CN114494031A - Camera positioning compensation correction device and method - Google Patents
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Abstract
The invention discloses a camera positioning compensation correcting device and a method, which are used for performing positioning compensation on a plurality of cameras, wherein the camera positioning compensation correcting device comprises a base, a measuring table, a temperature sensor, an elastic isolation layer and a positioning unit, the measuring table comprises a measuring carrier and a measuring frame, the measuring carrier is embedded in the middle of the measuring frame, a plurality of identification points are arranged on the measuring frame, the measuring frame is positioned and installed on the base through the positioning unit, the elastic isolation layer is arranged between the measuring frame and the base, the temperature sensor is embedded in the measuring frame, and the cameras are arranged above the measuring table. When the position of the camera changes due to temperature and external environmental factors, the invention can realize accurate correction or compensation of the external parameters of the camera in measurement according to the change difference value, and ensure the reconstruction precision of a visual system, thereby maintaining the measurement stability of the system.
Description
Technical Field
The invention relates to the technical field of vision systems, in particular to a camera positioning compensation correction device and method.
Background
Machine vision is used in various fields because of its advantages such as non-contact, rapidity, and high degree of automation. Binocular stereo vision, as well as multi-vision devices, are commonly used to detect object defects, reconstruct object models, measure object geometry, etc. In order to meet the measurement precision requirement, the vision system firstly calibrates internal parameters and external parameters of each camera in the system before use. However, in a relatively complex environment such as a factory, especially when the temperature change of the use environment of the device is large, the single-time camera calibration cannot completely meet the measurement accuracy requirement in the use process for the binocular and multi-view vision system.
Currently, when using a vision device, the calibration of the parameters of the camera is usually performed only once before using the apparatus. For a binocular vision device and a multi-vision device, if the position of a camera changes relative to a world coordinate system or the relative position between cameras changes in the using process, the measuring accuracy of a vision system is affected. In a vision device, cameras are usually fixed on a designed frame, when a large object is measured, the frame size of the designed vision device is large, and when the ambient temperature changes greatly, the geometric size of a frame material changes with the change of temperature under the action of the change of temperature, so that the relative position between the cameras or the position of each camera relative to a world coordinate system changes, and further the measurement accuracy is influenced. Repeated calibration and complicated operation are not allowed in the industrial field.
Techniques for solving the problems of camera focal length compensation and the like caused by temperature change and anti-vibration cameras have been developed for some time, such as improving the design compactness of the camera and improving the anti-vibration optical system of the camera, and the relative change of the position of the camera caused by the relative change of the frame of the equipment caused by equipment design and environmental factors is not improved, so that the improvement of the aspect is still needed to improve the measurement accuracy of the system.
The above background disclosure is only for the purpose of assisting understanding of the concept and technical solution of the present invention and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
In order to solve the technical problems, the invention provides a camera positioning compensation correction device and a camera positioning compensation correction method, which can realize accurate correction or compensation of external parameters of a camera in measurement according to a change difference value when the position of the camera is changed due to temperature and external environment factors, and ensure the reconstruction accuracy of a visual system, thereby maintaining the measurement stability of the system.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses a camera positioning compensation correcting device which is used for performing positioning compensation on a plurality of cameras and comprises a base, a measuring table, a temperature sensor, an elastic isolation layer and a positioning unit, wherein the measuring table comprises a measuring carrier and a measuring frame, the measuring carrier is embedded and arranged in the middle of the measuring frame, a plurality of identification points are arranged on the measuring frame, the measuring frame is positioned and installed on the base through the positioning unit, the elastic isolation layer is arranged between the measuring frame and the base, the temperature sensor is embedded and arranged in the measuring frame, and the cameras are arranged above the measuring table.
Preferably, the elastic isolation layer is made of rubber, and the measuring frame is made of alloy materials.
One embodiment of the present invention discloses a camera positioning compensation correction method, which adopts the camera positioning compensation correction device to perform positioning compensation on a plurality of cameras, and comprises the following steps:
s1: calibrating the internal parameters and the external parameters of the plurality of cameras;
s2: controlling the temperature of the measuring table, collecting images containing the identification points at different temperatures to obtain spatial three-dimensional coordinates of the identification points at different temperatures, and establishing a functional relation between the spatial three-dimensional coordinates of the identification points and the temperatures according to the spatial three-dimensional coordinates of the identification points at different temperatures;
s3: the camera positioning compensation correcting device reads the temperature value of the measuring table sensed by the temperature sensor at regular time in the using process;
s4: correcting the corresponding space three-dimensional coordinate of the identification point according to the temperature value of the measuring table read in the step S3 and the functional relationship between the space three-dimensional coordinate of the identification point and the temperature obtained in the step S2;
s5: and correcting the external parameters of the camera according to the corrected space three-dimensional coordinates of the corresponding identification points in the step S4.
