CN1256072C - Method for connecting space object positioned by visible marking points - Google Patents
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- CN1256072C CN1256072C CNB2004100168668A CN200410016866A CN1256072C CN 1256072 C CN1256072 C CN 1256072C CN B2004100168668 A CNB2004100168668 A CN B2004100168668A CN 200410016866 A CN200410016866 A CN 200410016866A CN 1256072 C CN1256072 C CN 1256072C
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Abstract
The present invention discloses a method for positioning a space object by observable mark points connected with the space object. A probe coordinate system is established according to the coordinate information of a group of four mark points with relative fixed space positions on a probe, the coordinate of the probe tip in the probe coordinate system is determined; when positioning is carried out, the probe coordinate system is established according to the space coordinates of the mark points, the transformation relation of a world coordinate system and the probe coordinate system is calculated, and the coordinate information of the probe tip in the world coordinate system can be obtained through coordinate transformation. Through the present invention, the position of the space object connected with the observable mark points can be obtained through the coordinate information of the observable mark points, the requirement for the probe manufacturing technology is not harsh, error sources are effectively controlled, and the positioning accuracy is high. The positioning method of the present invention can be applied to the surgical operation field and other industrial measurement occasions.
Description
Technical field
The present invention relates to a kind of method of the space object that is connected by may observe gauge point location, is a kind of novel markings independent positioning method based on machine vision technique, can be used for surgical operation and other surveys the location occasion.Belonging to advanced makes and automatization's (medical science) field.
Background technology
The eighties is since mid-term, and machine vision technique is ripe gradually perfect, and people can be in many occasion perception and the shape and the positional information of the object that obtains to be blocked.This is that significant brain lesion one by one position is difficult to determine to be a technical barrier in the cerebral surgery operation always for the doctor of brain section, the probe positioning mode of utilization machine vision principle can in certain required precision scope, solve this difficult problem [Zhang Ke, Tang Long. the interaction technique in the computer simulation operation. Chinese Medicine informatics research .2001 file: 256-258].The probe that this method is used is the pricker shape, the top is fixed with a spherical shape mark (can from image scene mark be cut apart according to gray feature and identify), the middle part is fixed with two spherical shape marks in addition, the center of three marks and probe tip conllinear, the Mark On Top thing is known to the distance of probe tip, and three mark centre distances two neither wait.Location Shi doctor handheld probe, most advanced and sophisticated point obtain the coordinate information at three mark centers with stereovision technique on physiological feature point, pick out Mark On Top thing and middle part mark by the different distance between 3 o'clock; Coordinate information with mark center, two middle parts is made the space vector direction of Mark On Top thing center to probe tip, so just the coordinate information that can calculate the point of probe tip indication this moment to most advanced and sophisticated known distance according to the coordinate information and the top at Mark On Top thing center.The levels of precision of this localization method is limited by the manufacturing process of probe, guarantee that three ball mark centers are very difficult with the probe tip conllinear.
Summary of the invention
The objective of the invention is to deficiency, a kind of method of the space object that is connected by may observe gauge point location is provided at existing probe location technology, simple, improve positioning accuracy, be generalized to various gauge points location occasion easily.
For realizing such purpose, the present invention utilizes the point of the three-dimensional coordinate information of easily seeking knowledge to remove to know by inference the coordinate information of the point that the coordinate difficulty asks.Set up a probe coordinate system according to the coordinate information of relatively-stationary one group of four index point in position, space on the probe, determine the coordinate of probe tip in probe coordinate system, set up probe coordinate system according to the space coordinates of index point at that time during the location, calculate the transformation relation of world coordinate system and probe coordinate system, just can obtain the coordinate information of probe tip in world coordinate system by Coordinate Conversion.
