CN113554697A - Cabin section profile accurate measurement method based on line laser - Google Patents

Cabin section profile accurate measurement method based on line laser Download PDF

Info

Publication number
CN113554697A
CN113554697A CN202010326367.8A CN202010326367A CN113554697A CN 113554697 A CN113554697 A CN 113554697A CN 202010326367 A CN202010326367 A CN 202010326367A CN 113554697 A CN113554697 A CN 113554697A
Authority
CN
China
Prior art keywords
coordinate system
laser
cabin
camera
cabin section
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010326367.8A
Other languages
Chinese (zh)
Inventor
吴过
史恒远
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou North America High School
Original Assignee
Suzhou North America High School
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou North America High School filed Critical Suzhou North America High School
Priority to CN202010326367.8A priority Critical patent/CN113554697A/en
Publication of CN113554697A publication Critical patent/CN113554697A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a cabin surface profile accurate measurement method based on line laser. The method comprises the following steps: firstly, preprocessing before measurement is required to be carried out on equipment, wherein the preprocessing comprises the establishment of a base coordinate system, global calibration, camera calibration and laser plane calibration; and then dynamically measuring the cabin section, wherein all light planes are not required to be adjusted in one plane in the measuring process, obtaining a final light bar central point by utilizing image processing algorithms such as an image enhancement method, a gray scale gravity center method, a flood filling method and the like, obtaining a three-dimensional point cloud of the light bar under a base coordinate system by utilizing a laser triangulation principle, cutting the three-dimensional point cloud along the Z-axis direction of the base coordinate system to obtain section point cloud data of any contour of the cabin section, and processing the section point cloud data to obtain a series of parameters such as cabin section coaxiality and the like. The method provided by the invention overcomes the interference of factors such as reflection of light and laser ghost light existing in ambient light, is simple to operate and high in measurement precision, and can realize rapid measurement and analysis of the cabin section.

