative distance, namely the displacement of the point to be measured.
2. The binocular vision-based remote three-dimensional displacement measurement method of claim 1, wherein the calculation method of the relationship matrix between the pixel offset and the actual spatial relative distance is as follows:
establishing a pixel distance difference matrix W of any two vertexes of the n vertexes and an actual distance difference matrix T of the any two vertexes in images acquired by the two cameras according to pixel coordinates of the n vertexes which are simultaneously visible and not coplanar and acquired by the two cameras:
performing PCA dimension reduction on the matrix W from an m × 4-dimensional matrix to an m × 3-dimensional matrix, and calculating to obtain a dimension reduction matrix Q, wherein the dimension reduction matrix W is represented by W ', and W' is WQ;
calculation of JK＝minK{||W′K-T||2}＝minK{||WQK-T||2The smallest parameter matrix K, resulting in K ═ QTWTWQ)- 1QTWTT is a relation matrix between the pixel offset and the actual spatial relative distance.
3. The binocular vision-based remote three-dimensional displacement measurement method of claim 2, wherein the actual displacement of the object is measured
Wherein (Δ u)l，Δvl) For the pixel displacement of the marker block on the image acquired by the first camera, (Delauu)r，Δvr) Pixel displacement of the marker block on the image captured by the second camera.
4. A binocular vision based remote three-dimensional displacement measuring method according to claim 2, wherein the matrix W and the matrix T are established such that the connecting lines between every two vertexes are not parallel.
5. A binocular vision based remote three-dimensional displacement measurement method according to claim 2, wherein when the matrix W and the matrix T are established, all selected connection lines between two vertexes are not coplanar.
6. The binocular vision based remote three-dimensional displacement measurement method according to claim 1, wherein a marking block is fixedly arranged at a point to be measured, and two fixed-focus industrial cameras are adopted to perform remote three-dimensional displacement measurement on the marking block.
7. A binocular vision based remote three-dimensional displacement measurement method according to claim 1, wherein the marker block is a cube on which at least 4 non-coplanar vertices are required to appear simultaneously within the field of view of each camera.
8. A binocular vision-based remote three-dimensional displacement measurement system is characterized by comprising two cameras, a mark block and a control module, wherein the mark block is fixedly arranged on an object to be measured, the control module is connected with the cameras, controls the cameras to carry out binocular imaging on the object to be measured, and calculates the actual displacement of the object to be measured according to the remote three-dimensional displacement measurement method of any one of claims 1 to 7.
9. The binocular vision based remote three-dimensional displacement measurement system of claim 8, further comprising a switch, each of the cameras being connected to the switch, the switch being connected to the control module.
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