Localization method of the present invention specifically comprises following step:
1. set up a probe coordinate system by group echo point.Set up probe coordinate system by four gauge points on the probe, in four gauge points, three point on a straight line or near conllinear, the space length between 3 is all unequal in twos claims that another point is the 4th point.Probe coordinate system to set up process as follows: choose out 2 points in 3 of conllinear (or near conllinear) wantonly, with the 4th point set that constitutes three points, to be decided to be standard flat by the plane that these three points are determined, and require video camera is placed in the position of its primary optical axis outside standard flat.Extract four gauge points according to gray feature from image, these four gauge points all have corresponding point separately in two dimensional image.From camera model because primary optical axis is on standard flat, the spatial relationship conllinear or near 3 two dimensional image corresponding point of conllinear also near collinear relationship, incorporate these three corresponding point into a place, the 4th corresponding point that remaining is exactly.According to the unequal in twos space length between three conllinear (or near conllinear) corresponding point these three points are made a distinction, add the 4th the corresponding point that nature is told, calculate the three-dimensional coordinate of four spatial point with the principle of stereoscopic vision from the corresponding point centering of two width of cloth images.The line of two points of three spatial point middle distances of conllinear (or near conllinear) maximum is decided to be a coordinate axes of probe coordinate system, and the mid point of these two points is decided to be the initial point of coordinate system.Crossing zero, to make straight line on standard flat vertical with the coordinate axes obtained, the second coordinate axes that this straight line is decided to be probe coordinate system, go out the 3rd coordinate axes by two coordinate axes multiplication crosses, three coordinate axess are intersected in zero, have so just set up probe coordinate system.
2. the initial alignment of probe.In case probe manufacturing is finished, the coordinate of probe tip in probe coordinate system just determined constant.So every probe all will carry out one time initial alignment after completing, in probe coordinate system, stablize constant coordinate information to determine probe tip.The purpose of probe is exactly the probe tip coordinate that will not directly be recorded by observable gauge point coordinate information.This method is utilized the constant fact of distance between probe tip and the selected gauge point, and the problem of determining the probe tip coordinate information is abstracted into the geometric model that point on the known sphere is found the solution the centre of sphere.Specific practice: with probe tip as fulcrum, rotate probe, obtain the selected coordinate information of this gauge point on a plurality of diverse locations, getting wherein, three spatial point constitute a triangle, obtain by the triangle unfaithful intention and perpendicular to the planar straight line in triangle place, adopt 3 different combinations, obtain other one and cross the planar straight line of unfaithful intention Vertical Triangular.If measure the coordinate information of this gauge point, can connect C so altogether at 8 diverse locations
8 3(=56) individual different triangle, draw 56 different straight lines.56 collinear intersection points are unique in theory, exactly the probe tip of being asked.Can all have error to some extent owing to each link of actual measurement, 56 straight lines do not meet at a bit probably.Can obtain the point of 56 air line distance quadratic sum minimums with numerical method, can think that this group optimal solution is exactly the coordinate information of probe tip.Probe has four may observe gauge points, each gauge point all can be used as the selection marquee point and obtains a probe tip coordinate figure, four probe tip coordinate figures that obtain are carried out arithmetic average one time, and the coordinate that obtains just can be thought the probe tip coordinate in the probe coordinate system.
3. set up and describe camera coordinate system and the probe coordinate transformational relation between being with spin matrix, translation vector.The camera coordinate system initial point is that the vector that the correspondence position of initial point under the robot coordinate system constitutes is exactly a translation vector to probe coordinate.Having obtained probe coordinate in the step 2 of setting up probe coordinate system is three vector representations of coordinate axes under camera coordinate system, these three vectorial unitizations.Unit vector ([1,0,0], [0 of the unit vector that following three probe coordinates of camera coordinate system are coordinate axes and three coordinate axess of camera coordinate system, 1,0], [0,0,1]) constitute one-to-one relationship, simultaneous goes out 9 linear equation in view of the above, solves 9 components of spin matrix (3x3).Just can set up the corresponding relation of camera coordinate system and probe coordinate system by spin matrix that solves and translation vector.
4. four gauge points during according to actual location on the probe are set up probe coordinate system, data according to the probe initial alignment obtain the coordinate of probe tip this moment under probe coordinate system, the vector direction of probe coordinate axle is determined the coordinate transform relation of video camera and probe coordinate system when setting up probe coordinate and be again, obtain the coordinate of probe tip under the camera coordinate system at last by this transformational relation, finish location space object point.