Description

Cabin section profile accurate measurement method based on line laser
Technical Field
The invention relates to the field of vision measurement, in particular to a cabin profile accurate measurement method based on line laser.
Background
In order to ensure the safety of railway transportation, before the rail vehicle leaves a factory, dynamic limit detection is required to be carried out to ensure that the contour dimension of the equipment is in a specified absolute safety space, at present, domestic detection equipment is relatively laggard, and a limit plate device is mostly adopted to carry out contour cross section detection, however, the method seriously restricts the rapid development of the railway, so that the challenge of railway transportation is continuously aggravated, how to improve the transportation safety of the vehicle, improve the level of technical equipment and management means become an important problem of railway transportation in China at present.
Zhang et al in "railway vehicle cabin section overall dimension measurement system" and Li Lun et al in the thesis "railway vehicle static limit three-dimensional vision measurement system", all propose to install many sets of vision sensor units on the gantry support, adjust the line laser to make all laser line ware planes coplanar, carry on the non-contact measurement to each section of railway vehicle, get the point cloud data of each section, however these methods are all very ideal, two line lasers are difficult to guarantee in a plane, what's more, a plurality of line lasers guarantee in a plane, it is almost impossible to realize, and these methods do not consider the ghost phenomenon that a plurality of laser bars exist and influence of interference factors such as reflection of light, therefore these methods can't be applied to the actual industrial measurement.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing the cabin section contour accurate measurement method based on the line laser, which can overcome the influences of factors such as double images and other noises in the multi-line laser measurement process, does not need to adjust the laser plane to be coplanar, can realize high-precision measurement of the cabin section contour and replace the traditional mechanical limit board device.
The device provided by the invention has the advantages that two pairs of line laser vision sensor units are arranged on one side, and the total number of the line laser vision sensor units is four, so that a leakage-detection-free area of the section of the cabin section is ensured. Meanwhile, in order to prevent the capsule section from missing detection, a certain overlapping part of the line laser is required to be ensured and is in the camera visual field. However, it is not necessary to ensure that all of the lasers must be coplanar when tuning the lasers, but rather that the lasers be substantially in the vicinity.
The technical scheme adopted by the invention for realizing the purpose is as follows: a cabin section profile accurate measurement method based on line laser comprises the following steps:
step 1: the visual sensor units are respectively vertically arranged on two sides of the cabin section to be detected, and the connecting line of the visual sensor units on the same side is perpendicular to the central axis of the cabin section;
step 2: establishing a base coordinate system by using the laser tracker, establishing a Z axis of the base coordinate system on a central axis of the cabin section, and simultaneously obtaining a conversion matrix between the laser tracker and the base coordinate system;
and step 3: processing each visual sensor unit to realize camera parameter calibration, light plane parameter equation calibration and global calibration, thereby obtaining a conversion matrix between a camera coordinate system and a laser tracker coordinate system:
and 4, step 4: synchronously triggering all cameras to acquire laser light strip images on the surface of the current cabin section, processing the images to remove noise and ghost images, and obtaining the three-dimensional coordinates of the center of the current laser light strip in each camera coordinate system by using a laser triangulation principle so as to obtain three-dimensional point cloud data under a basic coordinate.
And 5: moving the cabin section to be detected, and repeating the step 4 through a measuring area from one side to the other side of the cabin section to obtain three-dimensional point cloud data of the whole cabin section;
step 6: and (3) setting one side of the cabin section as an initial position, and cutting along the Z-axis direction of the base coordinate system to obtain point cloud data of the current section of the cabin section.
The vision sensor units on the same side are vertically arranged on the same mounting frame; the vision sensor unit includes a CMOS camera and a laser.
The camera parameter calibration, the light plane parameter equation calibration and the global calibration comprise:
converting all camera coordinate systems to be under a laser tracker coordinate system by using the target, and carrying out global calibration;
calibrating the internal parameters of the camera and a plane equation of a light plane of the line laser under a camera coordinate system by using a plane calibration plate;
and converting the plane equation of the line laser under the camera coordinate system into the base coordinate system by means of global calibration to obtain the plane equation of the laser plane under the base coordinate system.
The globally calibrated intermediate medium is a space target with a plurality of round holes, and the coordinates of each hole site on the target are calibrated by a three-coordinate measuring instrument in advance.
The acquisition of the transformation matrix between the camera coordinate system and the laser tracker coordinate system comprises:
1) assuming a point P on the calibration plate, the measured value in the camera coordinate system is Pc＝(xc,yc,zc) Measured value in the laser tracker coordinate system is Pg＝(xg,yg,zg)；
2) Determining an unconstrained optimal objective function
Figure BDA0002463360420000031