Preferably, the step S2 of controlling the temperature of the measurement table, and acquiring images including the identification points at different temperatures to obtain spatial three-dimensional coordinates of the identification points at different temperatures specifically includes: acquiring images containing the identification points under the condition that the plurality of cameras are calibrated in step S1, and solving an optimal solution by adopting a least square method to reconstruct and store the spatial three-dimensional coordinates of the corresponding identification points as a reference state; and then, acquiring images containing the identification points at different temperatures, and reconstructing the spatial three-dimensional coordinates of the identification points in the reference state to obtain the spatial three-dimensional coordinates of the identification points at different temperatures.
Preferably, the step S2 of establishing the functional relationship between the spatial three-dimensional coordinate of the identification point and the temperature according to the spatial three-dimensional coordinate of the identification point at different temperatures specifically includes: the method comprises the steps of establishing a space reference coordinate system by taking any one identification point as an origin, converting the obtained space three-dimensional coordinates of the identification point at different temperatures through the coordinate system to obtain the space three-dimensional coordinates of the identification point at different temperatures under the space reference coordinate system, establishing a coordinate conversion list of each identification point relative to the origin of the space reference coordinate system at different temperatures, and then obtaining the functional relation between the space three-dimensional coordinates of the identification point and the temperatures.
Preferably, the step S2 of establishing the functional relationship between the spatial three-dimensional coordinates of the identification point and the temperature specifically includes: and dividing the measured temperature range into a plurality of different temperature intervals, and respectively performing function fitting in the different temperature intervals to obtain a piecewise function of the space three-dimensional coordinates and the temperature of the identification point.
Preferably, in step S5, the external parameters of the camera are corrected by specifically using a rear-intersection method.
Preferably, the correcting the external parameters of the camera by using a backward intersection method specifically includes: and (3) carrying out optimization iterative operation by adopting the corrected space three-dimensional coordinates of the corresponding identification points and the internal parameters of the camera obtained by the calibration in the step S1 and combining the following formula, wherein the initial value of the iterative operation adopts the external parameters of the camera obtained by the calibration in the step (1):
V＝BX-L
in the formula, V is a residual error of the image coordinates of the marker point, L is a deviation between a true value and an initial value of the image coordinates of the marker point, B is an external parameter partial derivative matrix, and X is a corrected value of the external parameter, where the true value of the image coordinates of the marker point is an image coordinate of the marker point recognized in the image including the marker point acquired by the camera, and the initial value of the image coordinates of the marker point is calculated by combining the internal parameters and the external parameters of the plurality of cameras calibrated in step S1 with the corrected spatial three-dimensional coordinates of the corresponding marker point.
One embodiment of the present invention discloses a computer-readable storage medium having stored thereon computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the steps of the camera position compensation rectification method described above.
Compared with the prior art, the invention has the beneficial effects that: the camera positioning compensation correction device and method provided by the invention can regularly rebuild and calibrate the visual system and improve the precision stability of the visual system; by establishing the coordinate position change of the identification point under the influence of temperature, the camera external parameters of the vision device are corrected by adopting a rear intersection method according to the coordinate of the identification point, meanwhile, the problem that the precision of a vision system is influenced due to the position change of a camera caused by environmental factors such as vibration, collision and the like can be solved, and the measurement stability of the system is improved.
Drawings
FIG. 1 is a schematic diagram of the multi-purpose vision measuring device of the preferred embodiment of the present invention;
FIG. 2 is a flow chart of a camera position compensation correction method in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic view of a calibration plate;
fig. 4 is a schematic pose position diagram of the calibration plate.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixed function or a circuit/signal communication function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Aiming at the problem that the precision and stability of the existing vision system are influenced by environmental factors, the invention provides a device and a method for correcting camera external parameters based on an external identification point in the use process of a vision device.