May observe gauge point localization method of the present invention can be by adopting the probe location to extend to the notice plate location.With four infrared markers points (also available other luminescent materials may observe gauge points.Wherein three point on a straight line or near conllinear, the space length between 3 is all unequal in twos claims that another point is the 4th point) be embedded on the marking plate, be barricaded as closed circuit; Actual observation reads label information that coordinate time utilizes infrared markers point in the video camera and sets up a notice plate coordinate system (below unitedly call the notice plate coordinate system) immediately, describes transformational relation between camera coordinate system and the notice plate coordinate system with spin matrix, translation vector.The camera coordinate system initial point is exactly a translation vector to the vector that the correspondence position of notice plate coordinate origin under the robot coordinate system constitutes.Determine three vector representations of coordinate axes under camera coordinate system of notice plate coordinate system as define method in the step 2, these three vectorial unitizations.Unit vector ([1,0,0], [0 of the unit vector of following three the notice plate coordinate system coordinate axess of camera coordinate system and three coordinate axess of camera coordinate system, 1,0], [0,0,1]) constitute one-to-one relationship, simultaneous goes out 9 linear equation in view of the above, solves 9 components of spin matrix (3x3).Just can set up the corresponding relation of camera coordinate system and notice plate coordinate system by spin matrix that solves and translation vector, space coordinates information by four gauge points on the notice plate in the camera coordinate system obtains the space object positional information, thereby finishes the location.
Gauge point localization method of the present invention, can obtain the position of the continuous space object of isolabeling point by the coordinate information of may observe gauge point, too much requirement need not proposed on probe manufacturing process degree of accuracy, the relation of coordinate accurately that relies on software approach to realize is calculated and just can be reached very high positioning accuracy, control error source effectively, reduced the margin of error.Localization method of the present invention can be applied in surgical field and other commercial measurement occasion.
Description of drawings
Fig. 1 is the profile of probe that the inventive method is used and the gauge point position of arranging.
Among Fig. 1, A, B, C, D are four gauge points on the probe, spatial arrangement fixed-site, four some coplanes or near coplane, wherein A, B, C three point on a straight line or near conllinear, the three-dimensional coordinate information of four gauge points can obtain by video camera.
Fig. 2 is a sketch map of setting up probe coordinate system.
Fig. 3 is for being found the solution the geometric model sketch map of the centre of sphere by point on the sphere.
Fig. 4 is that camera coordinate system-probe (notice plate) coordinate system transformation concerns sketch map, and wherein O-XYZ represents camera coordinate system, o
1-xyz represents probe (notice plate) coordinate system.
Fig. 5 is notice plate and the sketch map of setting up the notice plate coordinate system, and a, b, c, d are four infrarede emitting diodes, spatial arrangement fixed-site, four some coplanes or near coplane, wherein a, b, c conllinear or near conllinear.
The specific embodiment
In order to explain technical scheme of the present invention better, be described in further detail below in conjunction with drawings and Examples.
1. the used probe of the inventive method as shown in Figure 1.A, B, 4 of C, D are the index point position, A, B, C three point on a straight line (not needing strict the realization).Set up a coordinate system according to the A on the probe, B, C, D at 4, be called probe coordinate system.In case stipulated a kind of method of setting up coordinate system, this coordinate system by 4 foundation is exactly unique.Fig. 2 is a sketch map of setting up this probe coordinate system, and the plane at A, C, D place is designated as π, and the primary optical axis that requires video camera extracts four index points according to gray feature from image outside the π of plane.Four gauge points all have corresponding point separately in two dimensional image.Find out three collinear points on the two dimensional image, remaining the 4th is exactly the corresponding point of some D.If existing on the phase mutual edge distance, three dimensions point do not wait relation (as AB＞BC), and also there are corresponding point in A, B, C point in two dimensional image, yet certain existence do not waited relation accordingly in two dimensional image so, marks and obtain with the stereoscopic vision method three dimensional space coordinate information of 4 of A, B, C, D in view of the above respectively.A, C mid point are designated as E.Connect A, C at 2 and become directed line, direction is from A to C.On the π of plane, cross some E and make straight line z, z is become the directed line of the D point side of pointing to straight line y perpendicular to y.Multiplication cross vector y, z obtain vector x.With the E point is initial point, and vector x, y, z are that three change in coordinate axis direction are set up coordinate system.