Wherein n is the number of points participating in calibration, Pgi＝(xgi,ygi,zgi1) homogeneous coordinate of the ith point in the global coordinate system, Pci＝(xci,yci,zci1) is the homogeneous coordinate of the ith point in a camera coordinate system; hjIs a transformation matrix in which the j-th camera coordinate system is transformed to the base coordinate system,
Figure BDA0002463360420000032
the optimal objective function needs to satisfy orthogonal constraint conditions;
3) collecting a plurality of hole site centers on a space target by using a laser tracker, wherein the plurality of holes are not in one plane; the camera collects a space target image to obtain a three-dimensional coordinate point of a corresponding hole site central point under a camera coordinate system, and a conversion matrix between any one camera coordinate system and a laser tracker coordinate system is obtained after a target function is minimized
Figure BDA0002463360420000033
The processing of the image to eliminate the noise and the ghost image and obtain the center position of the laser light strip on the surface of the cabin under the camera coordinate system comprises the following steps:
1) carrying out three-channel decomposition on the acquired image and enhancing a red component to obtain an enhanced image;
2) clustering and processing each row of pixel points of the image by a gray center method respectively to obtain candidate central point positions of laser bars on the surface of the cabin;
3) communicating the candidate central points of the laser bars by adopting a flooding filling algorithm and an 8-communication area method so as to connect the discontinuous light bars;
4) because the brightness of the double image of the light strip is darker than that of the normal light strip, the area with the longest light strip communication area is used as the final cabin surface laser light strip, and the position of the center point of the laser light strip is positioned.
The obtaining of the candidate center point positions of the cabin surface laser bars comprises:
acquiring a pixel point set S with the gray value larger than m in the jth row of the image I (x, y)j，
Figure BDA0002463360420000034
The obtained pixel point set SjClustering the pixels in the cluster, and obtaining m groups of clustering pixel point sets by adopting a mode that adjacent pixels are divided into one group; obtaining the central point position of the laser bar according to the gray scale gravity center method for each group of clustering pixel point sets, and recording the central point position as the central point position
Figure BDA0002463360420000041
And performing the processing on each row in the image to obtain all laser central lines meeting the conditions as candidate central points of the light bars.
The invention has the following advantages and beneficial effects:
1. the cabin section contour accurate measurement method based on the line laser adopts a non-contact measurement mode, eliminates the influences of double images and other noises of a plurality of lasers in the measurement process by using a specific image processing method, has high measurement accuracy and high efficiency, and can meet the measurement requirements of various cabin sections.
2. The cabin section contour accurate measurement method based on the line laser does not need human intervention, has high automation degree, and can quickly obtain measurement parameters such as cabin section coaxiality and the like.
3. The cabin section profile accurate measurement method based on the line laser does not need to adjust a plurality of line lasers into one plane, and the device is simple in structure and convenient to operate.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a block diagram of the system of the present invention;
fig. 3 is an implementation manner of the global calibration method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
A plurality of vision sensor measuring technologies consisting of CMOS cameras and line lasers are adopted, a base coordinate system is established on the axis of the cabin section by means of a laser tracker, then all camera coordinate systems are converted into a base coordinate system by combining a self-made three-dimensional calibration plate, parameter calibration is carried out on camera internal parameters and a light plane of line structured light by using a plane calibration plate, after calibration is finished, the cabin section moves along the central axis of the cabin section, a vision processing unit acquires images in real time, processing the collected image by a series of image processing techniques, detecting the center point of the laser bar, obtaining the three-dimensional data point cloud of the laser bar by the triangulation principle, converting the three-dimensional data point cloud into a base coordinate system to obtain the measurement data of all the point clouds in the base coordinate system, the method is characterized in that the 'cutting' is carried out in the Z-axis direction of the basic coordinate system, the point cloud data of any section of the cabin section can be determined, and the point cloud is analyzed to obtain various parameters such as the coaxiality of the cabin section. The method has the advantages of high detection speed, high detection precision and strong adaptability to the environment.
Referring to the attached drawings 1,2 and 3, the method for accurately measuring the cabin section profile based on the line laser comprises the following specific steps:
step 1: the four groups of vision sensor units are respectively vertically placed on two sides of the cabin section, are perpendicular to the central axis of the cabin section and are arranged on the stand columns on two sides of the cabin section;
two groups of visual sensor units are placed on the upright post at one side of the cabin section, and the other two groups of visual sensor units are placed on the upright post at the other side of the cabin section.
The vision sensor unit includes a CMOS camera and a laser.
Step 2: establishing a base coordinate system by using the laser tracker, establishing a Z axis of the base coordinate system on a central axis of the cabin section, and simultaneously obtaining a conversion matrix between the laser tracker and the base coordinate system
Figure BDA0002463360420000051
