CN113251944B - Line structured light vision sensor calibration method and device based on single cylindrical target - Google Patents

Line structured light vision sensor calibration method and device based on single cylindrical target Download PDF

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CN113251944B
CN113251944B CN202110508393.7A CN202110508393A CN113251944B CN 113251944 B CN113251944 B CN 113251944B CN 202110508393 A CN202110508393 A CN 202110508393A CN 113251944 B CN113251944 B CN 113251944B
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cylindrical
light
coordinate system
cylindrical target
camera
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CN113251944A (en
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孙军华
丁东亮
程晓琦
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

Abstract

A linear structured light vision sensor calibration method and device based on a single cylindrical target are disclosed, wherein a camera internal reference matrix K and a distortion coefficient D are obtained by using a Zhang Zhengyou calibration method; carrying out distortion correction on the obtained cylindrical and light bar images; extracting projection outlines of the cylinders and light bar central feature points; ellipse fitting is carried out on the projection ellipses of the two end surfaces of the cylinder to obtain the central coordinate p of the ellipse1And p2(ii) a Performing straight line fitting on the two apparent contour lines of the cylindrical quadric surface, wherein the intersection point is the cylindrical axis P1P2Vanishing point v of0(ii) a Obtaining the circle centers P of two end surfaces of the cylinder by using the geometric characteristics and the vanishing point properties of the cylinder1And P2Establishing a cylindrical quadric surface equation in a camera coordinate system; combining a cylindrical quadric surface equation and a perspective projection equation of the light bar projection point P to obtain a three-dimensional coordinate of the light bar central feature point P in a camera coordinate system; and fitting the light plane equation by using characteristic points of the centers of all the light bars. The invention does not need other auxiliary equipment, has higher precision, can freely arrange the cylinders and is suitable for narrow space.

Description

Line structured light vision sensor calibration method and device based on single cylindrical target
Technical Field
The invention belongs to the field of vision measurement, and particularly relates to a line structured light vision sensor calibration method and device based on a single cylindrical target.
Background
Since the structured light three-dimensional vision measurement technology was proposed in the last 70 th century, the structured light three-dimensional vision measurement technology has the advantages of non-contact, high precision, large measurement range, easy extraction of light strip image information, high data processing speed, strong real-time performance and the like, and is widely applied to the three-dimensional measurement fields of industrial detection, reverse engineering, cultural heritage recording, human body measurement and analysis and the like. Line structured light visual sensors are the most common structured light three-dimensional visual sensors.
The line structured light vision sensor consists of a camera and a line laser projector. The laser projector projects the line-structured light to the surface of the measured object and modulates the line-structured light, a camera is used for shooting the line-structured light, and the three-dimensional shape of the measured object is obtained according to the optical triangulation method measuring principle. In this process, the calibration of the light plane equation is a crucial step, and the precision of the light plane calibration directly determines the success or failure of the subsequent three-dimensional reconstruction and three-dimensional measurement.
The common calibration method for the line structured light vision sensor mainly comprises the following steps: huynh uses a three-dimensional target and a calibration method for acquiring optical plane mark points based on an intersection ratio invariant principle. However, the three-dimensional target has high processing difficulty, high manufacturing cost and inconvenient carrying. The Sun military uses the light plane calibration method of the plane target; the method is simple to operate and high in calibration accuracy, but the plane target is not suitable for a narrow space. And solving the three-dimensional coordinates of the intersection point of the light plane and the one-dimensional target by using the distance between the characteristic points of the one-dimensional target, thereby completing the calibration of the light plane. Although this target is simple to operate, it is inefficient because there is only one light bar feature point per image. Wangxinyun et al use cylindrical targets for light plane calibration (see published in 2019 in Optics and Lasers in Engineering paper Complete calibration of a structured light vision sensor through a single cylindrical target), but this method requires the axis of the cylindrical target to be perpendicular to the optical axis of the camera, which causes the method to be extremely inconvenient for practical application and not suitable for field calibration.
Disclosure of Invention
The invention aims to provide a method and a device for calibrating a linear structured light vision sensor based on a single cylindrical target.
