CN113379846A - Method for calibrating rotating shaft of rotary table based on direction indication mark point calibration template - Google Patents

Method for calibrating rotating shaft of rotary table based on direction indication mark point calibration template Download PDF

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CN113379846A
CN113379846A CN202110591203.2A CN202110591203A CN113379846A CN 113379846 A CN113379846 A CN 113379846A CN 202110591203 A CN202110591203 A CN 202110591203A CN 113379846 A CN113379846 A CN 113379846A
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calibration template
point
turntable
coordinate system
matrix
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CN113379846B (en
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刘家昕
刘家朋
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Yangtze River Delta Integration Demonstration Zone Suzhou Wujiang Yimiji Science And Technology Development Co ltd
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Shanghai X Imaging Info & Tech Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images

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  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to the technical field of image processing and pattern recognition, and discloses a method for calibrating a rotating shaft of a rotary table based on a direction indication mark point calibration template, which comprises the following steps: shooting a multi-angle image; extracting a matrix; constructing a calibration template coordinate system; resolving a camera coordinate system; fitting the circle center of the rotary table; fitting a turntable plane; constructing a coordinate system of the rotary table; a transformation matrix is calculated. The invention can finish the calibration of the rotary table rotary shaft by using a simple calibration template.

Description

Method for calibrating rotating shaft of rotary table based on direction indication mark point calibration template
Technical Field
The invention relates to the technical field of image processing and pattern recognition, in particular to a method for calibrating a rotary table rotating shaft based on a direction indication mark point calibration template.
Background
Modelling object shots by means of cameras, whether line laser cameras or area laser cameras, by means of
And combining the data of all angles of the scanned object to complete three-dimensional modeling. The object is rotated on the turntable, and the data of all angles are combined into three-dimensional data. The calibration of the rotating shaft of the rotary table is particularly important in the image recognition modeling process.
The existing turntable rotating shaft calibration process is realized by standard three-dimensional objects such as a cube, a sphere and a cylinder, the standard three-dimensional objects are rotated on a turntable and scanned by a camera, and an image after modeling is compared with the standard image and analyzed. The standard three-dimensional object needs to measure errors regularly, and has the defects of complex operation, large calculation amount and easy deviation, thereby causing identification errors.
Disclosure of Invention
The invention aims to solve the problems and provides a turntable rotating shaft calibration method based on a direction indication mark point calibration template, which can finish the calibration of the turntable rotating shaft by using a simple calibration template.
The technical scheme adopted by the invention is as follows:
a method for calibrating a rotating shaft of a rotary table based on a direction indicating mark point calibration template is characterized by comprising the following steps: the method for calibrating the rotating shaft of the rotary table comprises the following steps of:
(1) placing the calibration template in the central area of the rotary table;
(2) presetting the time interval between the rotating speed of the turntable and the time interval of camera acquisition;
(3) starting the rotary table to rotate for 360 degrees to obtain an image sequence of a calibration template acquired by the camera;
(4) extracting a mark point matrix in each calibration template image;
(5) extracting direction mark points in each calibration template image;
(6) determining the central point of the mark point matrix in each calibration template image;
(7) determining the X-axis direction and the Y-axis direction of each calibration template coordinate system according to the central mark point and the direction mark point;
(8) identifying the calibration template according to the constructed calibration template coordinate system and the central marker point to obtain object point coordinates of the marker point;
(9) resolving and acquiring the camera attitude of the position of each calibration template image according to the pixel coordinates and the object point coordinates of the mark points;
(10) calculating the three-dimensional coordinates of the mark points under the camera coordinate system according to the camera attitude and the pixel coordinates of the mark points;
(11) matching the mark point matrixes in all the calibration template images according to the object point coordinates of the mark points;
(12) calculating the circle center of a circle formed by rotating the matched mark points in all the images for 360 degrees through circle fitting;
(13) searching an optimal solution from a plurality of centers of circles by using a MeanShift algorithm to obtain a rotation center of the turntable;
(14) fitting the turntable plane by using all the mark point matrixes three-dimensional points;
(15) constructing a turntable coordinate system by using the rotation center and the normal of the turntable plane;
(16) and calculating to obtain a transformation matrix transformed from the camera coordinate system to the turntable coordinate system.
Further, in the step (7), the X-axis direction of the calibration template coordinate system is determined by the left-hand rule.
Further, the mark point matrix is an odd-numbered row-column matrix, and the central point in the step (6) is a central mark point of the mark point matrix.
The invention has the beneficial effects that:
(1) the flat calibration template is applied, so that the use and the replacement are easier;
(2) the calculation precision is high, and the identification stability is high.
Drawings
FIG. 1 is a schematic plan view of a calibration template;
FIG. 2 is a schematic view of the position of the camera system and the turntable;
FIG. 3 is a flow diagram of the present invention;
FIG. 4 is the object point coordinates of the index points in the calibration template plane coordinate system.
Detailed Description
The following describes in detail a specific embodiment of the method for calibrating a rotating shaft of a turntable based on a direction indicator point calibration template according to the present invention with reference to the accompanying drawings.
Referring to fig. 1, the calibration template includes a landmark matrix and a direction indicating landmark outside the landmark matrix, and the direction indicating landmark is located on a perpendicular bisector of a rectangular side of the landmark matrix.
Referring to fig. 2, the calibration template is placed on the turntable 1, and the calibration template at different rotation positions on the turntable 1 is photographed by the camera system 2 when the turntable 1 rotates.
Referring to fig. 3, the steps of the method for calibrating the rotating shaft of the turntable are as follows:
1. and placing the calibration template in the middle area of the rotary table.
2. The time interval between the rotating speed of the rotary table and the acquisition of the camera is input.
3. And starting the rotary table to rotate for 360 degrees to obtain an image sequence acquired by the camera.
4. And extracting a mark point matrix in the calibration template image.
5. The direction mark points in the calibration template image are detected.
6. Detecting a central mark point in the mark point matrix, wherein the rows and the columns of the general mark point matrix are odd numbers, and the central mark point is the most middle mark point in the mark point matrix.
7. Determining the X-axis direction of the calibration template coordinate system according to the central mark point and the direction mark point
8. And determining the Y-axis direction of the coordinate system of the calibration template according to the left-hand rule.
9. And identifying the calibration template according to the constructed calibration template coordinate system and the central mark point to obtain the object point coordinates of the mark point (see figure 4).
10. And resolving the camera attitude when each calibration template image is acquired according to the pixel coordinates and the object point coordinates of the mark points.
11. And calculating the three-dimensional coordinates of the mark points in the camera coordinate system according to the camera attitude and the pixel coordinates of the mark points.
12. And matching the mark point matrixes in all the calibration template images according to the object point coordinates.
13. And calculating the circle center of the circle formed by rotating the matched mark points in all the images for 360 degrees through circle fitting.
14. And finding the optimal rotation center of the turntable from a plurality of circular centers by using a MeanShift algorithm. The MeanShift algorithm is a hill-climbing algorithm based on kernel density estimation, and can be used for clustering, image segmentation, tracking and the like. See the chinese patents: cn201711318892.x, a visual tracking algorithm improved based on the MeanShift principle.
15. And fitting the three-dimensional points of the matrix of all the mark points to the plane of the turntable.
16. The turntable coordinate system is constructed with the rotation center and the normal to the turntable plane.
17. A transformation matrix is calculated for transforming from the camera coordinate system to the turret coordinate system.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (3)

1.一种基于方向指示标志点标定模板的转台转轴标定方法，其特征在于：应用转台转轴标定模板和相机系统，所述标定模板包括标志点矩阵和所述标志点矩阵外侧的一个方向指示标志点，所述方向指示标志点位于标志点矩阵的一条矩形边的中垂线上，转台转轴标定方法包括如下步骤：1. a method for calibrating a turntable axis of rotation based on a direction indicator point calibration template, is characterized in that: applying a turntable axis calibration template and a camera system, the calibration template comprises a marker point matrix and a direction indicator outside the marker point matrix The direction indicating mark point is located on the vertical line of a rectangular side of the mark point matrix, and the method for calibrating the rotation axis of the turntable includes the following steps: （1）将所述标定模板置于转台中央区域；(1) Place the calibration template in the central area of the turntable; （2）预设转台旋转速度与相机采集的时间间隔；(2) Preset the time interval between the rotation speed of the turntable and the camera acquisition; （3）启动转台旋转360度，得到相机采集的标定模板的图像序列；(3) Start the turntable to rotate 360 degrees to obtain the image sequence of the calibration template collected by the camera; （4）提取每个标定模板图像中的标志点矩阵；(4) Extract the marker point matrix in each calibration template image; （5）提取每个标定模板图像中的方向标志点；(5) Extract the direction marker points in each calibration template image; （6）确定每个标定模板图像中标志点矩阵的中心点；(6) Determine the center point of the marker point matrix in each calibration template image; （7）根据中心标志点与方向标志点确定每个标定模板坐标系的X轴方向和Y轴方向；(7) Determine the X-axis direction and Y-axis direction of each calibration template coordinate system according to the center mark point and the direction mark point; （8）根据构建的标定模板坐标系与中心标志点识别标定模板得到标志点的物点坐标；(8) According to the constructed calibration template coordinate system and the center mark point identification and calibration template, the object point coordinates of the mark point are obtained; （9）根据标志点的像素坐标与物点坐标解算采集每一幅标定模板图像所在位置时的相机姿态；(9) Calculate the camera posture when the location of each calibration template image is collected according to the pixel coordinates of the marker point and the coordinates of the object point; （10）根据相机姿态与标志点的像素坐标计算相机坐标系下标志点的三维坐标；(10) Calculate the three-dimensional coordinates of the marker point in the camera coordinate system according to the camera pose and the pixel coordinates of the marker point; （11）将所有标定模板图像中的标志点矩阵按照标志点的物点坐标进行匹配；(11) Match the marker point matrices in all calibration template images according to the object point coordinates of the marker points; （12）通过圆拟合计算所有图像中匹配标志点旋转360度形成圆的圆心；(12) Calculate the center of the circle formed by rotating the matching marker points in all images by 360 degrees through circle fitting; （13）采用MeanShift算法从多个圆心中寻找最优解，得到转台的转心；(13) Use the MeanShift algorithm to find the optimal solution from multiple circle centers, and obtain the rotation center of the turntable; （14）用所有标志点矩阵三维点拟合转台平面；(14) Fit the turntable plane with all three-dimensional points of the marker point matrix; （15）用转心和转台平面的法线构建转台坐标系；(15) Construct the turntable coordinate system with the rotation center and the normal of the turntable plane; （16）计算得到从相机坐标系变换到转台坐标系的变换矩阵。(16) Calculate the transformation matrix from the camera coordinate system to the turntable coordinate system. 2.根据权利要求1所述的基于方向指示标志点标定模板的转台转轴标定方法，其特征在于：所述步骤（7）中，标定模板坐标系的X轴方向由左手定则确定。2 . The method for calibrating the rotary axis of the turntable based on the direction indicator point calibration template according to claim 1 , wherein in the step (7), the X-axis direction of the calibration template coordinate system is determined by the left-hand rule. 3 . 3.根据权利要求1所述的基于方向指示标志点标定模板的转台转轴标定方法，其特征在于：所述标志点矩阵为奇数行列矩阵，所述步骤（6）中的中心点为标志点矩阵的中心标志点。3 . The method for calibrating a turntable rotation axis based on a direction indicating mark point calibration template according to claim 1 , wherein the mark point matrix is an odd-numbered row and column matrix, and the center point in the step (6) is a mark point matrix. 4 . the center marker point.
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Denomination of invention: A Method for Calibrating the Rotating Axis of a Turntable Based on the Calibration Template of Direction Indication Marker Points

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