And step 3: and (3) preprocessing each vision sensor unit as follows to realize camera parameter calibration, light plane parameter equation calibration and global calibration:
designing a space target with a plurality of round holes (the hole site coordinates of the target are calibrated by using a three-coordinate measuring instrument) as an intermediate medium for global calibration, converting all camera coordinate systems into a laser tracker coordinate system by using the target, and carrying out global calibration, wherein the calculation mode of a conversion matrix is as follows:
1) point P on the calibration plate, measured value P in the camera coordinate systemc＝(xc,yc,zc) Measured value in the laser tracker coordinate system is Pg＝(xg,yg,zg),
2) Determining an unconstrained optimal objective function F:
Figure BDA0002463360420000052
wherein n is the number of points participating in calibration, Pgi＝(xgi,ygi,zgi1) homogeneous coordinate of the ith point in the global coordinate system, Pci＝(xci,yci,zciAnd 1) is the homogeneous coordinate of the ith point in the camera coordinate system. HjIs a transformation matrix in which the j-th camera coordinate system is transformed to the base coordinate system,
Figure BDA0002463360420000053
the function needs to satisfy the orthogonal constraint, i.e. RTR ═ I, where R is the rotation matrix of the coordinate system transformation matrix, and I is a 3 × 3 unit vector.
3) Acquisition of multiple points (n) on a spatial target with a laser tracker>4) The camera collects a space target image to obtain a three-dimensional coordinate point of the corresponding hole site center point under a camera coordinate system, a target function is minimized, and a conversion matrix between any one camera coordinate system and a laser tracker coordinate system can be obtained
Figure BDA0002463360420000061
Calibrating the internal parameters of the camera and a plane equation of a light plane of the line laser under a camera coordinate system by using a plane calibration plate; the method comprises the following steps:
in the image acquisition process, because the lens of the camera is distorted, the camera needs to be calibrated by internal parameters, and by means of a planar circular calibration plate, the principal point, the focal ratio and the distortion coefficient of the camera are calibrated by using a calibration method provided by Zhangyingyou et al in the 'camera calibration method based on a flexible three-dimensional target'.
Calibrating the laser plane by using a circular calibration plate, wherein the equation of the light plane under a camera coordinate system is as follows:
acxc+bcyc+cczc+dc＝0
wherein (a)c,bc,cc,dc) Is the coefficient of the plane equation (x)c,yc,zc) Camera coordinates.
And converting the plane equation of the line laser under the camera coordinate system into the base coordinate system by means of global calibration to obtain the plane equation of the laser plane under the base coordinate system.
And 4, step 4: all cameras are strictly controlled to carry out synchronous acquisition, the acquired images are subjected to image processing, noise and laser ghosting in the acquisition process are eliminated, the three-dimensional coordinates of the centers of laser light bars in each camera coordinate system are obtained by utilizing the laser triangulation principle, and then three-dimensional point cloud data under the basic coordinate are obtained.
The method comprises the following specific steps:
1) decomposing a color three-channel image acquired by a camera into three single-channel images of R (x, y), G (x, y) and B (x, y), and then enhancing a red component of the image to obtain an enhanced image I (x, y):
I(x,y)＝R(x,y)-G(x,y)-B(x,y)
where x, y represent pixel locations.
2) Finding out pixel points (r) with gray values larger than m in jth row of image I (x, y)0,j),(r1,j),…,(rnJ) of which the pixels belong to the set Sj，
Figure BDA0002463360420000062
The obtained pixel point set SjClustering is carried out, and adjacent pixel points are divided into a group; the 1,2, … m groups were found in the same manner. The position of the center point of the laser bar obtained by each group of sets according to the gray scale gravity center method is recorded as
Figure BDA0002463360420000063
And performing the processing on each row in the image to obtain all laser central lines meeting the conditions as approximate candidate central points of the light bars.
3) And (3) connecting the interrupted light bars by using a flood filling algorithm and connecting the central points of the laser bars by using 8 connected regions.
4) And then, taking the length as a threshold value, because the ghost brightness of the light strip is darker than the normal light strip brightness, although the ambient light is sometimes stronger, the ambient light influences a local area, and therefore, the final accurate light strip central point is obtained by taking the area with the longest light strip communication area as the final light strip central point, and the three-dimensional point cloud data of all the light strip central points under the base coordinate can be reconstructed by using the light plane calibration data obtained in the step 3.
And 5: moving the cabin section, passing the cabin section from the vehicle head to the vehicle tail through a measurement area, and repeating the step 4 to obtain three-dimensional point cloud data of the whole cabin section;
step 6: and (3) cutting along the Z-axis direction of the base coordinate system from the initial position of the cabin section to obtain point cloud data of the current section of the cabin section, and further obtain a series of parameters such as coaxiality of the cabin section.
In order to verify the effectiveness of the method, a basler camera with the resolution of 300w pixels is adopted, a 12mm lens of a computer company is configured, and a simulation experiment is realized under vs2013 software in cooperation with an opencv algorithm library to obtain cabin point cloud data. The measured data is compared with the measured data of the laser tracker, the measurement error is within 0.3mm, and the requirement of cabin section measurement is met.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (7)

