CN1427245A - Plane measuring method based on single piece image - Google Patents
Plane measuring method based on single piece image Download PDFInfo
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- CN1427245A CN1427245A CN 01140335 CN01140335A CN1427245A CN 1427245 A CN1427245 A CN 1427245A CN 01140335 CN01140335 CN 01140335 CN 01140335 A CN01140335 A CN 01140335A CN 1427245 A CN1427245 A CN 1427245A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000013507 mapping Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 9
- 239000011159 matrix material Substances 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000007476 Maximum Likelihood Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000013076 uncertainty analysis Methods 0.000 description 1
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Abstract
A plane measuring method based on single picture includes such steps as putting a template in a scene plane to be measured, taking one or more images, extracting known template information, calculating out the mapping between the plane to be measured and image plane, and finding out the coordinate values of any point in scene and the distance between any two points. Its advantages are simple method, and high precision and robustness.
Description
Technical field
The present invention relates to area of computer aided measures automatically.
Background technology
In our daily life and many fields, measure, particularly the measurement of point-to-point transmission is absolutely necessary in same plane, and such as traffic hazard, Crime Scene, buildings, working-yard etc. all need to carry out a large amount of surveying works.Classic method all is to adopt hand dipping, and this method is very consuming time, occurs bigger measuring error easily, and this measurement also produces iniquitous result because of the subjective factor of survey crew easily.
In recent years, along with the development and the application of computer vision, people begin to explore by computer vision methods, measure by image.In these class methods, comparatively being typically by two width of cloth or multiple image utilizes the method for stereoscopic vision to reconstruct the three-dimensional structure of tested scene, but this method relates to the classic problem of computer vision field, i.e. the practical application of coupling between multiple image, thereby very difficult input.Another kind method is the prior information at 4 above reference mark of manual measurement and come computer memory plane and the interplanar projection matrix of picture with this in the scene plane, measure by single image then, the measuring accuracy of this method and reference mark to choose precision, position and quantity directly related, but in actual applications, sometimes the reference mark is difficult to choose, and can't guarantee the measuring accuracy at reference mark.
Summary of the invention
The object of the present invention is to provide a kind of comparatively easy, practical and have a measuring method based on single image than high measurement accuracy and robustness.
For achieving the above object, the plane surveying method based on single image comprises step:
In tested scene plane, place a template;
In tested scene, take the image that one or more contain described template;
In image, extract known Template Information;
Calculate tested plane and the interplanar mapping relations of picture;
Obtain in the scene coordinate figure of any and the distance of any point-to-point transmission arbitrarily according to these mapping relations.
Measuring method provided by the invention does not need camera parameters is demarcated, and has characteristics such as comparatively easy, practical, that measuring accuracy is high, robustness is good, makes based on the measuring method of vision and moves towards practical.
Description of drawings
Fig. 1 is several template synoptic diagram;
Fig. 2 is the process flow diagram of this measuring method;
Fig. 3 is the measurement scene graph of embodiment.
The embodiment of invention
The present invention adopts a kind of simple and easy plane template, contain 4 or 4 above straight lines or line segment in this template, the big I of template is chosen suitable dimensions according to the size of tested scene, and the material of template is not had specific (special) requirements, and accompanying drawing 1 has provided several template instances commonly used.This template is placed in the tested scene plane, taking piece image with ordinary camera or digital camera can measure, and do not need camera parameters is demarcated, if can take multiple image from different perspectives, then can therefrom choose a width of cloth and measure or fully utilize same measured measured value in multiple image preferably so that improve measuring accuracy.
This method has been avoided the problem of choosing at reference mark effectively, directly utilize straight line information on the template with as interplanar mapping relations the time asking for tested plane, can improve measuring accuracy effectively, simplify the difficulty of Flame Image Process simultaneously, helped improving the automaticity of whole measuring process.For piece image, this method mainly comprises steps compositions such as Image Acquisition, template characteristic extraction, computational transformation matrix and measurement, and as shown in Figure 2, specifying of each step is as follows: obtain image 1.