2. the initial alignment of probe.Probe tip is rotated probe as fulcrum, obtain the coordinate information of same gauge point, get wherein triangle of three spatial point (being designated as A, B, C) formation, as Fig. 3 at a plurality of diverse locations.Obtain by triangle unfaithful intention O
1And perpendicular to the planar straight line L in triangle place
1, adopt different 3 combinations (as A, B, D) again, obtain other one and cross the planar straight line L2 of unfaithful intention Vertical Triangular.If measure the gauge point coordinate of 8 diverse locations, can connect C so altogether
8 3(=56) individual different triangle, draw 56 different straight lines.56 collinear intersection points are unique in theory, exactly the gauge point of being asked.Can all have error to some extent owing to each link of actual measurement, 56 straight lines do not meet at a bit probably.Can obtain the point of 56 air line distance quadratic sum minimums with numerical method, can think that this group optimal solution is exactly the coordinate information of probe tip.Probe has four gauge points, utilizes each gauge point can both try to achieve a probe tip coordinate information, and four coordinates that obtain are carried out arithmetic average, and the coordinate that obtains just can be thought the probe tip coordinate in the probe coordinate system.
3. the probe coordinate system of the A that obtains with the stereoscopic vision method, B, C, D four space of points coordinate informations and foundation in view of the above all is based on camera coordinate system, therefore must find out the transformation relation between camera coordinate system and probe coordinate system.
Some rudimentary knowledge of coordinate system transformation: if certain coordinate of putting under coordinate system 1 is
Coordinate under coordinate system 2 is
Relation between two coordinates can be expressed as
Be respectively this coordinate vector under coordinate system 1 and coordinate system 2) [Ma Songde, Zhang Zhengyou. computer vision---computer theory and algorithm basis. the .1998.96-97 of Science Press].
Wherein, matrix R is one 3 * 3 a quadrature square formation, and the expression rotation transformation is expressed as:
As Fig. 4,0-XYZ represents camera coordinate system, and O is a zero, and X, Y, Z are three coordinate axess of coordinate system; o
1-xyz represents probe coordinate system, o
1Be zero (Fig. 3 mid point E), x, y, z represent three coordinate axess.Under the camera coordinate system, the unit vector direction of X, Y, Z axle is respectively (1,0,0), (0,1,0), (0,0,1), is designated as respectively
If the direction vector of three coordinate axess of probe coordinate system is expressed as under camera coordinate system
The unit postscript is
Like this,
Just represent that probe coordinate is that the unit vector of three coordinate axes positive directions under camera coordinate system represented respectively.Keep zero O invariant position, X, Y, Z axle are carried out pure rotation transformation.X after the conversion, Y, Z axial vector direction should with x, y, z axial vector direction is identical.Can be expressed as:
Be again unit matrix,, be exactly so R can directly obtain
Like this, the coordinate of every bit under camera coordinate system can both pass through
Being transformed into probe coordinate is coordinate
For this point at the camera coordinate system coordinate,
Be the coordinate of same point under probe coordinate system), also can pass through
Coordinate transform under the probe coordinate system is become coordinate under the camera coordinate system.
4. set up after the probe coordinate system, data according to the probe initial alignment obtain the coordinate of probe tip this moment under probe coordinate system again, the vector direction of probe coordinate axle is determined the coordinate transform relation of video camera and probe coordinate system when setting up probe coordinate and be, obtain the coordinate of probe tip under the camera coordinate system at last by this transformational relation, finish location space object point.
May observe gauge point localization method of the present invention can be by adopting the probe location to be generalized to the notice plate location, as shown in Figure 5.Determine by a on the notice plate, b, 4 of c, d and to set up a coordinate system (and being referred to as the notice plate coordinate system).Can stipulate a kind of method of setting up the notice plate coordinate system, make by this coordinate system of 4 foundation unique.Concrete grammar is as follows: the plane at a, c, d place is designated as π, and the primary optical axis that requires video camera extracts four index points according to gray feature from image outside the π of plane.Four gauge points all have corresponding point separately in two dimensional image.From camera model, because primary optical axis is on the π of plane, three corresponding point of a, c, d incorporate these three points at a place near collinear relationship, and that remaining point is exactly corresponding point of putting d.If the three dimensions distance relation has ab＞bc (a, b, c arrange in turn along the conllinear direction), and a, b, c point be difference corresponding a ', b ' and c ' in two dimensional image, a ' b '＞b ' c ' is also arranged in two dimensional image so, mark and obtain the three dimensional space coordinate information of 4 of a, b, c, d in view of the above respectively with the stereoscopic vision method.A, c mid point are designated as e.Connect a, c at 2 and become directed line, direction is from a to c.On the π of plane, cross some e and make straight line z, z is become the directed line of the d point side of pointing to straight line y perpendicular to y.Multiplication cross vector y, z obtain vector x.With the e point is initial point, and vector x, y, z are that three change in coordinate axis direction are set up coordinate system.As Fig. 4, O-XYZ represents camera coordinate system, and O is a zero, and X, Y, Z are three coordinate axess of coordinate system; o
