CN1453740A - Method of measuring scene and geometric data of bodies inside the scene via single frame of image - Google Patents
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Abstract
一种由单幅图像测量场景及场景内物体几何信息的方法,包括步骤:1)拍摄一幅或多幅被测场景的图像并输入计算机;2)从图像中提取出场景中参考平面内的点或直线的信息,与参考平面垂直的平行线信息以及参考距离的两个端点;3)利用步骤2提取出的参考平面内点或直线的信息及其与场景的对应关系,求出参考平面到图像平面的映射关系矩阵H;4)利用步骤2提取出的点或线的信息,在图像上计算出垂直于参考平面方向上的消隐点及参考平面的消隐线。5)从图像中提取出需测量的物体的边界信息并将其分段拟合成直线或二次曲线,对于物体的上下表面,利用图像上的对极关系或物体表面自身的性质求出该表面中心点的坐标;6)利用上述步骤求出的参数测量场景及场景内物体的几何信息。这些信息包括:空间点的坐标、距离、直线夹角、点到直线的距离、平面图形面积及物体体积等。
A method for measuring the geometric information of a scene and objects in the scene from a single image, comprising the steps of: 1) taking one or more images of the scene to be measured and inputting them into a computer; Point or straight line information, parallel line information perpendicular to the reference plane and the two endpoints of the reference distance; 3) use the information of the point or straight line in the reference plane extracted in step 2 and its corresponding relationship with the scene to find the reference plane The mapping relationship matrix H to the image plane; 4) using the point or line information extracted in step 2, calculate the hidden points perpendicular to the reference plane direction and the hidden lines of the reference plane on the image. 5) Extract the boundary information of the object to be measured from the image and fit it into a straight line or a quadratic curve. For the upper and lower surfaces of the object, use the epipolar relationship on the image or the properties of the object surface itself to find the The coordinates of the center point of the surface; 6) using the parameters obtained in the above steps to measure the geometric information of the scene and objects in the scene. These information include: the coordinates of the spatial point, the distance, the angle between the straight line, the distance from the point to the straight line, the area of the plane figure and the volume of the object, etc.
Description
技术领域technical field
本发明涉及计算机辅助自动测量。The present invention relates to computer aided automatic measurement.
背景技术Background technique
在我们日常生活和许多领域中,测量是必不可少的,比如交通事故、刑事犯罪现场,建筑物、施工现场等,都需要进行大量的测量工作。传统方法都是采用手工测量,这种方法十分耗时,容易出现较大的测量误差,而且这种测量也容易因测量人员的主观因素产生不公正的结果。In our daily life and in many fields, measurement is essential, such as traffic accidents, criminal crime scenes, buildings, construction sites, etc., require a lot of measurement work. The traditional method is to use manual measurement, which is very time-consuming and prone to large measurement errors, and this measurement is also prone to unfair results due to the subjective factors of the measurers.
近年来,随着计算机视觉的发展和应用,人们开始探索借助计算机视觉方法,通过图像进行测量。在这类方法中,较为典型的是通过两幅或多幅图像利用立体视觉的方法重建出被测场景的三维结构,但该方法涉及到计算机视觉领域的经典难题,即多幅图像间的匹配,因而很难投入实际应用。另一种方法是事先在场景平面中人工测量4个以上控制点的信息并以此来计算空间平面与像平面间的投影矩阵,然后通过单幅图像进行测量,这种方法的测量精度与控制点的选取精度、位置和数量直接相关,但在实际应用中,有时控制点很难选取,而且也无法保证控制点的测量精度。In recent years, with the development and application of computer vision, people have begun to explore the use of computer vision methods to measure through images. In this type of method, it is typical to reconstruct the three-dimensional structure of the scene under test by two or more images using stereo vision, but this method involves a classic problem in the field of computer vision, that is, the matching between multiple images. , so it is difficult to put into practical application. Another method is to manually measure the information of more than 4 control points in the scene plane in advance to calculate the projection matrix between the space plane and the image plane, and then measure through a single image. The measurement accuracy and control of this method The selection accuracy, location and number of points are directly related, but in practical applications, sometimes it is difficult to select control points, and the measurement accuracy of control points cannot be guaranteed.
