CN113222891B - Line laser-based binocular vision three-dimensional measurement method for rotating object - Google Patents
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Abstract
The invention discloses a line laser-based binocular vision three-dimensional measurement method for a rotating object, wherein a binocular camera collects rotating measured object images at a specified frame rate f and determines homography conversion H between two adjacent frames of images; performing stereoscopic vision matching on laser points extracted from left and right images of the binocular camera to obtain spatial coordinates of a kth feature point under a camera coordinate systemSplicing all frames of the measured object rotating for one circle by utilizing homography transformation H to obtainX and Y coordinates in the world coordinate system; binocular camera principal optical axisAlignment correction with the rotation axis of the measured object to obtainZ coordinate in world coordinate system, thus completing three-dimensional measurement of the measured object. According to the invention, the three-dimensional pose calculation problem is converted into the two-dimensional image stitching problem, and the two-dimensional image stitching problem is mapped back into the three-dimensional space, so that the complex process of rotating shaft calibration based on the traditional turntable three-dimensional measurement is avoided, and the actual application scene of the measurement method is enlarged; loop constraint based on homography transformation is provided, and accumulated errors of long-time three-dimensional measurement are effectively reduced.
Description
Technical Field
The invention relates to the field of three-dimensional measurement, in particular to a line laser-based binocular vision three-dimensional measurement method for a rotating object.
Background
Wear detection and deformation detection of equipment have been one of the key issues of engineering, and most wear is due to long-term rotation of the rotor, such as wear of high-speed rail hubs, axles, motors. At present, three-dimensional measurement technology is used for three-dimensional measurement of a rotating object which is separated from a working state, and dynamic three-dimensional measurement of the rotating object in a running state does not have obvious progress.
A line laser three-dimensional measurement method based on a turntable (for example, she Hao. A key technical research on automatic three-dimensional measurement of a high-speed railway hub based on line laser scanning [ D ]. China university of science and technology, 2018), wherein a measured object is required to be placed on the turntable, so that the original working state of a dynamic object is changed, and the application scene of three-dimensional measurement is greatly limited.
The Chinese patent application with publication number of CN107452024A discloses a visual measurement method for tracking the full-field motion of a rotating object, which is to paste speckle patterns and coding mark points on the surface of the object to be measured, and realize three-dimensional calculation of images by using a speckle correlation matching method.
Disclosure of Invention
The invention aims at: aiming at the problems that the existing three-dimensional measurement technology in the prior art is limited in application scene or complex in calculation and large in calculation amount, and is difficult to meet the real-time requirement in actual engineering, the binocular vision three-dimensional measurement method for the rotating object based on the line laser is provided.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a binocular vision three-dimensional measurement method of a rotating object based on line laser,
the binocular camera collects the rotated measured object images at a specified frame rate f and determines homography conversion H between two adjacent frames of images;
laser spot for extracting left and right images of binocular cameraStereoscopic vision matching is carried out to obtain the space coordinate of the kth feature point under the camera coordinate systemSplicing all frames of the detected object rotating for one circle by utilizing homography transformation H to obtain +.>X and Y coordinates in the world coordinate system;
alignment correction is carried out on the main optical axis of the binocular camera and the rotating shaft of the measured object, and acquisition is carried outZ coordinate in world coordinate system, thus completing three-dimensional measurement of the measured object.
By adopting the line laser-based binocular vision three-dimensional measurement method for the rotating object, the three-dimensional pose calculation problem is converted into the two-dimensional image stitching problem, and the two-dimensional image stitching problem is mapped back into the three-dimensional space, so that the complex process of rotating shaft calibration based on turntable three-dimensional measurement in the prior art is avoided, and the actual application scene of the measurement method is enlarged; the loop constraint based on homography transformation is provided, so that the accumulated error of long-time three-dimensional measurement is effectively reduced; the technical scheme is provided for direct three-dimensional measurement of the rotating object.
