CN114782546B - Eye-marking relation calibration method for cascade stereoscopic vision system slave eye equipment - Google Patents
Eye-marking relation calibration method for cascade stereoscopic vision system slave eye equipment Download PDFInfo
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Abstract
The invention discloses a method for calibrating the eye-marking relation of a cascade stereoscopic vision system slave eye device, which is characterized in that a master stereoscopic vision system is fixed, a slave eye mark with a determined pose relation with the slave stereoscopic vision system is fixedly connected to the surface of the slave stereoscopic vision system, and the slave eye mark can be detected and recorded by the master stereoscopic vision system. Setting up a floating calibration tool and an auxiliary calibration tool, acquiring pose information of the slave eye marks and coordinate information of the floating calibration tool by using a main stereoscopic vision system, and simultaneously acquiring the coordinate information of the auxiliary calibration tool by using the slave stereoscopic vision system, and calculating the relative pose relation between the slave stereoscopic vision system and the slave eye marks by using the mathematical relation among the three, thereby realizing simple, convenient and quick 'mark-eye' relation determination.
Description
Technical Field
The invention relates to the technical field of stereoscopic vision measurement, in particular to a method for calibrating eye-marking relation of a cascade stereoscopic vision system slave eye device.
Background
The stereoscopic vision pose measurement system has the capability of non-contact measurement of the pose of a target, and is widely applied to pose measurement and tracking of surgical instruments and targets in medical robot assisted surgery. However, stereoscopic vision has the disadvantages of limited working space, fixed working angle, contradiction between working distance and measurement accuracy, and easy occlusion of the surgical instrument to be tracked.
In an actual working scene, a larger operation space needs to be reserved. To avoid interfering with the surgical procedure, it is either necessary to move the stereoscopic system or to have a larger working space and working distance. However, for a single stereoscopic vision system, the cost of increasing the working space and working distance is a sacrifice in positioning accuracy.
In order to increase the working space and extend the working distance and improve the measurement accuracy, there are mainly the following two ways at present: (1) The binocular base line distance is increased, the resolution of the camera is improved, or the focal length of the lens is shortened, and the visual field of the camera is enlarged. Shortening the focal length of the lens helps to increase the field of view, but reduces positioning accuracy; increasing the binocular baseline distance helps to increase working distance and improve working accuracy, but reduces working space; improving the resolution of the camera, which is helpful to improve the precision, but increases the system cost and reduces the image processing speed; in addition, no matter what measures are taken, the visual angle must be kept fixed in the working process, and the problem that the sight is influenced by shielding exists. (2) utilizing a plurality of stereoscopic vision systems. Registering all stereoscopic vision systems to the same world reference coordinate system through arranging a plurality of stereoscopic vision systems in a working scene and through a global calibration method; because of the existence of a plurality of stereoscopic vision systems, each system can have a working space and a working view angle, the system can play roles in expanding the working space and compensating the defect of limited view angle of a single stereoscopic vision system; the arrangement of the stereoscopic vision system in the method is limited by a global calibration method, and all stereoscopic vision systems must be kept fixed in the working process, otherwise, the relative pose relationship is changed, and the system is invalid.
In the method for cascading and expanding the working space and the working view angle of the stereoscopic vision system, which is disclosed in the patent number 202010487757.3, the working space and the working view angle of the stereoscopic vision system are effectively expanded. The system is to install reference tracking marks on the slave stereo vision system to be detected and tracked by the master vision system and pose measurement, so that pose information detected by the slave stereo vision system is converted into a master vision system reference coordinate system. In the above-described cascade stereoscopic systems, the pose relationship between the tracking targets fixedly coupled thereto from the visual coordinate system of the stereoscopic system is referred to as a "mark-eye" relationship. In order to realize that pose information detected and tracked by the stereoscopic vision system is transmitted back to a reference coordinate system of the main vision system, a 'mark-eye' relation between the stereoscopic vision system and a tracking target needs to be determined, and the determination of the relation plays an important role in realizing the transmission of coordinates and the overall precision of the cascade vision system and is a key for enabling the cascade vision system to work.