1-xyz expressive notation board coordinate system, o
1Be zero (Fig. 3 mid point e), x, y, z represent three coordinate axess.Under the camera coordinate system, the unit vector direction of X, Y, Z axle is respectively (1,0,0), (0,1,0), (0,0,1), is designated as respectively
If the direction vector of three coordinate axess of notice plate coordinate system is expressed as under camera coordinate system
The unit postscript is
Like this,
Just the unit vector of three coordinate axes positive directions of expressive notation board coordinate system under camera coordinate system represented respectively.Keep zero 0 invariant position, X, Y, Z axle are carried out pure rotation transformation.X after the conversion, Y, Z axial vector direction should with x, y, z axial vector direction is identical.Can be expressed as:
Be again unit matrix,, be exactly so R can directly obtain
Like this, the coordinate of every bit under camera coordinate system can both pass through
Be transformed into notice plate coordinate system coordinate
For this point at the camera coordinate system coordinate,
Be the coordinate of same point under the notice plate coordinate system), also can pass through
Coordinate transform under the notice plate coordinate system is become coordinate under the camera coordinate system.
So just can obtain the position component information that notice plate is being fixed, thereby finish location tasks by notice plate and video camera by the coordinate information of four gauge points of notice plate of showing in the video camera.
Claims (1)
1, a kind of method of the space object that is connected by may observe gauge point location is characterized in that comprising successively following concrete steps:
1) sets up a probe coordinate system by group mark point: from probe, choose out 2 points wantonly conllinear or 3 gauge points near conllinear, with the 4th point set that constitutes three points, to be decided to be standard flat by the plane that these three points are determined, video camera is placed in the position of its primary optical axis outside standard flat, from image, extract four gauge points according to gray feature, and find out these four gauge points separately corresponding point in two dimensional image, obtain the three-dimensional coordinate of four spatial point from the corresponding point centering of two width of cloth images, with conllinear or be decided to be a coordinate axes of probe coordinate system near the line of two points of three spatial point middle distance maximums of conllinear, and the mid point of these two points is decided to be the initial point of coordinate system, crossing zero, to make straight line on standard flat vertical with the coordinate axes obtained, the second coordinate axes that this straight line is decided to be probe coordinate system, go out the 3rd coordinate axes by two coordinate axes multiplication crosses, article three, coordinate axes is intersected in zero, has so just set up probe coordinate system;
2) initial alignment of probe: probe tip is rotated probe as fulcrum, obtain the coordinate information of same gauge point at a plurality of diverse locations, getting wherein, three spatial point constitute a triangle, obtain by the triangle unfaithful intention and perpendicular to the planar straight line in triangle place, adopt 3 different combinations, obtain all respectively and cross the planar straight line of unfaithful intention Vertical Triangular, find the coordinate information of the point of these air line distance quadratic sum minimums with numerical method as probe tip, four coordinates that obtain according to four gauge points of probe carry out arithmetic average, obtain the probe tip coordinate in the probe coordinate system;
3) set up transformational relation between camera coordinate system and the probe coordinate system: the camera coordinate system initial point is that the vector of the correspondence position formation of initial point under the robot coordinate system is exactly a translation vector to probe coordinate, three the vectorial unitizations of probe tip coordinate in the probe coordinate system that obtains, according to the corresponding relation simultaneous linear equations that the unit vector of three coordinate axess of following three probe coordinates of camera coordinate system unit vector that is coordinate axes and camera coordinate system constitutes, set up the corresponding relation of camera coordinate system and probe coordinate system by spin matrix that solves and translation vector;
Four gauge points during 4) according to actual location on the probe are set up probe coordinate system, data according to the probe initial alignment obtain the coordinate of probe tip this moment under probe coordinate system, the vector direction of probe coordinate axle is determined the coordinate transform relation of video camera and probe coordinate system when setting up probe coordinate and be again, obtain the coordinate of probe tip under the camera coordinate system at last by this transformational relation, finish location space object point.
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| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
| CN102135776B (en) * | 2011-01-25 | 2012-06-13 | 解则晓 | Industrial robot control method based on visual positioning |
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