This template is placed in the tested scene plane, takes the one or more image with ordinary camera or digital camera, and image is imported computing machine by scanner or some special purpose interface equipment.2. template characteristic is extracted
From image, extract required Template Information by automatic or man-machine interaction method, i.e. straight line parameter on the template.Wherein, can detect the operator extraction marginal information, ask for the straight line parameter with methods such as Hough conversion or least square, maximum likelihood estimations then with edges such as Canny or Robert, Sobel.3. computational transformation matrix
Straight line on the template that this method adopted or line segment information are measurable, and deposit its measurement parameter in computing machine.The image straight line that is extracted according to the straight line on the template or line segment and the 2nd step or the corresponding relation of line segment are obtained the mapping relations matrix M of scene plane to the plane of delineation.4. measure
For on the image more arbitrarily, utilize the 3rd mapping relations inverse of a matrix conversion M that obtains of step
-1, just can obtain the coordinate figure of corresponding point in the scene, and then can calculate the distance of any point-to-point transmission in the scene.Simultaneously, can provide the error range of each measurement result according to uncertainty analysis to each step.
Embodiment
Be illustrated in figure 3 as the image of a tested scene, template is made up of two rectangles among the figure.According to the method described in the present invention, in image, extract eight limits of two rectangles automatically and calculate tested plane and the interplanar mapping relations of picture, in image,, just can utilize these mapping relations directly to obtain the distance of this point-to-point transmission the scene from image with optional 2 points of mouse.For example: D1, the true length of D2 is respectively 77.85cm and 189.78cm, be respectively 77.72cm and 191.02cm with the measured value that the inventive method drew, the relative error of measurement is respectively 0.17% and 0.65%, and this is can reach measuring accuracy fully to require.
Claims (3)
1. plane surveying method based on single image comprises step:
In tested scene plane, place a template;
In tested scene, take the image that one or more contain described template;
In image, extract known Template Information;
Calculate tested plane and the interplanar mapping relations of picture;
Obtain in the scene coordinate figure of any and the distance of any point-to-point transmission arbitrarily according to these mapping relations.
2. by the described plane surveying method of claim 1, contain 4 or 4 above straight lines or line segment in the template that it is characterized in that being placed based on single image.
3. by the described plane surveying method of claim 2, it is characterized in that described straight line or line segment are the limits of planar graph, the figure that is produced as rectangle, square, triangle etc. and combination thereof based on single image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01140335 CN1284961C (en) | 2001-12-17 | 2001-12-17 | Plane measuring method based on single piece image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01140335 CN1284961C (en) | 2001-12-17 | 2001-12-17 | Plane measuring method based on single piece image |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1427245A true CN1427245A (en) | 2003-07-02 |
| CN1284961C CN1284961C (en) | 2006-11-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01140335 Expired - Fee Related CN1284961C (en) | 2001-12-17 | 2001-12-17 | Plane measuring method based on single piece image |
Country Status (1)
| Country | Link |
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| CN (1) | CN1284961C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348948C (en) * | 2003-12-16 | 2007-11-14 | 湖南师范大学 | Image pickup range finder for field events and range finding method |
| CN101630409B (en) * | 2009-08-17 | 2011-07-27 | 北京航空航天大学 | Hand-eye vision calibration method for robot hole boring system |
| CN102589523A (en) * | 2011-01-11 | 2012-07-18 | 香港理工大学深圳研究院 | Method and equipments for remotely monitoring displacement of building |
-
2001
- 2001-12-17 CN CN 01140335 patent/CN1284961C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100348948C (en) * | 2003-12-16 | 2007-11-14 | 湖南师范大学 | Image pickup range finder for field events and range finding method |
| CN101630409B (en) * | 2009-08-17 | 2011-07-27 | 北京航空航天大学 | Hand-eye vision calibration method for robot hole boring system |
| CN102589523A (en) * | 2011-01-11 | 2012-07-18 | 香港理工大学深圳研究院 | Method and equipments for remotely monitoring displacement of building |
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| Publication number | Publication date |
|---|---|
| CN1284961C (en) | 2006-11-15 |
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Granted publication date: 20061115 Termination date: 20171217 |