As shown in FIG. 1, the preferred embodiment of the present invention discloses a multi-purpose vision measuring device, which comprises a plurality of cameras 1 and a camera positioning compensation correction device, wherein the camera positioning compensation correction device is used for performing positioning compensation on the plurality of cameras 1, the camera positioning compensation correction device comprises a system frame 7, a measuring table, a temperature sensor 2, an elastic isolation layer 6 and a positioning pin 8, the measuring table comprises a measuring carrier 3 and a measuring frame 4, the measuring carrier 3 is embedded in the middle of the measuring frame 4, a plurality of identification points 5 are embedded on the measuring frame 4, the measuring frame 4 is embedded and installed on the system frame 7 through the positioning pin 8, the elastic isolation layer 6 is connected and arranged between the measuring frame 4 and the system frame 7 so as to keep a flexible design with a certain gap between the measuring frame 4 and the system frame 7, and adapt to the expansion of materials when the temperature of the vision device rises. The temperature sensor 2 is embedded in the measuring frame 4, and the plurality of cameras 1 are arranged above the measuring table, and in the present embodiment, the plurality of cameras 1 are fixedly connected to the system frame 7. Wherein the elastic isolation layer 6 is made of rubber, the measuring frame 4 is made of alloy material, and the measuring carrier 3 can comprise acrylic plates, lighting facilities and the like.
As shown in fig. 2, a preferred embodiment of the present invention discloses a camera positioning compensation correction method, which mainly uses the relative position change of an external identification point to guide the external parameter change of a device camera in operation, and specifically combines the multi-purpose vision measuring apparatus shown in fig. 1 for specific description, including the following steps:
(1) system camera calibration
And calibrating the internal parameters and the external parameters of each camera in the visual device by using the camera calibration equipment. The system camera calibration comprises internal parameters and external parameters of each camera, and the internal parameters of the cameras comprise principal point deviation, focal length distance and distortion parameters of the cameras. The extrinsic parameters of the camera are the rotation matrix and the translation matrix of the camera relative to the world coordinate system. And after the calibration of the system camera is finished, storing the calibration parameters of the camera.
In this embodiment, the internal parameters of the camera and the external parameters of the camera are calibrated simultaneously by using a binding adjustment method. And using a calibration plate, wherein the designed calibration plate simultaneously comprises coded identification points and non-coded identification points. Specifically, the coordinates of points on the calibration board are known before the camera calibration of the system, the binding adjustment only adjusts the internal parameters of the camera and the external parameters of the camera, it should be noted that the multi-camera calibration belongs to the prior art, and as an example, the example refers to "global calibration of a large-view multi-camera video measurement system" (huhao, lingjin, tangzhen, etc.).
In this embodiment, a calibration board is used, as shown in fig. 3, and the calibration board 10 includes coded mark points 11 and non-coded mark points 12. In order to meet the measurement requirements, the marking points in the calibration plate are distributed in the whole measurement field of view as much as possible in the calibration process. Specifically, the schematic diagram of the poses of the calibration plate shown in fig. 4 may be adopted, the calibration plate is placed at three positions, namely, the left position, the middle position and the right position, of the measurement table (as the schematic diagram of the distribution of the positions of the calibration plate in fig. 4 (a)), the calibration plate is placed at each position (as the schematic diagram of the poses of the calibration plate in fig. 4 (b)), and then is raised along four edges thereof by a certain distance h (as the schematic diagram of the poses of the calibration plate raised along the edge a by a certain distance h in fig. 4(c), as the schematic diagram of the poses of the calibration plate raised along the edge b by a certain distance h in fig. 4(d), as the schematic diagram of the poses of the calibration plate raised along the edge c by a certain distance h in fig. 4 (e), as the schematic diagram of the poses of the calibration plate raised along the edge d by a certain distance h in fig. 4 (f)), and 15 poses are placed and transformed in total.
(2) Establishing the functional relation between the coordinates of the identification points and the temperature at different temperatures
And acquiring an image of the identification point, and reconstructing a spatial three-dimensional coordinate of the identification point under different temperature gradients. And establishing a space reference coordinate system as a world coordinate system by taking one of the fixed identification points as a coordinate system origin. And establishing a data list of each identification point relative to the origin of the coordinate system at different temperatures, and drawing a function curve according to different temperature gradients.