发明内容Contents of the invention
本发明的目的在于提供一种较为简便、实用并具有较高测量精度和鲁棒性的基于单幅图像的测量方法。The purpose of the present invention is to provide a measurement method based on a single image that is relatively simple, practical, has high measurement accuracy and robustness.
为实现上述目的,由单幅图像测量场景及场景内物体几何信息的方法,包括步骤:In order to achieve the above purpose, the method for measuring the geometric information of the scene and the objects in the scene from a single image comprises steps:
1).拍摄一幅或多幅被测场景的图像并输入计算机;1). Take one or more images of the scene under test and input them into the computer;
2).从图像中提取出场景中参考平面内的点或直线的信息,与参考平面垂直的平行线信息以及参考距离的两个端点;2). Extract the information of points or straight lines in the reference plane in the scene, the information of parallel lines perpendicular to the reference plane and the two endpoints of the reference distance from the image;
3).利用步骤2提取出的参考平面内点或直线的信息及其与场景的对应关系,求出参考平面到图像平面的映射关系矩阵H;3). Utilize the information of points or straight lines in the reference plane extracted in step 2 and the corresponding relationship with the scene to obtain the mapping relationship matrix H from the reference plane to the image plane;
4).利用步骤2提取出的点或线的信息,在图像上计算出垂直于参考平面方向上的消隐点及参考平面的消隐线。4). Using the point or line information extracted in step 2, calculate the hidden point in the direction perpendicular to the reference plane and the hidden line of the reference plane on the image.
5).从图像中提取出需测量的物体的边界信息并将其分段拟合成直线或二次曲线,对于物体的上下表面,利用图像上的对极关系或物体表面自身的性质求出该表面中心点的坐标;5). Extract the boundary information of the object to be measured from the image and fit it into a straight line or a quadratic curve. For the upper and lower surfaces of the object, use the epipolar relationship on the image or the properties of the object surface itself to obtain the coordinates of the center point of the surface;
6).利用上述步骤求出的参数测量场景及场景内物体的几何信息。这些信息包括:空间点的坐标、距离、直线夹角、点到直线的距离、平面图形面积及物体体积等。6). Use the parameters obtained in the above steps to measure the geometric information of the scene and the objects in the scene. These information include: the coordinates of the spatial point, the distance, the angle between the straight line, the distance from the point to the straight line, the area of the plane figure and the volume of the object, etc.
本发明可以进行以下测量:参考平面内任意一点在场景坐标系中的坐标及任意两点之间的距离;空间中任意一点相对于参考平面的高度、在场景坐标系中的坐标及任意两点之间的距离;点到参考平面内某一直线的距离;场景中参考平面及与参考平面相平行的平面内任意两直线间的夹角、平面图形的面积以及一些相对规则和对称的物体的体积,如方体、圆柱体、圆锥体、圆台等。同时,可以根据对各步骤的不确定性分析给出每个测量结果的误差范围。本发明提供的测量方法不需要对摄像机参数进行标定,具有较为简便、实用、测量精度高、鲁棒性好等特点,使基于视觉的测量方法走向实用。The present invention can perform the following measurements: the coordinates of any point in the reference plane in the scene coordinate system and the distance between any two points; the height of any point in space relative to the reference plane, the coordinates in the scene coordinate system and any two points The distance between points; the distance from a point to a straight line in the reference plane; the angle between any two straight lines in the reference plane and the plane parallel to the reference plane in the scene, the area of the plane figure, and some relatively regular and symmetrical objects Volume, such as cube, cylinder, cone, frustum of a cone, etc. At the same time, the error range of each measurement result can be given according to the uncertainty analysis of each step. The measurement method provided by the invention does not need to calibrate the camera parameters, and has the characteristics of simplicity, practicability, high measurement accuracy, good robustness, etc., making the vision-based measurement method practical.