1. A cabin section profile accurate measurement method based on line laser is characterized by comprising the following steps:
step 1: the visual sensor units are respectively vertically arranged on two sides of the cabin section to be detected, and the connecting line of the visual sensor units on the same side is perpendicular to the central axis of the cabin section;
step 2: establishing a base coordinate system by using the laser tracker, establishing a Z axis of the base coordinate system on a central axis of the cabin section, and simultaneously obtaining a conversion matrix between the laser tracker and the base coordinate system;
and step 3: processing each visual sensor unit to realize camera parameter calibration, light plane parameter equation calibration and global calibration, thereby obtaining a conversion matrix between a camera coordinate system and a laser tracker coordinate system:
and 4, step 4: synchronously triggering all cameras to acquire laser light strip images on the surface of the current cabin section, processing the images to remove noise and ghost images, and obtaining the three-dimensional coordinates of the center of the current laser light strip in each camera coordinate system by using a laser triangulation principle so as to obtain three-dimensional point cloud data under a basic coordinate.
And 5: moving the cabin section to be detected, and repeating the step 4 through a measuring area from one side to the other side of the cabin section to obtain three-dimensional point cloud data of the whole cabin section;
step 6: and (3) setting one side of the cabin section as an initial position, and cutting along the Z-axis direction of the base coordinate system to obtain point cloud data of the current section of the cabin section.
2. The line laser-based method for accurately measuring the profile of a cabin section according to claim 1, wherein the plurality of vision sensor units on the same side are vertically mounted on the same mounting frame; the vision sensor unit includes a CMOS camera and a laser.
3. The line laser-based cabin section profile precise measurement method according to claim 1, wherein the camera parameter calibration, the light plane parameter equation calibration and the global calibration comprise:
converting all camera coordinate systems to be under a laser tracker coordinate system by using the target, and carrying out global calibration;
calibrating the internal parameters of the camera and a plane equation of a light plane of the line laser under a camera coordinate system by using a plane calibration plate;
and converting the plane equation of the line laser under the camera coordinate system into the base coordinate system by means of global calibration to obtain the plane equation of the laser plane under the base coordinate system.
4. The line laser-based cabin segment profile precise measurement method according to claim 3, wherein the globally calibrated intermediate medium is a spatial target with a plurality of circular holes, and coordinates of each hole on the target are calibrated in advance by a three-coordinate measuring instrument.
5. The method of claim 3, wherein the obtaining of the transformation matrix between the camera coordinate system and the laser tracker coordinate system comprises:
1) assuming a point P on the calibration plate, the measured value in the camera coordinate system is Pc＝(xc,yc,zc) Measured value in the laser tracker coordinate system is Pg＝(xg,yg,zg)；
2) Determining an unconstrained optimal objective function
Figure FDA0002463360410000021
Wherein n is the number of points participating in calibration, Pgi＝(xgi,ygi,zgi1) homogeneous coordinate of the ith point in the global coordinate system, Pci＝(xci,yci,zci1) is the homogeneous coordinate of the ith point in a camera coordinate system; hjIs a transformation matrix in which the j-th camera coordinate system is transformed to the base coordinate system,
Figure FDA0002463360410000023
the optimal objective function needs to satisfy orthogonal constraint conditions;
3) collecting a plurality of hole site centers on a space target by using a laser tracker, wherein the plurality of holes are not in one plane; the camera collects a space target image to obtain a three-dimensional coordinate point of a corresponding hole site central point under a camera coordinate system, and a conversion matrix between any one camera coordinate system and a laser tracker coordinate system is obtained after a target function is minimized
Figure FDA0002463360410000022
6. The method for accurately measuring the contour of the cabin based on the line laser according to claim 1, wherein the processing of the image to eliminate the center position of the laser light bar on the surface of the cabin under the coordinate system of the noise and ghost image acquisition camera comprises the following steps:
1) carrying out three-channel decomposition on the acquired image and enhancing a red component to obtain an enhanced image;
2) clustering and processing each row of pixel points of the image by a gray center method respectively to obtain candidate central point positions of laser bars on the surface of the cabin;
3) communicating the candidate central points of the laser bars by adopting a flooding filling algorithm and an 8-communication area method so as to connect the discontinuous light bars;
4) because the brightness of the double image of the light strip is darker than that of the normal light strip, the area with the longest light strip communication area is used as the final cabin surface laser light strip, and the position of the center point of the laser light strip is positioned.
7. The line-laser-based method for accurately measuring a cabin profile according to claim 6, wherein the obtaining of the candidate center point positions of the cabin surface laser stripe comprises:
acquiring a pixel point set S with the gray value larger than m in the jth row of the image I (x, y)j，
Figure FDA0002463360410000031
The obtained pixel point set SjClustering the pixels in the cluster, and obtaining m groups of clustering pixel point sets by adopting a mode that adjacent pixels are divided into one group; obtaining the central point position of the laser bar according to the gray scale gravity center method for each group of clustering pixel point sets, and recording the central point position as the central point position
Figure FDA0002463360410000032
And performing the processing on each row in the image to obtain all laser central lines meeting the conditions as candidate central points of the light bars.
CN202010326367.8A 2020-04-23 2020-04-23 Cabin section profile accurate measurement method based on line laser Pending CN113554697A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010326367.8A CN113554697A (en) 2020-04-23 2020-04-23 Cabin section profile accurate measurement method based on line laser