Therefore, how to provide a simple and rapid method for calibrating the eye relationship of the cascade stereoscopic vision system slave eye device is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a method for calibrating the eye-marking relationship of a cascade stereoscopic system slave eye device, so as to determine the relative pose parameters from the stereoscopic system to a reference tracking mark coordinate system, thereby opening a conversion channel from the stereoscopic system coordinate system to a master stereoscopic system coordinate system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a method for calibrating eye-marking relation of cascade stereoscopic vision system slave eye equipment comprises the following steps:
S1, after all vision systems in a cascade stereoscopic vision system are selected, selecting and determining a secondary stereoscopic vision system to be calibrated and a main stereoscopic vision system for auxiliary calibration, wherein a vision coordinate system of the main stereoscopic vision system is used as a global reference coordinate system { W };
S2, fixedly connecting a slave eye Mark mark_c with a position relation determined by the slave stereoscopic vision system on the surface of the slave stereoscopic vision system, wherein the slave eye Mark mark_c is used for being detected and recorded by the master stereoscopic vision system so as to establish a local coordinate system { M c };
S3, fixing a master stereoscopic vision system, arranging a slave stereoscopic vision system in a working area of the master stereoscopic vision system, and arranging an auxiliary calibration tool mark_x in the working area visible by both the master stereoscopic vision system and the slave stereoscopic vision system;
S4, moving the stereoscopic vision system to a position i, moving the floating calibration tool mark_t into an effective working space of the main stereoscopic vision system, changing the pose of the floating calibration tool mark_t to be measured under the condition that the measured coordinate output point of the target of the floating calibration tool mark_t is coincident with the measured coordinate output point of the auxiliary calibration tool mark_x, recording the coordinate data of the floating calibration tool mark_t in the pose changing process through the main stereoscopic vision system, and recording as Where k=1, 2..k, K is the number of sets of co-measured coordinate data, and K is greater than or equal to 2, averaging the K groups of coordinate data to obtain the average coordinate/>, of the measured coordinate output point of the floating calibration tool mark_t
S5, aiming at a secondary stereoscopic vision system of the position i, measuring a secondary eye Mark mark_c of the secondary stereoscopic vision system through a main stereoscopic vision system, and recording translation coordinates from a local coordinate system to a global coordinate system of mark_cAnd a quaternion q 0、q1、q2、q3 for representing the pose relationship, obtaining a transformation matrix:
Obtaining a transformation matrix Recording mark_x coordinates of auxiliary calibration tool started from stereoscopic vision systemWherein i=1, 2,3 … … N;
S6, according to Solving the required calibration matrix/>
Wherein the required calibration matrixA transformation matrix from a camera coordinate system to a tool coordinate system;
s7, verifying the accuracy of the calibration result in the S6.
Preferably, the specific content of S4 includes:
(1) Moving the slave stereoscopic vision system to a position i, moving a floating calibration tool mark_t into an effective working space of the master stereoscopic vision system, and fixing an auxiliary calibration tool mark_x;
(2) Overlapping the measuring coordinate output point of the floating calibration tool mark_t with the measuring coordinate output point of the auxiliary calibration tool mark_x;
(3) Under the condition that the position of the measurement coordinate output point of the floating calibration tool mark_t is unchanged, the measurement coordinate output point of the floating calibration tool mark_t is taken as a fixed point, the floating calibration tool mark_t is rotated in a swinging mode or a circular motion mode, meanwhile, the main stereoscopic vision system records the coordinate data of the floating calibration tool mark_t in the rotating process, and the coordinate at the measurement coordinate output point of the floating calibration tool mark_t is obtained by averaging
Preferably, the floating calibration tool mark_t rotates K positions, K.gtoreq.2.
Preferably, the specific content of S6 includes:
(1) Will be And/>The relation among the three is deformed to obtain:
(2) Order the The method comprises the following steps:
CiY＝Di
From N sets measured in steps S4, S5 And/>N sets of C i and D i were obtained, X was obtained from the data of N sets of C i and D i, and X was transposed to obtain/>
Preferably, the specific content of S7 includes:
(1) Repeating S4 and S5 for M times, and measuring the average coordinates of the measured coordinate output points of the floating calibration tool mark_t at the position j from the stereoscopic vision system Transformation matrix/>The calibration result obtained by calibration is used forAnd/>Substituting the obtained values to obtain the coordinates/>, under the global coordinate system { W }, of the measurement coordinate output points of the floating calibration tool Mark_t through cascade indirect solution
(2) Will be measured directly by the primary stereo vision systemAs a standard value, will/>And/>And comparing to obtain a distance error epsilon for measuring the calibration error:
(3) Repeating the step (2) for M times to obtain M groups of distance errors epsilon j, j=0, 1,2 … … M (M is more than or equal to 2), and obtaining an average value to be used for measuring calibration errors When/>And if the calibration result is smaller than the allowable error in actual use, judging that the calibration result is qualified.
Preferably, in S2, the slave eye Mark mark_c comprises non-collinear X angular points, wherein X is more than or equal to 3, and the angular points specifically comprise reflective pellets, active luminous marks or black-and-white blocks; the slave eye Mark mark_c is adhered or fixedly connected with the slave stereoscopic vision camera, and a local coordinate system established by the slave eye Mark mark_c and a slave stereoscopic vision system coordinate system have a fixed space coordinate conversion relation.
Preferably, during calibration data collection, the secondary stereoscopic vision system should be spatially shifted at least twice, i.e. N must be 2 or more.
Preferably, the auxiliary calibration tool mark_x is a circular Mark taking the circle center as a reference point, or an X Mark taking the intersection point as a reference point is formed by black and white blocks.
Compared with the prior art, the invention discloses a method for calibrating the eye-marking relation of the cascade stereoscopic vision system slave eye equipment, wherein one stereoscopic vision system in the multi-stereoscopic vision system is used as a global vision system to be fixed, and other stereoscopic vision systems can move positions and adjust visual angles at will according to the needs in the working process, so that the working space and the working visual angles of the stereoscopic vision systems can be effectively expanded, and the flexibility of the stereoscopic vision systems is improved. The target to be measured which cannot be seen under the global stereo vision can be indirectly positioned under the global coordinate system through other stereo vision systems, the purposes of overcoming the limitation of the single stereo vision system in view angle and the limitation of the limited working space are achieved, the limitation that the multi-stereo vision system in the traditional scheme cannot adjust the pose in the working process is overcome, and the application of the stereo vision system is wider.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of each vision system, target mark and each coordinate system in a method for calibrating the eye-marking relationship of a cascade stereoscopic vision system slave eye device;
wherein: 1. a primary stereoscopic vision system; 2. from the stereoscopic vision system; 3. marking mark_c from the eye; 4. global vision system support and horizontal work table; 5. self-locking traction mechanical arm; 6. auxiliary calibration tool mark_x; 7. floating calibration tool mark_t.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention discloses a method for calibrating eye-marking relation of a cascade stereoscopic vision system slave eye device, which is applied to the following components:
1. NDI infrared binocular pose sensing system;
2. a ZED binocular camera system;
3. the spherical infrared reflective marker target mark_c can be detected by an NDI infrared binocular pose sensing system;
4. the global vision system bracket and the horizontal workbench are fixedly connected with the NDI infrared binocular pose sensing system;
5. the self-locking traction mechanical arm is fixedly connected with the ZED binocular camera system;
6. The auxiliary calibration tool mark_x can be detected by a ZED binocular camera system, and a tiny groove with the depth of about 0.01mm is arranged at an origin of a corresponding coordinate system, namely a measurement coordinate output point of a target;
7. The floating calibration tool mark_t can be detected by an NDI infrared binocular pose sensing system, and corresponds to the origin of a coordinate system, namely a measuring coordinate output point of a target is arranged at a needle point;
the symbols involved include:
1. { W }: the visual coordinate system of the NDI infrared binocular pose sensing system, namely the global coordinate system;
2. { M c }: a local coordinate system { M c } established from the eye Mark mark_c;
3. { C }: the visual coordinate system { C } of the ZED binocular camera system;
4、 : an average value of coordinates at a measurement coordinate output point of a floating calibration tool mark_t under a global coordinate system { W }, which is obtained by N times of measurement;
5、 : coordinates at the measuring coordinate output point of the auxiliary calibration tool mark_x under the visual coordinate system { C };
6、 : a transformation matrix of the visual coordinate system { C } to the local coordinate system { M c };
7、 : the transformation matrix from the local coordinate system { M c } to the global coordinate system { W } can be obtained by measuring the pose of the eye Mark mark_c by an NDI infrared binocular pose sensing system;
8、 : coordinates at the measurement coordinate output point of the auxiliary calibration tool mark_x under the global coordinate system indirectly obtained through cascade connection
9. Epsilon: distance error
10、: Average value of distance errors obtained by M times of accuracy verification
FIG. 1 is a schematic diagram of various vision systems, target markers, and various coordinate systems.
S1: after all vision systems in the cascade stereoscopic vision system are selected, a secondary stereoscopic vision system 2 to be calibrated and a main stereoscopic vision system 1 for auxiliary calibration are selected and determined, an NDI infrared binocular pose sensing system is used as the main stereoscopic vision system 1, and a ZED binocular camera system is used as the secondary stereoscopic vision system 2; taking a visual coordinate system of the main stereoscopic vision system 1 as a global reference coordinate system { W };
S2: the slave eye Mark mark_c3 with a determined pose relation with the slave stereoscopic vision system is fixedly connected to the surface of the slave stereoscopic vision system, and the slave eye Mark mark_c3 can be detected and recorded by the master stereoscopic vision system to establish a local coordinate system { M c };
In the embodiment, a spherical infrared reflective marking target mark_c3 is stuck, printed or fixedly connected on the outer surface of the ZED binocular camera system, so that the spherical infrared reflective marking target mark_c3 is easy to be detected by the NDI infrared binocular pose sensing system 1 under the condition that the working view of the ZED binocular camera system is not influenced, and a local coordinate system { M c } is established by the spherical infrared reflective marking target mark_c3;
S3: the main stereoscopic vision system 1 is fixed, the self-locking traction mechanical arm 5 is operated, the ZED binocular camera system is arranged in the working area of the main stereoscopic vision system 1, and the auxiliary calibration tool mark_x is arranged in the visible working area of both No. 1 and No. 2;
S4: moving the floating calibration tool mark_t7 into the effective working space of the NDI infrared binocular pose sensing system 1, continuously changing the pose of the floating calibration tool mark_t7, recording the coordinate data of the floating calibration tool mark_t7 in the pose changing process through a main stereoscopic vision system, and recording as K groups of measurements (K is more than or equal to 2 times) are measured, and the average coordinates of the measurement coordinate output points of the floating calibration tool Mark_t7 are obtained by averaging the K groups of coordinate dataThe specific process of changing the pose is as follows:
S4.1: fixing an auxiliary calibration tool mark_x6 on the global vision system support and the horizontal workbench 4 by bolts or quick mounting plates, and ensuring that the auxiliary calibration tool mark_x6 is fixed in the calibration process;
S4.2: the floating calibration tool mark_t7 is held, and the cutter tip is put into a miniature groove of the auxiliary calibration tool through manual operation, so that the superposition of the measurement coordinate output point of the floating calibration tool mark_t7 and the measurement coordinate output point of the auxiliary calibration tool mark_x6 is ensured;
S4.3: under the condition that the position of the measured coordinate output point of the floating calibration tool mark_t7 is unchanged, the measured coordinate output point of the floating calibration tool mark_t7 is taken as a fixed point, the floating calibration tool mark_t7 is slowly rotated in a swinging mode or a circular motion mode, meanwhile, an NDI infrared binocular pose sensing system records multiple sets of coordinate data, and the coordinates at the measured coordinate output point of the floating calibration tool mark_t7 are obtained by averaging
S5: measuring and recording a spherical infrared marking target mark_c3 through an NDI infrared binocular pose sensing system, and recording translation coordinates from a local coordinate system of mark_c3 to a global coordinate system And a quaternion q 0、q1、q2、q3 for representing the pose relation, and obtaining a transformation matrix according to the pose definition mode of the NDI infrared binocular pose sensing system:
Can obtain a transformation matrix After the NDI infrared binocular pose sensing system finishes recording, the ZED binocular camera system starts recording auxiliary calibration tool mark_x6 coordinate data/>Wherein i=1, 2,3 … … N;
S6: moving the self-locking traction mechanical arm 5 to drive the ZED binocular camera system to the next position i (i=1, 2,3 … … N), repeating S4 and S5 to obtain N groups of data
S7: a nominal solution, consisting of previously collected data, consisting of the following solution steps:
s7.1: order the It should be noted that, where C i、Di is a row vector of 1×4, the relational expression is constructed as follows, where Y is the matrix to be solved:
CiY＝Di
S7.2: from N sets measured in steps S4, S5 N sets of C i、Di can be obtained, Y can be obtained by least squares algorithm using the data of the N sets of C i、Di, and the N sets of C i、Di are transposed to Y to obtain/>
S8: the calibration precision verification work comprises the following specific steps:
S8.1: repeating steps S4 and S5M times to obtain the average value of coordinates of the floating calibration tool mark_t at the measurement coordinate output point of the global coordinate system { W } under the ZED binocular camera system at the position j (j=1, 2, … …, M) Transformation matrix/>, from coordinate system of spherical infrared marking target mark_c to global coordinate systemCoordinate/>, at measurement coordinate output point of auxiliary calibration tool mark_x under visual coordinate system { C }, of the auxiliary calibration tool mark_x
S8.2: will pass the calibration result obtainedMeasured/>And/>The following formula is introduced:
The coordinate of the measurement coordinate output point of the floating calibration tool Mark_t under the global coordinate system { W } can be solved through cascade indirect solution The/>, which is directly measured by an NDI infrared binocular pose sensing systemAs a standard value, will/>And/>For comparison, the following formula is introduced:
thus obtaining the distance error epsilon j which can be used for measuring the calibration error;
s8.3: from S8.1 and S8.2, M sets of distance errors epsilon j (j=0, 1,2 … … M) are obtained, and averaged to obtain a measure of calibration error Based on the NDI measurement accuracy given by the authorities and the allowable range of errors in practical application, the method can be approximately considered as the following/>Calibration was successful when less than 0.1 mm.
In order to further implement the technical scheme, the floating calibration tool mark_t rotates by m positions, and m is more than or equal to 1.
In order to further implement the technical scheme, in S2, the subordinate Mark mark_c comprises a non-collinear X angular point, wherein X is more than or equal to 3, and the angular point specifically comprises a light reflecting small sphere, an active luminous Mark or a black-and-white block; the subordinate Mark mark_c is adhered or fixedly connected with the subordinate stereo camera, and a local coordinate system established by using the mark_c has a fixed space coordinate conversion relation with a coordinate system of the subordinate stereo system 2.
In order to further implement the above technical solution, the secondary stereoscopic vision system should be spatially shifted by at least two positions during the calibration data collection.
In order to further implement the technical scheme, mark_x is a circular Mark taking the circle center as a reference point, or an X Mark taking the intersection point as a reference point is formed by black and white blocks.
What needs to be further explained is:
The master stereoscopic vision camera and the slave stereoscopic vision camera can be the same type of cameras or different types of cameras; the subordinate Mark mark_c is adhered or fixedly connected with the subordinate stereoscopic vision camera, and a local coordinate system established by using the mark_c has a fixed space coordinate conversion relation with a subordinate stereoscopic vision system coordinate system; the slave Mark mark_c should be observable by the master stereoscopic vision system 1 during operation and should be able to be determined by the master stereoscopic vision system 1 as to the spatial pose of the mark_c local coordinate system;
during calibration data collection, the tip reference position of the tool Mark mark_t should be measured by the main stereo vision system 1, the reference origin of mark_x, i.e. the position of the measurement coordinate output point of the target should be measurable from stereo vision, and the tip position of the tool Mark mark_t should coincide with the reference origin of mark_x, i.e. the position of the measurement coordinate output point of the target;
The invention discloses a calibration method of a position relation (called eye-marking relation) between a slave eye stereoscopic vision device and a reference tracking mark fixedly connected with the slave eye stereoscopic vision device in a cascade stereoscopic vision system. In the multi-stereoscopic vision system, the main stereoscopic vision system can realize the construction of the cascade stereoscopic vision system by detecting and recording the pose relation between the main stereoscopic vision system and the auxiliary stereoscopic vision system, namely, calibrating the 'mark-eye' relation of the cascade stereoscopic vision system. Aiming at the key step of constructing the cascade system, in the invention, the master stereoscopic vision system is fixed, and the slave eye marks with a determined pose relation with the slave stereoscopic vision system are fixedly connected on the surface of the slave stereoscopic vision system, and can be detected and recorded by the master stereoscopic vision system. Setting up a floating calibration tool, acquiring pose information of the slave eye marks and coordinate information of the floating calibration tool by using a master stereoscopic vision system, and simultaneously acquiring the coordinate information of the floating calibration tool by using the slave stereoscopic vision system, and calculating the relative pose relation between the slave stereoscopic vision system and the reference tracking marks by using the mathematical relation among the three, so as to realize simple, convenient and quick 'mark-eye' relation determination.
According to the method for calibrating the positions of the stereoscopic vision system from the stereoscopic vision system 2 and the reference tracking mark, one stereoscopic vision system in the multi-stereoscopic vision system is used as a global vision system to be fixed, and other stereoscopic vision systems can move positions and adjust visual angles at will according to requirements in the working process, so that the working space and the working visual angles of the stereoscopic vision system can be effectively expanded, and the flexibility of the stereoscopic vision system is improved. The target to be measured which cannot be seen under the global stereo vision can be indirectly positioned under the global coordinate system through other stereo vision systems, the purposes of overcoming the limitation of the single stereo vision system in view angle and the limitation of the limited working space are achieved, the limitation that the multi-stereo vision system in the traditional scheme cannot adjust the pose in the working process is overcome, and the application of the stereo vision system is wider. The invention is applied to the navigation of operating room instruments and has the advantages of low cost, flexible working space, high positioning precision and the like.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The eye-marking relation calibration method of the cascade stereoscopic vision system slave eye equipment is characterized by comprising the following steps of:
S1, after all vision systems in a cascade stereoscopic vision system are selected, selecting and determining a secondary stereoscopic vision system to be calibrated and a main stereoscopic vision system for auxiliary calibration, wherein a vision coordinate system of the main stereoscopic vision system is used as a global reference coordinate system { W };
S2, fixedly connecting a slave eye Mark mark_c with a position relation determined by the slave stereoscopic vision system on the surface of the slave stereoscopic vision system, wherein the slave eye Mark mark_c is used for being detected and recorded by the master stereoscopic vision system so as to establish a local coordinate system { M c }; the slave eye Mark mark_c comprises non-collinear L angular points which can be detected by a stereoscopic vision system, wherein L is more than or equal to 3, and the angular points specifically comprise reflective pellets, active luminous marks or black-and-white blocks; the slave eye Mark mark_c is adhered or fixedly connected with the slave stereoscopic vision camera, and a local coordinate system established by the slave eye Mark mark_c and a slave stereoscopic vision system coordinate system have a fixed space coordinate conversion relation;
S3, fixing a master stereoscopic vision system, arranging a slave stereoscopic vision system in a working area of the master stereoscopic vision system, and arranging an auxiliary calibration tool mark_x in the working area visible by both the master stereoscopic vision system and the slave stereoscopic vision system;
S4, moving the stereoscopic vision system to a position i, wherein i=1, 2,3 … … N, moving the floating calibration tool mark_t into the effective working space of the main stereoscopic vision system, changing the pose of the floating calibration tool mark_t to be measured under the condition that the measured coordinate output point of the floating calibration tool mark_t is ensured to be coincident with the measured coordinate output point of the auxiliary calibration tool mark_x, recording the coordinate data of the floating calibration tool mark_t in the pose changing process through the main stereoscopic vision system, and recording as Where k=1, 2..k, K is the number of sets of co-measured coordinate data, and K is greater than or equal to 2, averaging the K groups of coordinate data to obtain the average coordinate/>, of the measured coordinate output point of the floating calibration tool mark_tComprising the following steps:
(1) Moving the slave stereoscopic vision system to a position i, moving a floating calibration tool mark_t into an effective working space of the master stereoscopic vision system, and fixing an auxiliary calibration tool mark_x;
(2) Overlapping the measuring coordinate output point of the floating calibration tool mark_t with the measuring coordinate output point of the auxiliary calibration tool mark_x;
(3) Under the condition that the position of the measurement coordinate output point of the floating calibration tool mark_t is unchanged, the measurement coordinate output point of the floating calibration tool mark_t is taken as a fixed point, the floating calibration tool mark_t is rotated in a swinging mode or a circular motion mode, meanwhile, the main stereoscopic vision system records the coordinate data of the floating calibration tool mark_t in the rotating process, and the coordinate at the measurement coordinate output point of the floating calibration tool mark_t is obtained by averaging
S5, aiming at a secondary stereoscopic vision system of the position i, measuring a secondary eye Mark mark_c of the secondary stereoscopic vision system through a main stereoscopic vision system, and recording translation coordinates from a local coordinate system to a global coordinate system of mark_cAnd a quaternion q 0、q1、q2、q3 for representing the pose relationship, obtaining a transformation matrix:
Obtaining a transformation matrix Recording auxiliary calibration tool mark_x coordinate/>, starting from stereoscopic vision systemWherein i=1, 2,3 … … N;
S6, according to Solving the required calibration matrix/>
Wherein the required calibration matrixA transformation matrix from a camera coordinate system to a tool coordinate system;
s7, verifying the accuracy of the calibration result in the S6.
2. The method for calibrating the eye-marking relationship of the cascade stereoscopic vision system slave eye equipment according to claim 1, wherein the floating calibration tool mark_t rotates by K positions, and K is more than or equal to 2.
3. The method for calibrating the eye-marking relation of the cascade stereoscopic vision system slave eye equipment according to claim 1, wherein the specific content of the step S6 comprises the following steps:
(1) Will be And/>The relation among the three is deformed to obtain:
(2) Order the The method comprises the following steps:
CiY＝Di
From N sets measured in steps S4, S5 And/>N sets of C i and D i were obtained, X was obtained from the data of N sets of C i and D i, and X was transposed to obtain/>
4. The method for calibrating the eye-marking relation of the cascade stereoscopic vision system slave eye equipment according to claim 1, wherein the specific content of the S7 comprises:
(1) Repeating S4 and S5 for M times, and measuring the average coordinates of the measured coordinate output points of the floating calibration tool mark_t at the position j from the stereoscopic vision system Transformation matrix/>The calibration result obtained by calibration is used forAnd/>Substituting the obtained values to obtain the coordinates/>, under the global coordinate system { W }, of the measurement coordinate output points of the floating calibration tool Mark_t through cascade indirect solution
(2) Will be measured directly by the primary stereo vision systemAs a standard value, will/>And/>And comparing to obtain a distance error epsilon for measuring the calibration error:
(3) Repeating the step (2) for M times to obtain M groups of distance errors epsilon j, j=0, 1,2 … … M (M is more than or equal to 2), and obtaining an average value to be used for measuring calibration errors When/>And if the calibration result is smaller than the allowable error in actual use, judging that the calibration result is qualified.
5. The method according to claim 1, wherein the slave stereoscopic system is spatially shifted at least twice during the calibration data collection, i.e. N must be equal to or greater than 2.
6. The method for calibrating the eye-marking relationship of the cascade stereoscopic vision system slave eye equipment according to claim 1, wherein the auxiliary calibration tool mark_x is a circular Mark taking the circle center as a reference point or an X-shaped Mark consisting of black-white blocks and taking the intersection point as the reference point, and the space position of the reference point can be observed and output from the stereoscopic vision system.
7. A method of calibrating the eye-marking relationship of a tandem stereoscopic system slave eye device according to claim 1, wherein the floating calibration tool mark_t is a slave eye marker with a tip protrusion and is observable by the master stereoscopic system and outputs the spatial position of the tip of the needle.
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