In the embodiment, after the system calibration is completed, firstly, the identification point image is collected, the identification point coordinate is reconstructed and stored, and the identification point coordinate in the state is taken as the reference state. The identification points are then imaged in each of the different temperature intervals (T0-Tn) to control the temperature of the frame in which the measurement station is embedded, while the temperature of the system frame remains constant (i.e., the temperature of the individual cameras remains constant). And acquiring an identification point image, and reconstructing the spatial three-dimensional coordinates of the identification point to obtain the coordinate values of the identification point corresponding to different temperature gradients (T0-Tn).
In one embodiment, the coordinates of the identification points are reconstructed and the optimal solution is solved by using the least square method according to the formula (1).
P＝(ATA)-1*(ATB) (1)
Wherein:
wherein P represents a three-dimensional spatial coordinate of the marker point P and (u)i,vi) To identify the corresponding two-dimensional image point coordinates of point P in the i-th camera (image), MiFor the projection matrix of the ith camera (projection matrix determination after calibration is completed), wherein the representation projection matrix M with the parenthesized subscriptiOf corresponding positions, e.g. Mi(2,1)Representing a projection matrix MiRow 2, column 1 (2,1) position.
In this embodiment, the reconstructed coordinates of the identification point are converted into a coordinate system, and the origin of the coordinate system is fixed at the identification point a, and the coordinate system is established as shown in fig. 1. Only under each temperature gradient, the coordinate system is established in the same way for function curve fitting of subsequent identification points under different temperatures.
In this embodiment, before the functional relationship between the coordinates of the identification points and the temperatures at different temperatures is established, a data list library is also established, that is, a data list of each identification point at different temperatures relative to the origin of the coordinate system is established. In one embodiment, a temperature gradient coordinate transformation table is established for each identification point in a list manner shown in table 1.
Table 1 schematic table of data list at different temperatures of identification point b
And then drawing a function curve according to the space three-dimensional coordinates of the identification point under different temperature gradients so as to obtain the space coordinate value of the identification point in other following temperature environments. In some embodiments, the measured different temperature gradients (T0-Tn) may be divided into a plurality of different temperature intervals, and function fitting may be performed in the different temperature intervals, respectively, to obtain a piecewise function of the spatial three-dimensional coordinates of the identification point and the temperature; and selecting a function expression with smaller error according to the material used by the frame and the data quantity of the identification point in the temperature interval by using the function fitting curve.
(3) Timing reading of device temperature values
The temperature of the equipment is fed back at regular time through equipment temperature measuring devices such as a temperature sensor. As shown in fig. 1, in the present embodiment, a temperature sensor is embedded in a visual device, and a device temperature value is obtained by the temperature sensor. The timing feedback can set a specific time period t according to the environmental factors of the use of the visual equipment, and the temperature value of the equipment is read once after the time period t in the use process of the equipment.
(4) Obtaining the coordinates of the corresponding identification points according to the temperature values
And calculating the coordinates of each identification point at the corresponding temperature according to the functional relation between the coordinates of the identification points at different temperatures and the temperature through the acquired temperature values.
In some embodiments, this step may also obtain the coordinates of each identification point at the corresponding temperature according to the temperature gradient coordinate transformation table of step (2). Specifically, in one embodiment, the corresponding identification point coordinates are calculated by using an interpolation method. After the temperature T of the equipment is obtained through the temperature sensor, a corresponding temperature value is searched in a database; if the corresponding temperature value does not exist, the nearest neighbor of the corresponding temperature value is found, i.e., temperature value T1 greater than the temperature and temperature value T2 less than the temperature. And acquiring coordinate values of the identification points corresponding to the temperatures T1 and T2, and acquiring the coordinate value of the identification point corresponding to the current temperature by an interpolation method. The interpolation method is not limited to two nearest neighbor temperature values, and the interpolation method comprises linear interpolation, bilinear interpolation, bicubic interpolation and other interpolation methods. In another embodiment, after the temperature value is obtained through the temperature sensor, a mapping function of coordinate transformation of the identification point corresponding to the temperature is fitted in the temperature section, the corresponding temperature section is found through a piecewise function, the corresponding coordinate value function is directly brought in, and the identification point coordinate at the current temperature is obtained.
And after the coordinates of each identification point are calculated, outputting and storing the coordinates of the identification points for correcting the external parameters of the camera.
(5) External parameter of correcting phase
Correcting external parameters of the camera by adopting a back intersection method through the corrected coordinates of the identification points: a rotation matrix and a translation matrix of the camera.