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010326367.8A CN113554697A (en) 2020-04-23 2020-04-23 Cabin section profile accurate measurement method based on line laser

Publications (1)

Publication Number Publication Date
CN113554697A true CN113554697A (en) 2021-10-26

Family

ID=78101045

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010326367.8A Pending CN113554697A (en) 2020-04-23 2020-04-23 Cabin section profile accurate measurement method based on line laser

Country Status (1)

Country Link
CN (1) CN113554697A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114474069A (en) * 2022-03-14 2022-05-13 沈阳航空航天大学 Robot line structure optical hand-eye calibration method based on space orthogonal constraint
WO2023134251A1 (en) * 2022-01-14 2023-07-20 泉州华中科技大学智能制造研究院 Clustering-based light bar extraction method and apparatus
WO2023227011A1 (en) * 2022-05-26 2023-11-30 杭州海康机器人股份有限公司 Calibration method and apparatus for external parameters of linear profiler and electronic device
CN117705004A (en) * 2023-12-27 2024-03-15 福建省高速公路科技创新研究院有限公司 High-precision measurement and calibration method for compaction of filled soil layer
WO2024055788A1 (en) * 2022-09-15 2024-03-21 珠海一微半导体股份有限公司 Laser positioning method based on image informaton, and robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023134251A1 (en) * 2022-01-14 2023-07-20 泉州华中科技大学智能制造研究院 Clustering-based light bar extraction method and apparatus
CN114474069A (en) * 2022-03-14 2022-05-13 沈阳航空航天大学 Robot line structure optical hand-eye calibration method based on space orthogonal constraint
CN114474069B (en) * 2022-03-14 2023-10-31 沈阳航空航天大学 Robot line structure light hand-eye calibration method based on space orthogonal constraint
WO2023227011A1 (en) * 2022-05-26 2023-11-30 杭州海康机器人股份有限公司 Calibration method and apparatus for external parameters of linear profiler and electronic device
WO2024055788A1 (en) * 2022-09-15 2024-03-21 珠海一微半导体股份有限公司 Laser positioning method based on image informaton, and robot
CN117705004A (en) * 2023-12-27 2024-03-15 福建省高速公路科技创新研究院有限公司 High-precision measurement and calibration method for compaction of filled soil layer
CN117705004B (en) * 2023-12-27 2024-05-28 福建省高速公路科技创新研究院有限公司 High-precision measurement and calibration method for compaction of filled soil layer

Similar Documents

Publication Publication Date Title
CN113554697A (en) Cabin section profile accurate measurement method based on line laser
CN104864819B (en) A kind of high speed three-dimensional strain measurement method based on digital speckle
CN110230998B (en) Rapid and precise three-dimensional measurement method and device based on line laser and binocular camera
CN106978774B (en) A kind of road surface pit slot automatic testing method
CN109099883A (en) The big visual field machine vision metrology of high-precision and caliberating device and method
CN104713497B (en) Phase offset calibration method, the method for 3D SHAPE DETECTIONs, system and optical projection system
CN106709955B (en) Space coordinate system calibration system and method based on binocular stereo vision
CN110966956A (en) Binocular vision-based three-dimensional detection device and method
CN1354355A (en) Laser linear scanning three-dimensional measurement double liquid knife virtual grid mapping calibrating method and equipment
CN110702343B (en) Deflection measurement system and method based on stereoscopic vision
CN107589069B (en) Non-contact type measuring method for object collision recovery coefficient
CN107816942A (en) A kind of planar dimension measurement method based on cross structure light vision system
CN113074660B (en) Surface shape measuring method for large-size transparent object
CN111385558B (en) TOF camera module precision measurement method and system thereof
CN113446957B (en) Three-dimensional contour measuring method and device based on neural network calibration and speckle tracking
CN106197292A (en) A kind of building displacement monitoring method
CN111207670A (en) Line structured light calibration device and method
CN112595236A (en) Measuring device for underwater laser three-dimensional scanning and real-time distance measurement
CN110926373A (en) Structured light plane calibration method and system under railway foreign matter detection scene
CN117928875A (en) Time-resolved polarization imaging device and method for wind tunnel flow field
CN111325793A (en) System and method for dynamically calibrating pixel size based on light spot in image measurement
CN112906095B (en) Bridge modal identification method and system based on laser stripe center tracking
CN100359286C (en) Method for improving laser measuring accuracy in image processing
CN112665523B (en) Combined measurement method for complex profile
CN114136544A (en) Underwater vibration simulation test system and method based on high-speed video measurement

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination