CN113077517B - Spatial light measurement system calibration device and method based on light beam straight line characteristics - Google Patents
Spatial light measurement system calibration device and method based on light beam straight line characteristics Download PDFInfo
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Abstract
The invention provides a method and a device for calibrating a spatial optical measurement system, which specifically comprise the following steps: according to a preset projection rule, enabling a tracer beam scanning system to project tracer beams with known vectors into a public view field of a multi-view visual equipment set, and solving a control linear equation of the tracer beams in a world coordinate system; acquiring two-dimensional images of the tracer beams in each visual device by the multi-view visual device set, and solving an image linear equation of the tracer beams in a target surface coordinate system; and calculating the internal parameters and/or the external parameters of each visual device by using a light beam adjustment method or a least square method. And then, calculating the space conversion relation among the visual devices by a coordinate transmission principle to finish calibration. The calibration method and the calibration device provided by the invention utilize the linear characteristic of the tracing light beam to calibrate, do not need any space cooperation target or target plate, reduce the calibration difficulty of a photometric system, especially a large-space photometric system, and improve the calibration efficiency, precision and stability.
Description
Technical Field
The invention belongs to the field of vision measurement and image detection, and particularly relates to a calibration device and method of a spatial light measurement system based on linear characteristics of light beams.
Background
The vision measurement is an advanced system which takes computer vision as a theoretical basis, adopts an advanced image sensor with high density, low noise and small distortion, and finishes effective processing on binary or gray level images through a high-speed real-time image acquisition system, a special image hardware processing system and a high-performance computer.
The measurement principle of the vision measurement system is established on the basis of a pinhole camera model. The model is an idealized simple camera model and is used for establishing a mapping relation between three-dimensional space point coordinates in a world coordinate system and two-dimensional image point coordinates on a camera target surface. The essence of vision measurement system calibration (photometric system calibration) is to solve internal parameters (such as focal length, principal point coordinates, lens distortion parameters, etc.) and external parameters (such as rotation matrix and translation vector of world coordinate system to camera coordinate system) of the photometric system (camera) by knowing a plurality of three-dimensional space point coordinates and corresponding two-dimensional image point coordinates. The calibration method based on the point characteristic photogrammetry technology not only needs to accurately measure the three-dimensional space point coordinates and the corresponding two-dimensional image point coordinates, but also needs to establish a strict mathematical model for calculation.
In practical engineering applications, the calibration method of the vision measurement system is most commonly a two-step method proposed by r.tasi and a planar calibration method proposed by zhangzhengyou. Both methods require the use of targets with higher accuracy and the range of dimensions of the target needs to match the range of the field of view of the measurement. Because calibration of each camera requires at least three different spatial position target data, the conventional calibration method is labor intensive and inefficient. When the measurement field of view is large, the time and labor costs of conventional calibration methods are higher and sometimes even impossible. In addition, for a large-view field measurement system, a high-precision large target is difficult to manufacture and is difficult to arrange, and a small target cannot be matched with a large view field, so that the precision and the stability of a measurement result are seriously influenced.
Disclosure of Invention
Based on the above, the invention aims to solve the problems of difficult manufacturing and setting of the target, uneven arrangement, labor intensity, difficult maintenance, low efficiency and the like in the calibration process of the spatial light measurement system, and provides the calibration device and the calibration method of the spatial light measurement system without the target or the target plate.