附图说明Description of drawings
图1是本测量方法的流程图;Fig. 1 is the flowchart of this measuring method;
图2参考平面外点的坐标及高度的测量原理图Figure 2 The schematic diagram of coordinates and height measurement of points outside the reference plane
图3参考平面内点到直线距离的测量原理图Figure 3 Schematic diagram of measuring the distance from a point to a straight line in the reference plane
图4是实施例的测量场景图。Fig. 4 is a measurement scene diagram of the embodiment.
发明的具体实施方式Specific Embodiments of the Invention
本发明方法要求场景中含有一张参考平面及与该参考平面垂直的两条或多条平行线及一个参考距离,在参考平面内应包含一些已知的几何信息,如一些点或直线的信息,这些信息可以通过场景中的窗框、门框、地板的纹理、规则物体的轮廓等获得,也可以通过在场景中放置一个已知几何信息的模板获得,同时,场景中应具有一个参考距离。用普通照相机或数码相机拍摄一幅图像即可进行测量,而且不需要对摄像机参数进行标定,若能从不同角度拍摄多幅图像,则可从中选取一幅较好的进行测量或综合利用同一被测量在多幅图像中的测量值以便提高测量精度。The method of the present invention requires that the scene contains a reference plane and two or more parallel lines perpendicular to the reference plane and a reference distance, and some known geometric information should be included in the reference plane, such as information of some points or straight lines, This information can be obtained from the window frame, door frame, floor texture, outline of regular objects, etc. in the scene, or by placing a template with known geometric information in the scene. At the same time, there should be a reference distance in the scene. It can be measured by taking an image with an ordinary camera or a digital camera, and there is no need to calibrate the camera parameters. If multiple images can be taken from different angles, you can choose a better one for measurement or comprehensively use the same camera to measure. Measure measurements in multiple images to improve measurement accuracy.
对于一幅图像,该方法主要包括图像获取、关键特征提取、变换矩阵计算、消隐线及消隐点计算、物体特征的提取和计算、测量等步骤组成,如图1所示,各步的具体说明如下:1.获取图像For an image, the method mainly includes image acquisition, key feature extraction, transformation matrix calculation, hidden line and hidden point calculation, object feature extraction and calculation, measurement and other steps, as shown in Figure 1, each step The specific instructions are as follows: 1. Get the image
用普通照相机或数码相机拍摄一幅或多幅被测场景的图像,并借助扫描仪或某些专用接口将图像输入计算机。2.关键特征提取Take one or more images of the scene to be tested with an ordinary camera or a digital camera, and input the images into the computer by means of a scanner or some special interface. 2. Key feature extraction
通过自动或人机交互方式从图像中提取出场景中参考平面内的点或直线的信息,与参考平面垂直的平行线信息,参考距离的两个端点。如果在场景中放置有模板,则从图像中提取模板中所包含的已知点或直线的几何信息。其中,可以用Canny或Robert、Sobel等边缘检测算子提取边缘信息,然后用Hough变换或最小二乘、极大似然估计等方法求取直线参数。3.变换矩阵计算Extract the point or line information in the reference plane in the scene, the parallel line information perpendicular to the reference plane, and the two endpoints of the reference distance from the image by automatic or human-computer interaction. If a template is placed in the scene, geometric information of known points or straight lines contained in the template is extracted from the image. Among them, Canny, Robert, Sobel and other edge detection operators can be used to extract edge information, and then Hough transform, least squares, maximum likelihood estimation and other methods can be used to obtain line parameters. 3. Transformation matrix calculation
利用第2步提取出的参考平面内点或直线的信息及其与场景的对应关系,求出参考平面到图像平面的映射关系矩阵H,其中,H为一3×3的矩阵。以点的对应为例,设场景中点的齐次坐标为Xi,图像中的对应点为mi,则由mi=sHXi即可求出映射关系矩阵H。4.消隐线及消隐点计算Using the point or line information in the reference plane extracted in the second step and its corresponding relationship with the scene, the mapping relationship matrix H from the reference plane to the image plane is obtained, where H is a 3×3 matrix. Taking the correspondence of points as an example, assuming that the homogeneous coordinates of points in the scene are X i , and the corresponding points in the image are m i , then the mapping relationship matrix H can be obtained by m i =sHX i . 4. Calculation of hidden line and hidden point