Preferably, the positions of the binocular camera and the line laser sensor are fixed, the angles of the binocular camera and the line laser sensor are adjusted, the binocular camera is set to collect images at a specified frame rate f, the binocular camera is calibrated offline, the binocular camera internal parameters are obtained, and the binocular camera is corrected in stereoscopic vision.
Further preferably, after the measured object enters a uniform rotation state, the binocular camera collects images of the measured object rotating for one circle and is used for calculating homography conversion H between all adjacent two frames of images, and based on the idea of loop detection, the initial frame and the end frame are overlapped in height, so that the optimal homography conversion H is obtained by establishing a projection constraint relation of the adjacent two frames of images and using nonlinear optimization, and the accumulated error is reduced.
Further preferably, the space coordinates of the mark blocks under different frames are recorded by tracking the mark blocks on the surface of the measured object, and then the points in the space point set are subjected to space plane fitting to obtain a rotation plane for alignment correction of the main optical axis rotating shaft.
Further preferably, the line laser sensor is opened, the stereo correction coefficient is obtained by calibration, and stereo vision matching is carried out on laser points extracted from the left image and the right image to obtain the space coordinate of the kth feature point under the camera coordinate systemSplicing all frames of the detected object rotating for one circle by utilizing homography transformation H to obtain +.>X and Y coordinates in the world coordinate system.
It is further preferred that the main optical axis and the rotation axis are aligned in parallel to eliminate the Z-direction deviation, and whether the main optical axis is parallel to the rotation axis is independent of the coordinate X, so that correction is performed only in a two-dimensional coordinate system constituted by the camera coordinate system Y-axis and Z-axis.
Further preferably, the Y-direction deviation caused by parallel alignment is corrected to finally obtainSpatial coordinates in the world coordinate system.
Further preferably, the angular velocity of the object to be measured at constant speed is omega, the rotating angle of the rotating shaft of the object to be measured is omega/f in the shooting interval of two adjacent frames of images, the two frames of images are spliced, the extension line of the rotating radius is intersected with the straight line where the axle center is positioned, and the formed included angle isAdjusting the frame rate of the binocular camera according to the angular velocity of the object to be measured so as to enable +.>Thereby avoiding invalid image data.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
according to the line laser-based binocular vision three-dimensional measurement method for the rotating object, the three-dimensional pose calculation problem is converted into the two-dimensional image splicing problem, and the two-dimensional image splicing problem is mapped back into the three-dimensional space, so that the complex process of rotating shaft calibration based on the traditional turntable three-dimensional measurement is avoided, and the actual application scene of the measurement method is enlarged; the loop constraint based on homography transformation is provided, so that the accumulated error of long-time three-dimensional measurement is effectively reduced; the technical scheme is provided for direct three-dimensional measurement of the rotating object.
Drawings
FIG. 1 is a schematic view of a measurement device;
FIG. 2 is a binocular camera epipolar constraint model;
FIG. 3 is a binocular camera model after distortion correction;
FIG. 4 is a skew angle of a stitching of two adjacent frames;
FIG. 5 is a marker block trace path;
FIG. 6a is a schematic diagram of image stitching one;
FIG. 6b is a second image stitching schematic;
FIG. 6c is a third image stitching schematic;
FIG. 7 is a schematic view of Z-direction deviation before correction of the spindle and main optical axis;
FIG. 8 is a schematic diagram of a spindle and primary optic axis parallel correction;
fig. 9 is a three-dimensional measurement result of a square rotation object to be measured in the embodiment.
The marks in the figure: 1-line laser sensor, 11-laser plane, 2-binocular camera, 3-measured object, 31-axle center.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. 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.
Examples
The invention discloses a line laser-based binocular vision three-dimensional measurement method for a rotating object, which comprises the following steps:
1) Arrangement measuring device
As shown in fig. 1, the measuring device includes a line laser sensor 1 and a binocular camera 2.
Fixing the positions of the binocular camera 2 and the line laser sensor 1 and adjusting the angles of the binocular camera 2 and the line laser sensor 1, wherein the line laser sensor 1 emits a laser plane 11 to be projected onto the surface of the measured object 3 and passes through the shaft center 31 of the rotating shaft; setting a binocular camera 2 to acquire images at a specified frame rate f, and performing off-line calibration on the binocular camera 2 to obtain an internal reference of the binocular camera 2; the binocular camera 2 is stereoscopic corrected, fig. 2 is a schematic diagram before correction, and fig. 3 is a schematic diagram after correction.
2) Initializing a measuring device
After the rotating object enters a stable running state in engineering, the angular speed is generally constant, so that the measured object 3 is assumed to rotate clockwise at a constant speed, and the angular speed omega is a priori information.
It is easy to know that the rotation angle of the rotating shaft of the measured object 3 is omega/f in the shooting interval of two adjacent frames of images, and the two frames of images are spliced, as shown in fig. 4, the extension line of the rotation radius of the two frames of images is intersected with the straight line where the axle center is located, and the formed included angle isThe frame rate of the binocular camera 2 is adjusted according to the angular velocity of the object 3, so that the angular velocity omega and the frame rate f of the object 3 satisfy the following relationship:
so thatThereby avoiding invalid image data.
2.1 Homography transform optimization
The line laser sensor 1 is turned off to allow the binocular camera 2 andwhen the rotating shaft is in a state to be started and the measured object 3 enters a uniform rotation state, the binocular camera 2 collects images of the measured object 3 rotating for one circle and is used for calculating homography conversion between all adjacent two frames of images to obtain a group of H i (i=1, 2,.. M-1), wherein the same feature points of any two adjacent frames of images in the acquired M frames of images are completely overlapped after homography conversion, and the correspondence is as follows:
P i，j ＝H i P i+1，j (2)
due to H i The calculation of the image frame has systematic errors, and all adjacent frame images are recursively spliced according to the homography transformation, so that accumulated errors can be caused, and a closed loop can not be formed; based on the idea of loop detection, the initial frame and the end frame are highly overlapped, so that the optimal homography transformation is obtained by using nonlinear optimization by establishing a projection constraint relation of two adjacent frames of images, thereby reducing accumulated errors.
H is firstly removed by RANSAC algorithm i The outliers in (1) and the rest of the data form a set G containing G elements, and the average value of the set is calculatedAnd takes this as the initial value for the nonlinear optimization:
defining error terms as:
e i，j ＝P i，j -HP i+1，j (4)
wherein P is i，j And P i+1，j Is the normalized coordinates of the j-th feature point corresponding to the i-th frame and the i+1-th frame.
Thereby constructing a least squares problem:
specifically, the relationship between the start frame and the end frame is:
P M，j ＝H M P 1，j (6)
h in formula (6) M Also as the optimization term of the formula (5), two cases need to be discussed, namely, the deflection angle of two adjacent frames of images is calculated by using a radian of one circleTaking the remainder, and obtaining:
when α=0, the end frame just coincides with the start frame, let the error term be:
e M，j ＝P M，j -H M P 1，j (8)
thereby H in (8) M Added to the optimization term of equation (5).
When α is not equal to 0, the rotation angle corresponding to the last frame of image exceeds the initial positionAfter the initial frame is transformed M-1 times according to homography transformation H, the method is characterized in that:
P M，j ＝H M-1 P 1，j ( 9 )
the combined type (6) and the formula (9) can be obtained
I.e. after the initial frame is transformed M-1 times according to the homography transformation H, the homography transformation H is reversed again M Can be coincident with itself, and this error term is then:
thereby H in (11) M Added to the optimization term of equation (5).
Finally, willAs an initial value of the parameter H to be estimated, solving by a Levenberg-Marquardt algorithm to obtain the optimal homography transformation H
2.2 Rotation plane fitting
Rotating the plane of the measured object 3, namely, the plane perpendicular to the rotating shaft, by tracking the mark blocks on the surface of the measured object 3, recording the space coordinates of the mark blocks under different frames, as shown in fig. 5, and then performing space plane fitting on the points in the space point set to obtain a rotating plane expression:
AX+BY+CZ＝1 (13)
is used for aligning and correcting the main optical axis rotating shaft.
3) Calculating the surface space point of the object 3 to be measured
3.1 Annular splice)
The stereo correction coefficient is obtained by calibration, and stereo vision matching is carried out on laser points extracted from left and right images to obtain the space coordinate of the kth feature point under the camera coordinate systemAll frames of the object 3 rotating one circle are spliced by using the homography transformation H obtained by initialization, as shown in fig. 6a to 6c, the mapping relation between the ith frame and the initial frame is known to be H i-1 Because the homography lacks depth information, it is first assumed that the surface of the object 3 is slightly +.>The Z-coordinate of (2) remains unchanged, restore +.>The formula is as follows:
wherein K is the internal reference of binocular camera 2, [ X ] k ，Y k ] T And [ X ] k `，Y k `] T Respectively isX and Y coordinates in the camera coordinate system and world coordinate system.
3.2 Main optical axis rotation axis alignment correction
Fig. 7 is a side view of the measuring device and the object 3, assuming that the rotation axis rotates 180 ° and then the spatial pointThe shift to the b position, but in practical measurement the principal optical axis of the binocular camera 2 is hardly exactly parallel to the axis of rotation, resulting in +.>After the ring-shaped splice, the main optical axis and the rotating shaft are required to be aligned in parallel at the time, so that the Z-direction deviation delta Z is eliminated, and in fig. 7, whether the main optical axis is parallel with the rotating shaft is irrelevant to the coordinate X, so that the correction is only required under a two-dimensional coordinate system formed by the Y axis and the Z axis of the camera coordinate system, as shown in fig. 8.
The main optical axis forms an included angle with the rotation plane, and the rest angle is theta; after correction, the rotation plane is perpendicular to the main optical axis,transferring to the c position, and transferring the corresponding b position to the d position; at this time, after the rotating shaft rotates 180 degrees, the position d and the position c have the same Z coordinate, and Z-direction deviation is eliminated; and the Y-direction deviation caused by parallel alignment needs to be corrected.
As is apparent from the formula (13), the two-dimensional formula of the rotation plane in the side view of the rotation shaft is:
the corrected world coordinates are [ X ] k ，Y real ，Z real ] T Wherein:
Z real ＝cosθ(Z k -Z(Y k ))+Z C (17)
wherein Z is C Z is the Z-direction distance from the optical center of the binocular camera 2 to the corrected rotation plane real And Y real New coordinates after correction for Z and Y; from the formula (15) 55 (17), Z real The values of (2) are related to the variables Y and theta of the rotation plane and are not related to the Z-direction depth, so that the fitting rotation plane in the step 2.2) is only required to be perpendicular to the rotating shaft; similarly, for any spatial point in the camera coordinate system, the spatial coordinates can be corrected according to formulas (17) and (18) to finally obtainAnd (3) performing three-dimensional measurement on the rotating object 3 by using space coordinates in a world coordinate system.
Compared with the prior art, the method has the beneficial effects that the three-dimensional pose calculation problem is converted into the two-dimensional image stitching problem, and the two-dimensional image stitching problem is mapped back into the three-dimensional space, so that the complex process of rotating shaft calibration based on the traditional turntable three-dimensional measurement is avoided, and the actual application scene of the measurement method is enlarged; the loop constraint based on homography transformation is provided, so that the accumulated error of long-time three-dimensional measurement is effectively reduced; the technical scheme is provided for direct three-dimensional measurement of the rotating object.
Specifically, in this example, two acA2040-35gm/gc BASLER industrial cameras were used(baseline 1 m), a red light line laser sensor with power of 50mW and wavelength of 635nm, a 86 stepping motor and a servo motor controller; the measured object 3 is a square turntable (the diagonal line is 1.5m, the surface is artificially added with concave-convex textures), and the rotation angular velocity isThe vertical distance between the object 3 and the binocular camera 2 is about 1m.
The calculated rotation plane is:
0.0057X-0.0399Y+0.9918Z＝1
the measurement process is as follows:
step one, closing the line laser sensor 1, initializing the measuring equipment, collecting the image of the measured object 3 rotating for one circle, and calculating to obtain optimized homography transformation and a rotation plane.
Step two, opening the line laser sensor 1, projecting laser to the surface of the measured object 3, and starting the binocular camera 2 to acquire pictures of the measured object 3 in the running state;
thirdly, performing stereoscopic vision matching on the shot images, and performing image stitching on all frames of the measured object 3 rotating for one circle by using homography transformation obtained in the first step to obtain space coordinates lacking Z coordinates;
and fourthly, carrying out alignment correction on the rotating shaft and the main optical axis, correcting the space coordinates obtained in the third step, and completing three-dimensional measurement of the rotating object.
The optimized homography transformation H is as follows:
the measurement results are shown in fig. 9.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. A binocular vision three-dimensional measurement method of a rotating object based on line laser is characterized in that,
the binocular camera (2) collects the rotating image of the measured object (3) at a specified frame rate f and determines homography conversion H between two adjacent frames of images; fixing the positions of the binocular camera (2) and the line laser sensor (1) and adjusting the angles of the binocular camera and the line laser sensor, setting the binocular camera (2) to acquire images at a specified frame rate f, performing off-line calibration on the binocular camera (2) to obtain an internal reference of the binocular camera (2), and performing stereoscopic vision correction on the binocular camera (2); specifically, after the line laser sensor (1) is closed and the object (3) to be measured enters a uniform rotation state, the binocular camera (2) collects images of the object (3) rotating for one circle and is used for calculating homography conversion H between all adjacent two frames of images, and the initial frame and the end frame are highly overlapped based on the idea of loop detection, so that the optimal homography conversion H is obtained by establishing a projection constraint relation of the adjacent two frames of images and using nonlinear optimization, and the accumulated error is reduced;
performing stereoscopic vision matching on laser points extracted from left and right images of a binocular camera (2) to obtain space coordinates of a kth feature point under a camera coordinate systemSplicing all frames of the detected object (3) rotating for one circle by utilizing homography transformation H to obtain +.>X and Y coordinates in the world coordinate system; specifically, the line laser sensor (1) is opened, a three-dimensional correction coefficient is obtained through calibration, three-dimensional vision matching is carried out on laser points extracted from left and right images, and spatial coordinates +_ of a kth characteristic point under a camera coordinate system are obtained>Splicing all frames of the detected object (3) rotating for one circle by utilizing homography transformation H to obtain +.>In world coordinate systemX and Y coordinates of (c);
the main optical axis of the binocular camera (2) is aligned with the rotating shaft of the measured object (3) to obtainZ coordinate in world coordinate system, thereby completing three-dimensional measurement of the measured object (3).
2. The measurement method according to claim 1, characterized in that by tracking the marker blocks on the surface of the object (3), the spatial coordinates of the marker blocks under different frames are recorded, and then spatial plane fitting is performed on points in the set of spatial points to obtain a rotation plane for alignment correction of the main optical axis rotation axis.
3. The measurement method according to claim 1, wherein the main optical axis and the rotation axis are aligned in parallel to eliminate the Z-direction deviation, and whether the main optical axis is parallel to the rotation axis is independent of the coordinate X, so that correction is performed only in a two-dimensional coordinate system constituted by the Y-axis and the Z-axis of the camera coordinate system.
4. A measuring method according to claim 3, wherein the Y-direction deviation caused by the parallel alignment is corrected to obtainSpatial coordinates in the world coordinate system.
5. The method according to any one of claims 1 to 4, wherein the object (3) rotates at a constant angular velocity ω, the rotation axis of the object (3) rotates at an angle ω/f between two adjacent frames of images, the two frames of images are spliced together, and the extension line of the rotation radius intersects the line on which the axis is located, thereby forming an included angle of ω/fAdjusting the frame rate of the binocular camera (2) according to the angular velocity of the object (3) to be measured so as to enable +.>Thereby avoiding invalid image data.
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