Wherein the translation matrix is the coordinate [ X ] of the origin of the camera coordinate system in the world coordinate systemc，Yc，Zc]T(ii) a The rotation matrix may be passed through the rotation angle
It is shown that,
the rotation angle relative to each coordinate axis X, Y, Z of the world coordinate system.
In this example, the pinhole imaging model is used, which is influenced by the lens and camera manufacturing, and the actual projection of the image point to the corresponding spatial reference point is given by the following collinearity:
wherein, (X, Y, Z) is the space three-dimensional coordinate of the corrected identification point obtained in the step (4), (X)c，Yc， Zc) As projection center coordinates, (x, y) as true values of the coordinates of the image of the marker spot, (x)0,y0) Is the principal point coordinate, f is the focal length, (Δ x, Δ y) is the distortion deviation;
for rotation matrices, use can be made of
And (4) showing.
Using the measured image coordinates of the reference points, and known camera intrinsic parameters, a set of correction equations can be derived from the collinearity equation (2) with approximate linearization by a taylor series expansion as follows:
V＝BX-L (3)
in the formula:
Since the monoscopic back-rendezvous algorithm is an optimized iterative operation after the nonlinear equation is linearized, an initial value of an unknown number is needed. In this example, the camera extrinsic parameters stored in the camera calibration of the system of step (1) are used as initial values.
The camera positioning compensation correction method provided by the preferred embodiment of the invention can regularly reconstruct and calibrate the visual system, improve the precision stability of the visual system, correct the camera external parameters in the visual device by establishing the coordinate position change of the identification point under the influence of temperature and adopting a rear intersection method according to the coordinates of the identification point, solve the problem that the precision of the visual system is influenced due to the camera position transformation caused by environmental factors such as vibration, collision and the like, and improve the measurement stability of the system.
Another embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the camera positioning compensation correction method described above, and specific implementation may refer to method embodiments, and is not described herein again.
The background of the invention may contain background information related to the problem or environment of the present invention rather than the prior art described by others. Accordingly, the inclusion in the background section is not an admission of prior art by the applicant.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides a camera positioning compensation orthotic devices for carry out positioning compensation to a plurality of cameras, its characterized in that, including base, measuring station, temperature sensor, elasticity isolation layer, positioning unit, the measuring station is including measuring carrier and measuring frame, it sets up to measure the carrier embedding measuring frame's centre be equipped with a plurality of identification points on the measuring frame, measuring frame passes through the positioning unit location is installed on the base, the elasticity isolation layer sets up measuring frame with between the base, the temperature sensor embedding sets up measuring frame's inside, a plurality of cameras set up measuring station's top.
2. The camera position compensation correction device of claim 1, wherein the elastic isolation layer is made of rubber, and the measurement frame is made of an alloy material.
3. A camera positioning compensation correction method for performing positioning compensation of a plurality of cameras by using the camera positioning compensation correction apparatus according to claim 1 or 2, comprising the steps of:
s1: calibrating the internal parameters and the external parameters of the plurality of cameras;
s2: controlling the temperature of the measuring table, collecting images containing the identification points at different temperatures to obtain spatial three-dimensional coordinates of the identification points at different temperatures, and establishing a functional relation between the spatial three-dimensional coordinates of the identification points and the temperatures according to the spatial three-dimensional coordinates of the identification points at different temperatures;
s3: the camera positioning compensation correcting device reads the temperature value of the measuring table sensed by the temperature sensor at regular time in the using process;
s4: correcting the corresponding space three-dimensional coordinate of the identification point according to the temperature value of the measuring table read in the step S3 and the functional relationship between the space three-dimensional coordinate of the identification point and the temperature obtained in the step S2;
s5: and correcting the external parameters of the camera according to the corrected space three-dimensional coordinates of the corresponding identification points in the step S4.
4. The method for correcting the camera positioning compensation according to claim 3, wherein the step S2 of controlling the temperature of the measuring table and acquiring the images containing the identification points at different temperatures to obtain the spatial three-dimensional coordinates of the identification points at different temperatures specifically comprises:
acquiring images containing the identification points under the condition that the plurality of cameras are calibrated in the step S1, and solving an optimal solution by adopting a least square method to reconstruct and store the space three-dimensional coordinates of the corresponding identification points as a reference state;
and acquiring images containing the identification points at different temperatures, and reconstructing the spatial three-dimensional coordinates of the identification points in the reference state to obtain the spatial three-dimensional coordinates of the identification points at different temperatures.