The invention adopts the following technical scheme:
the invention discloses a calibration method of a linear structured light vision sensor based on a single cylindrical target, which comprises the following steps:
step 1, acquiring a camera internal reference matrix K and a distortion coefficient D;
step 2, acquiring at least 1 image of the cylindrical target and the light bar under different poses;
step 3, processing the acquired light bar image through the distortion coefficient D obtained in the step 1, and eliminating camera distortion;
step 4, extracting the centers of the light bar projection and the apparent contour curve of the cylindrical target by an extraction algorithm;
step 5, carrying out ellipse fitting on the projection outlines of the two end face circles of the cylinder to obtain the circle centers p of the two ellipses1And p2Major axis e1And e2；
Step 6, performing straight line fitting on the two apparent contour lines of the cylindrical quadric surface to obtain two straight lines l1And l2Is used to simultaneously obtain the coordinates of the intersection point, i.e. the vanishing point v of the cylindrical axis0；
Step 7, obtaining the center P of the circle of the cylindrical end surface1And P2Three-dimensional coordinates in a camera coordinate system;
step 8, calculating the apparent contour line l of the cylindrical quadric surface1And l2The back projection plane of (a);
step 9, obtaining the center P of the circle of the cylindrical end surface1And P2The optimal solution of (2);
step 10, using the center P of the circle of the cylindrical end surface1As origin, along the cylinder axis P1P2Establishing a cylindrical target coordinate system for a Z axis in the direction, and further obtaining a coefficient matrix of the cylindrical quadric surface in the camera coordinate system;
step 11, combining a cylindrical quadric surface equation and a perspective projection equation of the light bar central characteristic point P to obtain a three-dimensional coordinate of the light bar central characteristic point P in a camera coordinate system;
step 12, repeating the step 11 for all the light strip central feature points on one image to obtain the three-dimensional coordinates of all the light strip central feature points on the image;
step 13, repeating the steps 3 to 12 on all the images to obtain the three-dimensional coordinates of the central feature points of all the light bars in the coordinate system of the camera;
and step 14, fitting the light plane equation by using the three-dimensional coordinates of the light strip central characteristic points obtained in the step 13 based on the least square method.
The invention also discloses a line structured light vision sensor calibration method based on the single cylindrical target, which is applied to the line structured light calibration device.
The calibration method of the linear structure optical vision sensor based on the cylindrical target does not need auxiliary equipment to control the movement of the target and the camera, the cylindrical target can be freely placed in the field of view of the camera, the calibration method is suitable for a narrow space, the calibration of the linear structure optical vision sensor can be realized by one image, and in addition, the cylindrical target is easy to process, low in price, small in size and convenient to carry.
Drawings
FIG. 1 is a perspective projection model diagram of a cylindrical target.
Fig. 2 is a schematic image.
Fig. 3 is an overall flow diagram of the present invention.
Reference numerals:
1. camera, 2 laser, 3, cylindrical target.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
First, the perspective projection relationship of the camera of the present invention, as shown in FIG. 1, OuXuYuPixel coordinate system, OcXcYcZcCamera coordinate system, OTXTYTZTTarget coordinate system, P is any light bar central characteristic point, P1And P2The center of the cylindrical end face is 1, the camera is 2, the laser is 2, and the cylindrical target is 3.
The invention adopts a camera (the model is MER-504-10GM-P) with the resolution of 2448 pixels multiplied by 2048 pixels of a great constant image science and technology company; the focal length of the lens of 8mm by computer company (model M0814-MP 2); the line laser projector is a common red single-line laser with the power of 1 mW; the length L of the cylindrical target is 201.423mm, and the radius r of the cylinder is 11.991 mm.
The invention provides a calibration method of a linear structured light vision sensor based on a single cylindrical target, which comprises the following specific steps:
step 1, calibrating the camera by adopting a Zhangyingyou calibration method to obtain a camera internal reference matrix K and a distortion coefficient D. The planar target with the number of corner points of 6 multiplied by 8 and the cell size of 37mm is adopted, the planar target is shot at 10 different visual angles, Camera Calibration is completed by using a Camera Calibration module in MATLAB, and a Camera internal reference matrix K and a distortion coefficient D are obtained.