利用第2步提取出的与参考平面垂直的平行线信息,计算出图像在该方向上的消隐点Vr;利用第3步所得到的变换矩阵计算出图像中参考平面的消隐线Lv,或直接利用第2步提取出的参考平面内的信息计算消隐线。5.物体特征的提取和计算Use the information of parallel lines perpendicular to the reference plane extracted in the second step to calculate the hidden point V r of the image in this direction; use the transformation matrix obtained in the third step to calculate the hidden line L of the reference plane in the image v , or directly use the information in the reference plane extracted in the second step to calculate the hidden line. 5. Extraction and calculation of object features
采用与第2步相类似的方法,通过自动或人机交互方法从图像中提取出需测量的物体的边界信息并将其分段拟合成直线或二次曲线。对于物体的上下表面,利用图像上的对极关系或物体表面自身的性质求出该表面中心点的坐标。6.测量Using a method similar to step 2, extract the boundary information of the object to be measured from the image through automatic or human-computer interaction methods and fit it segmentally into a straight line or a quadratic curve. For the upper and lower surfaces of the object, the coordinates of the center point of the surface are obtained by using the antipolar relationship on the image or the properties of the object surface itself. 6. Measurement
本发明可以进行以下测量:参考平面内任意一点在场景坐标系中的坐标及任意两点之间的距离;空间中任意一点相对于参考平面的高度、在场景坐标系中的坐标及任意两点之间的距离,测量的前提是该点在参考平面内的垂点是已知的;场景中参考平面及与参考平面相平行的平面内任意两直线间的夹角;点到参考平面内直线距离;平面图形的面积以及一些相对规则和对称的物体的体积等。同时,可以根据对各步骤的不确定性分析给出每个测量结果的误差范围。具体测量方法如下:The present invention can perform the following measurements: the coordinates of any point in the reference plane in the scene coordinate system and the distance between any two points; the height of any point in space relative to the reference plane, the coordinates in the scene coordinate system and any two points The premise of measurement is that the vertical point of the point in the reference plane is known; the reference plane in the scene and the angle between any two straight lines in the plane parallel to the reference plane; the point to the reference plane in the straight line Distance; the area of plane figures and the volume of some relatively regular and symmetrical objects, etc. At the same time, the error range of each measurement result can be given according to the uncertainty analysis of each step. The specific measurement method is as follows:
(1).参考平面内点的坐标及距离的测量:对于参考平面图像上的任意一点m,利用第3步求出的映射关系矩阵的逆变换就可以求出场景中对应点的坐标值X=H-1m,进而可以算出参考平面内任意两点间的距离。(1). Measurement of coordinates and distances of points in the reference plane: For any point m on the reference plane image, the coordinate value X of the corresponding point in the scene can be obtained by using the inverse transformation of the mapping relationship matrix obtained in the third step =H -1 m, and then the distance between any two points in the reference plane can be calculated.
(2).参考平面外点的坐标及高度的测量:如图2所示,Lv和Vr分别为第4步求出的消隐线和消隐点;S0和E0为参考距离的两个端点,则S0、E0和Vr三点共线Lr;S1和E1为待测高度的两个端点,则借助消隐线Lv可将点S1映射到直线Lr上与其具有等高度的点H1上。这样,根据射影变换保持交比不变的性质即可求出S1和E1对应的空间距离。另一方面,由于点E1在参考平面内,其坐标可由(1)得到,由此可以得到点S1对应的空间点的坐标。(2). Measurement of the coordinates and height of points outside the reference plane: as shown in Figure 2, Lv and Vr are the hidden lines and hidden points obtained in the fourth step, respectively; S 0 and E 0 are the reference distances , then the three points S 0 , E 0 and V r are collinear L r ; S 1 and E 1 are the two endpoints of the height to be measured, then the point S 1 can be mapped to a straight line with the help of the hidden line L v L r on the point H 1 that has the same height as it. In this way, the spatial distance corresponding to S 1 and E 1 can be obtained according to the property that the projective transformation keeps the cross ratio unchanged. On the other hand, since the point E 1 is in the reference plane, its coordinates can be obtained by (1), thus the coordinates of the spatial point corresponding to the point S 1 can be obtained.
(3).场景中任意两点之间距离的测量:由(1)和(2)可以得到参考平面内任意两点间的距离以及空间点的高度,通过简单的几何代数运算即可求得场景中任意两点之间的距离。(3). Measurement of the distance between any two points in the scene: From (1) and (2), the distance between any two points in the reference plane and the height of the space point can be obtained through simple geometric algebra operations The distance between any two points in the scene.
(4).参考平面内任意两条直线间夹角的测量:设两条直线与消隐线Lv的两个交点为P1、P2,由第3步求出的映射关系矩阵H可以得到两个圆环点的图像I、J,则P1、P2和I、J四点共线,根据这四点的交比及射影变换保持交比不变的性质即可求出两条直线间的夹角。例如:设此交比为Cr,则夹角θ=1n(Cr)/(2*i)。也可以通过变换矩阵将此直线映射到空间平面上,根据两条直线的方程直接计算其夹角。(4). Measurement of the included angle between any two straight lines in the reference plane: Let the two intersection points of the two straight lines and the blanking line L v be P 1 and P 2 , and the mapping relationship matrix H obtained in the third step can be The images I and J of the two circle points are obtained, then the four points P 1 , P 2 and I and J are collinear, and the two The angle between the lines. For example: if the cross ratio is Cr, then the included angle θ=1n(Cr)/(2*i). It is also possible to map this straight line to a space plane through a transformation matrix, and directly calculate the angle between them according to the equations of the two straight lines.
(5).参考平面及与参考平面相平行的平面内任意平面图形面积的测量:对于一般的平面图形,在图像上检测出其边缘信息并通过映射关系矩阵H将其映射到空间平面上,然后通过积分法求出其面积的近似值;对于矩形和三角形,可由(1)直接求出其边长并利用矩形和三角形面积公式计算面积;对于圆,在图像上提取其边缘并用二次曲线拟合出其方程,利用二次曲线与消隐线间的对极关系求出其中心坐标,由(1)计算该中心与任一边缘点之间的距离即为半径,从而可以利用圆的面积公式得到其面积。(5). The measurement of the area of any plane figure in the reference plane and the plane parallel to the reference plane: for a general plane figure, detect its edge information on the image and map it to the space plane through the mapping relationship matrix H, Then obtain the approximate value of its area by integral method; for rectangle and triangle, can directly obtain its side length by (1) and utilize rectangle and triangle area formula to calculate area; for circle, extract its edge on the image and approximate it with quadratic curve Combine its equation, use the antipolar relationship between the quadratic curve and the hidden line to find the coordinates of its center, and calculate the distance between the center and any edge point by (1) as the radius, so that the area of the circle can be used formula to get its area.
(6).物体体积的测量:由(5)可以测出物体的底面积及截面积,由(2)可以测出物体的高度,这样,通过简单的代数或几何运算即可以由体积计算公式求出物体的体积。例如:对于圆锥体,由第5步提取出底部的边界信息并拟合成二次曲线并求出其中心点的坐标,这样就可以计算出底面积和高度从而求出体积;对于圆台,分别提取出上下表面的边界信息并拟合成二次曲线,计算出上下表面的面积,求出其中心点的坐标中心,则两中心点之间的距离即为高度,从而可以利用体积计算公式求出体积。(6). Measurement of object volume: the bottom area and cross-sectional area of the object can be measured by (5), and the height of the object can be measured by (2). In this way, the volume calculation formula can be obtained by simple algebraic or geometric operations Find the volume of the object. For example: for a cone, the boundary information of the bottom is extracted from step 5 and fitted into a quadratic curve and the coordinates of its center point are obtained, so that the area and height of the bottom can be calculated to obtain the volume; for the circular frustum, respectively Extract the boundary information of the upper and lower surfaces and fit them into a quadratic curve, calculate the area of the upper and lower surfaces, and find the coordinate center of its center point, then the distance between the two center points is the height, so you can use the volume calculation formula to find out of volume.
(7).点到参考平面内直线距离的测量:测量方法如图3所示,求参考平面内的点A到直线BC的距离。设BC与消隐线Lv的交点为D,Lv上的两个圆环点为I、J,在Lv上计算与D、I、J交比为-1的点E,连接A、E与BC交于点H,由(1)计算A、H间的距离即为所求的点A到直线BC的距离。若要计算空间一点S到直线BC的距离,可先由(2)测出S点的高度,再计算S点在参考平面内的垂点到直线BC的距离,则通过简单的代数或几何运算即可求出S点到直线BC的距离。也可以通过变换矩阵将此直线映射到空间平面上,由(2)计算出点在场景坐标系中的坐标,然后根据直线的方程和空间点的坐标直接计算点到直线的距离。(7). Measurement of the distance from a point to a straight line in the reference plane: the measurement method is shown in Figure 3, and the distance from point A to straight line BC in the reference plane is calculated. Let the intersection point of BC and the blanking line L v be D, the two ring points on L v be I, J, calculate the point E on L v with the intersection ratio of D, I, J -1, connect A, E and BC intersect at point H, and the distance between A and H calculated by (1) is the distance from point A to straight line BC. To calculate the distance from a point S in space to the straight line BC, you can first measure the height of point S by (2), and then calculate the distance from the vertical point of point S in the reference plane to the straight line BC, then use simple algebraic or geometric operations The distance from point S to line BC can be calculated. It is also possible to map the straight line to the space plane through the transformation matrix, calculate the coordinates of the point in the scene coordinate system by (2), and then directly calculate the distance from the point to the straight line according to the equation of the straight line and the coordinates of the space point.
实施例Example
如图4所示为一被测场景的图像,我们利用边缘检测和直线拟合算法提取出图中已知的地板信息和垂直于地板的平行线的信息,通过最小二乘法计算出映射关系矩阵、消隐线及消隐点,参考距离为铁柜的高度H0。按照本发明所述的方法,在图像中用鼠标任选两点,就可以直接从图像求出场景中这两点间的距离,测量结果如图4所示。其中,V为圆铁桶的体积,可以看出,距离D1和D2在现实空间中是很难测量的。通过本发明方法所得到的测量值如图4所示。图中各测量值的真实值如下:人的高度H1=171.5cm;控制柜高度H2=170.4cm;距离D1=302.7cm;D2=389.2cm;圆铁桶的直径为24cm,高为59.3cm,体积为V=26826.7cm3。本发明的测量相对误差一般在4%以内,这是完全可以达到测量精度要求的。Figure 4 shows an image of a tested scene. We use edge detection and line fitting algorithms to extract the known floor information and information of parallel lines perpendicular to the floor, and calculate the mapping relationship matrix by least squares method , blanking line and blanking point, the reference distance is the height H 0 of the iron cabinet. According to the method of the present invention, select two points with the mouse in the image, and the distance between these two points in the scene can be directly obtained from the image, and the measurement results are as shown in Figure 4. Among them, V is the volume of the round iron drum. It can be seen that the distances D 1 and D 2 are difficult to measure in real space. The measured values obtained by the method of the present invention are shown in FIG. 4 . The real values of the measured values in the figure are as follows: human height H 1 =171.5cm; control cabinet height H 2 =170.4cm; distance D 1 =302.7cm; D 2 =389.2cm; diameter of round iron drum is 24cm, height is 59.3cm, and the volume is V=26826.7cm 3 . The measurement relative error of the present invention is generally within 4%, which can fully meet the measurement accuracy requirements.
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