5. The camera positioning compensation correction method according to claim 3, wherein the step S2 of establishing the functional relationship between the spatial three-dimensional coordinates of the identification point and the temperature according to the spatial three-dimensional coordinates of the identification point at different temperatures specifically comprises:
establishing a space reference coordinate system by taking any one identification point as an origin;
converting the obtained space three-dimensional coordinates of the identification points at different temperatures through a coordinate system to obtain the space three-dimensional coordinates of the identification points at different temperatures under the space reference coordinate system;
and establishing a coordinate transformation list of each identification point relative to the origin of the space reference coordinate system at different temperatures, and then obtaining the functional relation between the space three-dimensional coordinates of the identification points and the temperatures.
6. The camera positioning compensation correction method according to claim 5, wherein the establishing of the functional relationship between the spatial three-dimensional coordinates of the identification point and the temperature in step S2 specifically includes: and dividing the measured temperature range into a plurality of different temperature intervals, and respectively performing function fitting in the different temperature intervals to obtain a piecewise function of the space three-dimensional coordinates and the temperature of the identification point.
7. The camera positioning compensation correction method according to claim 3, wherein a backward-crossing method is used to correct the external parameters of the camera in step S5.
8. The camera positioning compensation correction method of claim 7, wherein correcting the camera extrinsic parameters using a backward intersection method specifically comprises: adopting the corrected space three-dimensional coordinates of the corresponding identification points and the internal parameters of the camera obtained by the calibration in the step S1, and combining the following formula to perform iterative operation, wherein the initial value of the iterative operation adopts the external parameters of the camera obtained by the calibration in the step (1):
V＝BX-L
in the formula, V is a residual error of the image coordinates of the marker point, L is a deviation between a true value and an initial value of the image coordinates of the marker point, B is an external parameter partial derivative matrix, and X is a corrected value of an external parameter, where the true value of the image coordinates of the marker point is an image coordinate of the marker point recognized in the image including the marker point acquired by the camera, and the initial value of the image coordinates of the marker point is calculated according to the internal parameters and the external parameters of the cameras calibrated in step S1 in combination with the corrected spatial three-dimensional coordinates of the corresponding marker point.
9. A computer-readable storage medium having stored thereon computer-executable instructions which, when invoked and executed by a processor, cause the processor to carry out the steps of the camera position compensation rectification method according to any one of claims 3 to 8.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114979440A (en) * | 2022-05-23 | 2022-08-30 | 广东亿嘉和科技有限公司 | High-precision optical navigation equipment and heat influence precision compensation method thereof |
| CN115086551A (en) * | 2022-05-19 | 2022-09-20 | 上海艾为电子技术股份有限公司 | Corresponding relation, motor displacement obtaining method and system and motor driving chip |
| CN115106295A (en) * | 2022-07-14 | 2022-09-27 | 前海晶方云(深圳)测试设备有限公司 | Test method, storage device, computer equipment and test equipment |
| CN115673876A (en) * | 2022-12-28 | 2023-02-03 | 苏州猎奇智能设备有限公司 | Vision-based two-dimensional measurement method for thermal deformation of motion system and use method |
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2021
- 2021-12-10 CN CN202111510067.6A patent/CN114494031A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115086551A (en) * | 2022-05-19 | 2022-09-20 | 上海艾为电子技术股份有限公司 | Corresponding relation, motor displacement obtaining method and system and motor driving chip |
| CN114979440A (en) * | 2022-05-23 | 2022-08-30 | 广东亿嘉和科技有限公司 | High-precision optical navigation equipment and heat influence precision compensation method thereof |
| CN114979440B (en) * | 2022-05-23 | 2024-01-23 | 广东亿嘉和科技有限公司 | High-precision optical navigation equipment and thermal influence precision compensation method thereof |
| CN115106295A (en) * | 2022-07-14 | 2022-09-27 | 前海晶方云(深圳)测试设备有限公司 | Test method, storage device, computer equipment and test equipment |
| CN115673876A (en) * | 2022-12-28 | 2023-02-03 | 苏州猎奇智能设备有限公司 | Vision-based two-dimensional measurement method for thermal deformation of motion system and use method |
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