The purpose of the invention is realized by the following technical scheme:
a space optical measurement system calibration method is applied to a multi-view vision equipment set; the multi-vision device set comprises at least two vision devices
The method comprises the following steps:
respectively arranging each visual device in the multi-view visual device group at each observation point of a space optical measurement system, and adjusting the observation angle of each visual device to enable each visual device to have a common view field;
fixedly installing a tracer beam generator on the multi-freedom-degree rotary table to form a tracer beam scanning system;
according to a preset projection rule, enabling the tracer beam scanning system to project tracer beams with known vectors to the public view field;
according to a preset projection rule, enabling each visual device to acquire images of the tracer beams, and acquiring two-dimensional images of the tracer beams on each visual device;
the preset projection rule comprises an image acquisition cycle of each visual device on the tracer beam or a time cycle of specific application of each visual device on tracer beam image acquisition;
solving a control linear equation of each tracing beam in a world coordinate system; solving an image linear equation of each tracing light beam in a target surface coordinate system of each visual device;
calculating internal parameters and/or external parameters of each visual device according to a coplanar imaging relation between a control linear equation of each tracer beam and an image linear equation of each tracer beam in a target surface coordinate system of each visual device;
and resolving a rotation matrix and a translation vector between target surface coordinate systems of the visual devices according to a coordinate transmission principle, and finishing the calibration of the relative space orientation of the visual devices in the multi-view visual device group.
Specifically, the method for enabling the tracer beam scanning system to project tracer beams with known vectors to the common view field according to a preset projection rule further includes enabling the tracer beam scanning system to project at least six non-coplanar tracer beams with different orientations to the common view field if the principal point coordinates of each piece of visual equipment are unknown.
Specifically, the method for enabling the tracer beam scanning system to project tracer beams with known vectors to the common field of view according to a preset projection rule further includes enabling the tracer beam scanning system to project at least four coplanar tracer beams with different orientations to the common field of view if the principal point coordinates of each piece of visual equipment are known.
Preferably, the method for calculating the internal parameters and/or the external parameters of each visual device further comprises calculating by using a beam adjustment method or a least square method.
Preferably, the method for forming the tracer beam scanning system by fixedly mounting the tracer beam generator on the multi-degree-of-freedom turntable further comprises the steps of fixedly mounting the tracer beam generator on a total station or a transit-weft instrument, or fixedly mounting the tracer beam generator on a turntable set for accurately positioning the spatial orientation of the tracer beam; the set of turrets comprises at least one-dimensional turret.
In addition, the invention also provides a calibration device of the spatial light measurement system, which comprises:
the multi-view vision equipment set comprises at least two vision equipment, a tracking light source and a tracking light source, wherein the vision equipment is used for carrying out image acquisition on the tracking light beam according to a preset projection rule and outputting a two-dimensional image formed by the tracking light beam on a target surface of each vision equipment; each visual device is arranged at each observation point of the space optical measurement system, and each visual device is arranged at a certain angle with a common view field;
the tracing beam scanning system is used for projecting tracing beams to the public view field of each visual device according to a preset projection rule and outputting space direction data of each tracing beam;
the processing system is used for inputting the spatial orientation data of each tracer beam and the two-dimensional image data of each tracer beam according to a preset projection rule, and outputting the internal parameters and/or the external parameters of each visual device and the spatial conversion relation data among the visual devices after data analysis and processing;
the preset projection rule comprises an image acquisition cycle of each visual device on the tracer beam or a time cycle of specific application of each visual device on tracer beam image acquisition.
Specifically, the tracing beam scanning system comprises a tracing beam generator and a multi-degree-of-freedom rotary table; the tracing light beam generator is used for projecting a visible tracing light beam; the multi-degree-of-freedom rotary table is provided with at least one rotational degree of freedom and is used for bearing the tracer beam generator and outputting rotational state data in real time; and the tracer beam generator is fixedly arranged on the multi-freedom-degree rotary table.
Preferably, the multi-degree-of-freedom turntable is a total station, a theodolite or a turntable assembly, and the turntable assembly comprises at least one-dimensional turntable.
Preferably, the apparatus may further include a time synchronizer for synchronizing image acquisition of each vision device according to a preset projection rule.
According to the scheme, the control linear equation is constructed through the linear characteristic of the tracing light beam, and the mapping relation between the world coordinate system and the camera coordinate system is established, so that the problem of using a point target is solved, the calibration device and the calibration method of the visual measurement system without any space cooperation target or target plate are provided, the calibration efficiency of the optical measurement system in the prior art is improved, the labor intensity is reduced, particularly the calibration precision and the stability of the large-space optical measurement system are improved, and the system is easy to operate and maintain.
Drawings
FIG. 1 is a flow chart for implementing a spatial light measurement system calibration method
FIG. 2 is a schematic diagram of coplanar relationship mapping according to an embodiment of the present invention
FIG. 3 is a schematic structural diagram of an apparatus for spatial light measurement system calibration according to an embodiment of the present invention
The reference numerals in the figures denote:
1. a left camera; 2. a right camera; 3. tracing the light beam; 4. a processing system; 5. a tracer beam generator; 6. a multi-degree-of-freedom turntable; 7. controlling a straight line; 8. like a straight line; 9. a principal point.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of the embodiments of the present invention is provided in connection with the examples. It should be understood that the examples described herein are only illustrative of the present invention and are not intended to limit the scope of the present invention.
In the embodiment of the invention, the tracing beam with known vector is used as the calibrated shooting object, the mapping relation between different coordinate systems is constructed by utilizing the linear characteristic of the shooting object, and a point target or a cooperative space target in the traditional calibration method is not needed, so the calibration difficulty of the multi-ocular measurement system is greatly reduced, and the efficiency and the stability are improved.
In the embodiment of the invention, without loss of generality, the camera is used as the vision equipment, the total station is used as a multi-degree-of-freedom turntable, and the multi-view vision equipment group is assumed to only comprise two cameras with undetermined parameters, namely a left camera and a right camera. In other embodiments, other visual devices such as a camera may be used.
The following detailed description of implementations of the invention refers to specific embodiments,
example one
Fig. 1 shows a flow of a method for calibrating a spatial photometric system according to an embodiment of the present invention, in step S101, a left camera and a right camera are disposed at two observation points corresponding to the spatial photometric system, and an observation angle of each camera is adjusted, so that each camera has a common view field; establishing a left camera target surface coordinate system and a right camera target surface coordinate system; fixedly mounting a tracer beam generator on a total station to form a tracer beam scanning system;
in step S102, causing the trace beam scanning system to project a trace beam of known vector to a camera common field of view; enabling each camera to carry out image acquisition on the tracing light beam, and acquiring a two-dimensional image of the tracing light beam in each camera;
in step S103, solving a control linear equation of the tracking beam in a world coordinate system; respectively solving an image linear equation of the tracer beam in a left camera target surface coordinate system and a right camera target surface coordinate system;
in this embodiment, the control line equations of the tracer beams with known vectors and the image line equations of the tracer beams in the coordinate system of the target surface of each camera can be obtained by repeating steps S102 and S103 for a plurality of times by using different known vectors.
In step S105, respectively calculating a rotation matrix R1 and a translation vector T1 from the world coordinate system to the left camera target surface coordinate system and a rotation matrix R2 and a translation vector T2 from the right camera target surface coordinate system according to the coplanar imaging relationship by combining a control line equation and an image line equation; and then, resolving the conversion relation between the left camera target surface coordinate system and the right camera target surface coordinate system according to a coordinate transfer principle, wherein the rotation matrix R12 and the translation vector T12 from the left camera target surface coordinate system to the right camera target surface coordinate system are resolved without loss of generality, and the relative space orientation calibration of the left camera and the right camera is completed.
In the first embodiment of the present invention, the specific calculation process is applicable to both left and right cameras, so the cameras are collectively referred to as cameras, and the calculation is as follows:
and the control straight line L of the ith tracer beam and the image straight line L of the ith tracer beam in the camera target surface coordinate system are mapped with each other. Establishing a three-dimensional coordinate system XYZ and a two-dimensional coordinate system xy, and controlling a straight line L to be positioned in the three-dimensional coordinate system XYZ
Corresponding image line is
Substitution into collinearity equation
After finishing to obtain
Let si＝mi/m11Change into
This is about s0～s10The linear non-homogeneous system of equations of (1) has eleven unknowns, and each tracing beam provides two equations, six tracing beams are requiredThe data solves the system of equations.
And respectively expressing a rotation matrix R from a world coordinate system to a camera target surface coordinate system, a translation vector T and an internal reference matrix K of the camera as follows:
obtaining a projection matrix M according to a projection equation expression:
cause m8,m9,m10For rotating one row of matrix R, there are
Simultaneous description of s0～s10The system of linear non-homogeneous equations can be obtained:
from mi＝sim11The elements of the projection matrix M can be solved.
The first three columns of elements of each row of the projection matrix M are regarded as a vector, i.e. a command vector
From the fundamental properties of the rotation matrix R, the camera intrinsic matrix K can be solved
Wherein
Then by
r0＝(m0-Cxr6)/Fx,r1＝(m1-Cxr7)/Fx,r2＝(m2-Cxr8)/Fx
r3＝(m4-Cyr6)/Fy,r4＝(m4-Cyr7)/Fy,r5＝(m5-Cyr8)/Fy
TX＝(m3-CxTZ)/Fx,TY＝(m7-CyTZ)/Fy
And TZ＝m11，r6＝m8，r7＝m9，r8＝m10
Respectively solving a rotation matrix R and a translation vector T from a world coordinate system to a camera target surface coordinate system
The above calculation process is applicable to both the left and right cameras, and repeating the above steps can respectively find the rotation matrix R1 and the translation vector T1 from the world coordinate system to the left camera target surface coordinate system, and the rotation matrix R2 and the translation vector T2 from the world coordinate system to the right camera target surface coordinate system. According to the coordinate transformation relationship, the rotation matrix R21 and the translation variable T21 between the left camera and the right camera can be obtained by the following formula:
example two
In this embodiment, a one-dimensional high-precision turntable is selected as a multi-degree-of-freedom turntable, that is, the tracer beams projected by the one-dimensional turntable are necessarily on one plane, for the convenience of calculation, a coordinate system is established as shown in fig. 2, a two-dimensional world coordinate system XOY is established on a coplanar plane of each tracer beam, and a control straight line 7 of the i-th tracer beam is selected and is located on an image straight line 8 of a left camera target surface coordinate system XOY. Without loss of generality, the control straight line 7 and the image straight line 8 are not parallel to the coordinate axes of the coordinate system.
From the high-precision azimuth positioning characteristic of the one-dimensional rotary table, a control linear equation can be obtained:
Y＝AX+B
and the corresponding equation like a straight line:
substitution into collinearity equation
Obtaining:
wherein
(am0+aAm1-m4-Am5+bm8+bAm9)X+(aBm1+am3-m5B-m7+bBm9+bm11)＝0
For any X, then
Using si＝mi/m11The replacement results in:
the coordinates (C) of the camera principal point 9 are knownx，Cy)
Can obtain
And
and obtaining a rotation matrix R and a translation vector T from a world coordinate system to a camera target surface coordinate system by adopting a light beam adjustment method:
wherein
The derivation of the above solution of camera reference matrix and RT matrix is applicable to both left and right cameras.
The rotation matrix and translation vector of the world coordinate system to the left camera target surface coordinate system can be solved as R1 and T1, respectively. In the same way, the rotation matrix R2 and the translation vector T2 of the world coordinate system to the right camera can be solved.
According to a coordinate transfer principle, a rotation matrix R12 and a translation vector T12 from a left camera target surface coordinate system to a right camera target surface coordinate system or a rotation matrix R21 and a translation vector T21 from a right camera target surface coordinate system to a left camera target surface coordinate system are obtained through calculation, and the calibration of the relative space orientation of the left camera and the right camera is completed.
It can be seen from the second embodiment that, in this embodiment, since the control straight lines of the tracer beams are coplanar, and the linear equation set of the tracer beams includes eight unknowns, in this embodiment, only data of four tracer beams need to be acquired, and the coordinates of the principal point 9 of the camera are predicted, so that calibration can be completed.
EXAMPLE III
As shown in fig. 3, an embodiment of the present invention further provides a calibration apparatus for a spatial light measurement system, where the apparatus includes:
the multi-view vision equipment group comprises two vision equipment, namely a left camera 1 and a right camera 2, and is used for carrying out image acquisition on the tracer beam 3 according to a preset projection rule, outputting a two-dimensional image formed by the tracer beam 3 on a target surface of each camera, arranging each camera at each observation point of the space optical measurement system, arranging each camera at a certain angle, and having a common view field;
the tracing beam scanning system is used for projecting tracing beams 3 in different directions to the common view field of each camera according to a preset projection rule and outputting space direction data of each tracing beam;
the processing system 4 is used for presetting a projection rule, inputting the spatial orientation data of each tracer beam 3 and the two-dimensional image data of each tracer beam, analyzing and processing the data, and outputting internal parameters and/or external parameters of each camera, such as a rotation matrix and a translation vector from a world coordinate system to the camera, and spatial conversion relation data among the cameras;
in this embodiment, the tracer beam scanning system includes a tracer beam generator 5 and a multi-degree-of-freedom turntable 6, and the tracer beam generator 5 is fixedly mounted on the multi-degree-of-freedom turntable 6. Wherein the tracer beam generator 5 is configured to project a visible tracer beam 3; and the multi-freedom-degree rotary table 6 is provided with at least one rotational freedom degree, is used for bearing the tracer beam generator 5 and outputs rotational state data in real time.
In this embodiment, the multiple degree of freedom turntable 6 may be a total station or a theodolite. The total station is provided with laser, which may be too weak in some scenes to be effectively shot by a camera, so that a tracing light beam generator 5, generally a visible laser, needs to be fixed on the total station, and the emitted laser can be observed at various angles due to scattering in the atmosphere.
In this embodiment the multi-degree of freedom turntable may also be a one-dimensional turntable, the projected tracking beam 3 being in one light plane when it is a one-dimensional turntable. Projecting the tracer beam 3 in a plane brings great convenience to calculation, because a control linear equation of the tracer beam can be established in a two-dimensional world coordinate system, the data volume is greatly reduced, but the principal point of the camera needs to be predicted.
In this embodiment, the calibration apparatus further includes time synchronizers built in the left camera 1 and the right camera 2. The processing system 4 may be connected to the multi-view vision equipment set and the tracer beam scanning system for synchronizing the projection of the tracer beam 3 and the image acquisition of each camera (in this embodiment, the left camera 1 and the right camera 2) according to a preset projection rule. Because the tracer beam scanning system has the problem of light beam stability, tracer beams shot in the same direction at different moments may have differences, and the problem can be overcome through synchronous image acquisition of a camera, so that the calibration accuracy is improved.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and the specific implementations of the invention are not to be considered limited to these descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all should be considered as belonging to the protection scope of the invention.
Claims (9)
1. A space optical measurement system calibration method is characterized in that the method is applied to a multi-view vision device group; the multi-view vision equipment group at least comprises two vision equipment with parameters to be determined; the method comprises the following steps:
respectively arranging each visual device in the multi-view visual device group at each observation point of a space optical measurement system, and adjusting the observation angle of each visual device to enable each visual device to have a common view field;
fixedly installing a tracer beam generator on the multi-freedom-degree rotary table to form a tracer beam scanning system;
according to a preset projection rule, enabling the tracer beam scanning system to project tracer beams with known vectors to the public view field;
according to a preset projection rule, each visual device carries out image acquisition on the tracing light beam to obtain a two-dimensional image of each tracing light beam on each visual device;
the preset projection rule comprises an image acquisition cycle of each visual device on the tracer beam or a specific application time cycle of each visual device on the tracer beam image acquisition;
solving a control linear equation of each tracing beam in a world coordinate system; solving an image linear equation of each tracing light beam in a target surface coordinate system of each visual device;
respectively resolving internal parameters and/or external parameters of each visual device according to the coplanar imaging relationship between the control linear equation of each tracer beam and the image linear equation of each tracer beam in the target surface coordinate system of each visual device, and solving a rotation matrix and a translation vector from a world coordinate system to the target surface coordinate systems of the two visual devices respectively;
and resolving a rotation matrix and a translation vector between target surface coordinate systems of the visual devices according to a coordinate transmission principle, and finishing the calibration of the relative spatial orientation of the visual devices in the multi-view visual device group.
2. The method of claim 1, wherein said method of causing said tracer beam scanning system to project a known vector of tracer beams to said common field of view is in accordance with a predetermined projection rule.
3. The method as claimed in claim 1, wherein said method for causing said tracer beam scanning system to project at least six non-coplanar tracer beams of known vectors to said common field of view according to a predetermined projection rule further comprises causing said tracer beam scanning system to project at least four coplanar tracer beams of different orientations to said common field of view if the principal point of each vision device is known.
4. The method according to any one of claims 1 to 3, wherein the method of calculating the intrinsic parameters and/or the extrinsic parameters of each visual device further comprises calculating using a beam-balancing method or a least-squares method.
5. The method of any one of claims 1-3, wherein said method of fixedly mounting the tracer beam generator on a multi-degree-of-freedom turntable to form a tracer beam scanning system, further comprises fixedly mounting the tracer beam generator on a total station or a theodolite, or on a set of turntables to precisely position the spatial orientation of the tracer beam; the set of turrets comprises at least one-dimensional turret.
6. A calibration device of a spatial light measurement system, the calibration device comprising:
the multi-view vision equipment set comprises at least two vision equipment with undetermined parameters, and is used for carrying out image acquisition on a tracer beam according to a preset projection rule and outputting a two-dimensional image formed by the tracer beam on a target surface of each vision equipment, wherein each vision equipment is arranged at each observation point of the space optical measurement system, and each vision equipment forms a certain angle with each other and has a public view field;
the tracing beam scanning system is used for projecting tracing beams to the public view field of each visual device according to a preset projection rule and outputting space direction data of each tracing beam;
the processing system is used for inputting the spatial orientation data of each tracer beam and the two-dimensional image data of each tracer beam according to a preset projection rule and solving a control linear equation of each tracer beam in a world coordinate system; solving an image linear equation of each tracing light beam in a target surface coordinate system of each visual device; according to the coplanar imaging relationship between the control linear equation of each tracer beam and the image linear equation of each tracer beam in the target surface coordinate system of each visual device, the internal parameters and/or the external parameters of each visual device are resolved and output through data analysis and processing, the rotation matrix and the translation vector of the world coordinate system to the target surface coordinate systems of the two visual devices are solved, the rotation matrix and the translation vector of each visual device in the target surface coordinate system are resolved according to a coordinate transmission principle, the relative spatial orientation calibration of each visual device in the multi-view visual device group is completed, and the spatial conversion relationship data of each visual device are output;
the preset projection rule comprises an image acquisition cycle of each visual device on the tracer beam or a time cycle of specific application of each visual device on tracer beam image acquisition.
7. The calibration apparatus as recited in claim 6, wherein the tracking beam scanning system comprises a tracking beam generator and a multi-degree-of-freedom turntable; the tracing light beam generator is used for projecting a visible light beam; the multi-degree-of-freedom rotary table is provided with at least one rotational degree of freedom and is used for bearing the tracer beam generator and outputting rotational state data in real time; and the tracer beam generator is fixedly arranged on the multi-freedom-degree rotary table.
8. Calibration arrangement according to claim 7, wherein the multiple degree of freedom turntable may be a total station or a theodolite or a set of turntables comprising at least one-dimensional turntable.
9. The calibration apparatus according to any one of claims 6 to 8, further comprising a time synchronizer for synchronizing image acquisition of each vision device according to a preset projection rule.
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