Step 2, turning on the line laser to enable the line laser to be projected on the quadric surface of the cylindrical target to form light bars, shooting the cylindrical target and the light bars by the camera, wherein an imaging schematic diagram is shown in fig. 2, the cylindrical target and the structured light bars can be shot in multiple visual angles by changing the pose of the cylindrical target, and at least 1 image of the cylindrical target and the light bars can be obtained only by keeping the light bars still projected on the quadric surface of the cylindrical target;
step 3, inputting the distortion coefficient D obtained in the step 1 and the cylindrical target and the light bar image obtained in the step 2 into an initUndristorRectifuMap function in an opencv library to eliminate camera distortion;
step 4, using a sub-pixel edge Accurate positioning algorithm based on local area effect (the Accurate sub-pixel edge location based on partial area effect, which is published in Image and Vision Computing in 2013 by the people of industry i n Trujillo-Pino et al, and provides MATLAB source codes), extracting projection elliptical contours of two end faces of a cylinder and two apparent contour lines of a cylindrical quadric surface, using a steger light strip center extraction algorithm to extract the center of light strip projection, namely performing Gaussian filtering on the Image, then performing edge detection on the filtered Image based on a Hessian matrix, and finally connecting discontinuous pixels to obtain Image coordinates of the light strip projection;
step 5, carrying out ellipse fitting on the projection outlines of the two end face circles of the cylinder to obtain the circle centers p of the two ellipses1And p2Major axis e1And e2；
Step 6, respectively carrying out straight line fitting on the two apparent contour lines of the cylindrical quadric surface to obtain two straight lines l1And l2Are shown in fig. 2, which are associated to obtain the coordinates of the intersection point, i.e. the cylinder axis P1P2Vanishing point v of0；
And 7, according to the properties of the vanishing points: vanishing point v0Is back projected to the cylinder axis P1P2Are parallel, thus having
Figure BDA0003059304940000041
Wherein L is the cylinder length; when e is1＜e2When g is 1; otherwise, g is-1.
Combined with the center P of the cylinder end face1And P2The perspective projection equation of
Figure BDA0003059304940000042
Simultaneous (1) and (2) to obtain P1And P2Three-dimensional coordinates in a camera coordinate system;
step 8, calculating the apparent contour line l of the cylindrical quadric surface1And l2Is directed to the back projection plane
πi＝(KE)Tli
Wherein i is 1,2, K is a camera intrinsic parameter matrix,
Figure BDA0003059304940000043
step 9, establish the following objective function
Figure BDA0003059304940000044
Wherein the content of the first and second substances,
Figure BDA0003059304940000045
1,2, 1, 2; obtaining the center P of the cylindrical end surface by minimizing an objective function1And P2The optimal solution of (2);
step 10, using the center P of the circle of the cylindrical end surface1As origin, along the cylinder axis P1P2Establishing a cylindrical target coordinate system O with the direction as a Z axisTXTYTZTTo make it and the camera coordinate system OCXCYCZCThe following relationship is satisfied: i.e. with VZT×VZCAs a rotation axis, a target coordinate system OTXTYTZTRotating arccos (V)ZC·VZT) Then along the vector
Figure BDA0003059304940000058
Translating to obtain a camera coordinate system OCXCYCZC. Thus from the target coordinate system OTXTYTZTTo camera coordinate system OCXCYCZCCan be expressed as
Figure BDA0003059304940000051
Wherein the content of the first and second substances,
Figure BDA0003059304940000052
and
Figure BDA0003059304940000053
from the target coordinate system OTXTYTZTTo camera coordinate system OCXCYCZCThe rotational matrix and the translation vector of (a),
Figure BDA0003059304940000054
is a Rodrigues transform;
the coefficient matrix of the cylindrical quadric equation in the camera coordinate system can thus be expressed as follows:
Figure BDA0003059304940000055
wherein r is the radius of the cylinder;
step 11, a cylindrical quadric equation and a perspective projection equation of the central characteristic point P of the optical strip are combined, namely
Figure BDA0003059304940000056
Wherein s is a non-zero scale factor,
Figure BDA0003059304940000057
is the central characteristic point P ═ X of the light stripc,Yc,Zc)THomogeneous coordinates of (a). Further obtaining the three-dimensional coordinate of the light bar central characteristic point P in the camera coordinate system;
step 12, repeating the step 11 for all the light strip central feature points on one image to obtain the three-dimensional coordinates of all the light strip central feature points on the image in the camera coordinate system;
step 13, repeating the steps 3 to 12 on all the images to obtain the three-dimensional coordinates of the central feature points of all the light bars in the coordinate system of the camera;
step 14, adopting an MATLAB curve fitting tool to perform plane fitting on the three-dimensional coordinates of the light strip central characteristic points obtained in the step 13 to obtain a light plane equation
1.149X-0.049Y-Z+405.106＝0
In order to prove the feasibility of the invention, the calibration method of the invention is analyzed and compared with a calibration method based on a plane target (the "general field calibration method for structured light vision sensor" published in 2009 by Sunweishi et al in mechanical engineering). In a contrast group, a planar target with the number of angular points of 6 multiplied by 8 and the size of a cell of 37mm is adopted, the planar target and light bars are shot from 10 different visual angles, then a line structure light vision sensor is calibrated by using a calibration method based on the planar target, and the light plane equation is obtained as
1.151X-0.049Y-Z+404.971＝0
The light plane equations obtained by the two calibration methods are listed in table 1, namely, the method of the invention is used for calibrating the linear structured light vision sensor on images shot at 10 different visual angles, and the light plane equation 1.149X-0.049Y-Z +405.106 is obtained as 0; using the calibration method of the planar target, images taken at 10 different viewing angles were calibrated for the line structured light vision sensor, and the light plane equation 1.151X-0.049Y-Z +404.971 was obtained as 0. The experimental results demonstrate the feasibility and effectiveness of the present invention.
Calibration method Number of shooting angles Equation of plane of light
Plane-based target 10 different viewing angles 1.151X-0.049Y-Z+404.971＝0
Calibration method of the invention 10 different viewing angles 1.149X-0.049Y-Z+405.106＝0
The invention also discloses a line structured light vision sensor calibration method adopting the freely placed cylindrical target, which is applied to a line structured light calibration device.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (10)

1. A line structured light vision sensor calibration method based on a single cylindrical target comprises the following steps:
step 1, acquiring a camera internal reference matrix K and a distortion coefficient D;
step 2, acquiring at least 1 image of the cylindrical target and the light bar under different poses;
step 3, processing the acquired light bar image through the distortion coefficient D obtained in the step 1, and eliminating camera distortion;
step 4, extracting the centers of the projection of the light bars and the apparent contour curves of the cylindrical targets by using two different algorithms;
step 5, carrying out ellipse fitting on the projection outlines of the two end face circles of the cylinder to obtain the centers of the two ellipses
Figure DEST_PATH_IMAGE001
And
Figure 264841DEST_PATH_IMAGE002
major axis e1And e2；
Step 6, performing straight line fitting on the two apparent contour lines of the cylindrical quadric surface to obtain two straight lines
Figure DEST_PATH_IMAGE003
And
Figure 365783DEST_PATH_IMAGE004
the expression (c) is used to simultaneously obtain the coordinates of the intersection point, i.e. the vanishing point V of the cylindrical axis0；
Step 7, obtaining the center of the circle of the cylindrical end surface
Figure DEST_PATH_IMAGE005
And
Figure 76338DEST_PATH_IMAGE002
three-dimensional coordinates in a camera coordinate system;
step 8, calculating the apparent contour line of the cylindrical quadric surface
Figure 585817DEST_PATH_IMAGE003
And
Figure 198326DEST_PATH_IMAGE004
the back projection plane of (a);
step 9, obtaining the center of the circle of the cylindrical end surface
Figure 786564DEST_PATH_IMAGE005
And
Figure 477309DEST_PATH_IMAGE002
the optimal solution of (2);
step 10, using the center of the circle of the cylindrical end surface
Figure 139497DEST_PATH_IMAGE005
As origin, along the cylinder axis
Figure 421442DEST_PATH_IMAGE006
Establishing a cylindrical target coordinate system for a Z axis in the direction, and further obtaining a coefficient matrix of the cylindrical quadric surface in the camera coordinate system;
step 11, combining a cylindrical quadric surface equation and a perspective projection equation of the light bar central characteristic point P to obtain a three-dimensional coordinate of the light bar central characteristic point P in a camera coordinate system;
step 12, repeating the step 11 for all the light strip central feature points on one image to obtain the three-dimensional coordinates of all the light strip central feature points on the image;
step 13, repeating the steps 3 to 12 on all the images to obtain the three-dimensional coordinates of the central feature points of all the light bars in the coordinate system of the camera;
and step 14, fitting the light plane equation by using the three-dimensional coordinates of the light strip central characteristic points obtained in the step 13 based on the least square method.
2. The method for calibrating a line structured light vision sensor based on a single cylindrical target as claimed in claim 1, wherein: the step 1 further comprises calibrating the camera by adopting a Zhang Zhengyou calibration method.
3. The method for calibrating a line structured light vision sensor based on a single cylindrical target as claimed in claim 1, wherein: the step 2 further comprises: opening the line laser to project a light plane, forming light stripes on the quadric surface of the cylindrical target by the light plane, and collecting a cylindrical target image containing the light stripes by the camera; and changing the pose of the cylindrical target and ensuring that the light plane is always intersected with the quadric surface of the cylindrical target, then shooting the cylindrical target and the light strip, and acquiring at least 1 image of the cylindrical target and the light strip in different poses.
4. The method for calibrating a line structured light vision sensor based on a single cylindrical target as claimed in claim 1, wherein: the step 4 further comprises the following steps: and extracting the center of the projection of the light bar by using a steger light bar center extraction algorithm by using a sub-pixel edge precise positioning algorithm based on a local region effect.
5. The method for calibrating a line structured light vision sensor based on a single cylindrical target as claimed in claim 1, wherein: the step 7 further comprises: according to the nature of the vanishing points: vanishing point V0Back projection and cylinderAxial line
Figure DEST_PATH_IMAGE007
Are parallel, thus having
Figure 287855DEST_PATH_IMAGE008
Wherein s is1And s2Is a non-zero scale factor; l is the cylinder length; when in use
Figure 80493DEST_PATH_IMAGE009
When the temperature of the water is higher than the set temperature,
Figure 862766DEST_PATH_IMAGE010
(ii) a If not, then,
Figure 315613DEST_PATH_IMAGE011
；
Figure 550548DEST_PATH_IMAGE012
and
Figure DEST_PATH_IMAGE013
are respectively
Figure 289088DEST_PATH_IMAGE014
And
Figure 424403DEST_PATH_IMAGE002
homogeneous coordinates of (a); obtained by the above formula
Figure DEST_PATH_IMAGE015
And
Figure 611933DEST_PATH_IMAGE002
in the camera coordinate system.
6. A single cylinder based unit according to claim 1The calibration method of the linear optical vision sensor of the target is characterized in that: the step 8 further comprises: calculating the apparent contour of a cylindrical quadric
Figure 537426DEST_PATH_IMAGE003
And
Figure 373664DEST_PATH_IMAGE004
is directed to the back projection plane
Figure 130530DEST_PATH_IMAGE016
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE017
and K is a reference matrix in the camera,
Figure 721917DEST_PATH_IMAGE018
。
7. the method for calibrating a line structured light vision sensor based on a single cylindrical target as claimed in claim 1, wherein: the step 9 further comprises: the following objective function is established
Figure DEST_PATH_IMAGE019
Wherein the content of the first and second substances,
Figure 50218DEST_PATH_IMAGE020
，
Figure DEST_PATH_IMAGE021
，
Figure 316246DEST_PATH_IMAGE022
(ii) a Obtaining the center of a circle of the cylindrical end surface by minimizing an objective function
Figure DEST_PATH_IMAGE023
And
Figure 52252DEST_PATH_IMAGE002
the optimal solution of (1).
8. The method for calibrating a line structured light vision sensor based on a single cylindrical target as claimed in claim 1, wherein: the step 10 further comprises: by the center of a circle of the cylindrical end surface
Figure 988109DEST_PATH_IMAGE024
As origin, along the cylinder axis
Figure 183467DEST_PATH_IMAGE025
A cylindrical target coordinate system is established with the direction as the Z axis to meet the requirement
Figure 325954DEST_PATH_IMAGE026
，
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE027
and
Figure 385308DEST_PATH_IMAGE028
respectively a rotation matrix and a translation vector from the target coordinate system to the camera coordinate system,
Figure DEST_PATH_IMAGE029
is a Rodrigues transform;
further obtaining the coefficient matrix of the cylindrical quadric surface in the camera coordinate system
Figure 819963DEST_PATH_IMAGE030
，
Wherein r is the cylinder radius.
9. The method for calibrating a line structured light vision sensor based on a single cylindrical target as claimed in claim 1, wherein: the step 11 further comprises: simultaneous cylindrical quadric surface equation and perspective projection equation of characteristic point P of light bar center, i.e.
Figure 705879DEST_PATH_IMAGE032
，
Wherein S is a non-zero scale factor,
Figure DEST_PATH_IMAGE033
the homogeneous coordinate of the light bar central characteristic point P is obtained, and then the three-dimensional coordinate of the light bar central characteristic point P in the camera coordinate system is obtained.
10. The use of a single cylindrical target-based line structured light vision sensor calibration method of any one of claims 1 to 9 in a line structured light calibration device.
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