CN1595054A - Compatible and accurate calibration method for double eye line structure photo-sensor and implementing apparatus - Google Patents
Compatible and accurate calibration method for double eye line structure photo-sensor and implementing apparatus Download PDFInfo
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Abstract
This invention relates to laser high-accuracy three-dimensional coordinate measurement, which in detail relates to a binocular structure photo-sensor compatibility calibration and its operation apparatus. In order to calibrate the photo plane parameters of the binocular structure photo-sensor, it unites the space coordinates measured of the left and right cameras. The technique project adopted in this invention is the following: the operation apparatus comprises left and right cameras, laser machine, and target and also movable guide rail with the target fixed on; the target plane is vertical to the moving direction of the guide rail which ensures the plane is vertical to the project laser plane. Besides, it is to identify the axis coordinates in the space coordinate system of the cross points of the each lines and photo bars in the target and brings the coordinates to the photo-sensor mathematical model for computation and get sensor parameters.
Description
Technical field
The present invention relates to the laser high-precision three-dimensional coordinate measurement, specifically relate to double eye line structure optical sensor consistance method for precisely marking and device for carrying out said thereof.
Background technology
Linear structural laser vision measurement technology is a kind of high accuracy three-dimensional measurement of coordinates means, and linear structural laser is incident upon measured surface and produces a striation, and video camera picked-up optical strip image extracts the pixel coordinate (u that distributes on the optical strip image
i, v
i), the 3 d space coordinate data of corresponding point on the striation are extrapolated in the certain conversion of process then.
Linear structural laser sensor measurement model comprises many transformation parameters, wherein one group of transformation parameter space measurement coordinate of having defined sensor is tied to the transformational relation of camera coordinate system, be referred to as the sensor external parameter, or light-plane parameters, need to determine by demarcating, the demarcation of sensor external parameter is the key link in the whole measuring technique, demarcates the space measurement coordinate system that also needs to determine sensor simultaneously.Because the bigger situation of curved transition that measured surface may occur in measurement, the striation information of video camera picked-up may be blocked by bossing, produce and measure the blind area, for avoiding this situation, usually adopt two video cameras to measure in sensor laser instrument both sides, structure double eye line structure optical sensor, therefore total two sensors external parameter needs to demarcate, and they have defined the conversion parameter that space measurement coordinate system branch is clipped to the left and right cameras coordinate system respectively.Whether calibrating external parameters accurately directly influences the measuring accuracy of sensor, especially for binocular, must calibrate for all consistent space measurement coordinate system of left and right cameras.
Common scaling method is the target that utilizes definite shape, the projecting laser plane is to target, intersect some gauge points of generation with target, on target, set up the space measurement coordinate system, and utilize the spatial geometric shape characteristic of target on striation, to obtain the known unique point of some volume coordinates, and extract their pixel coordinate.Thereby obtain one group of reference mark to (u
i, v
i)-(x
i, y
i, z
i), its substitution linear structural laser The Mathmatic Models of Instrument Transducers is calculated external parameter.Because target is complex-shaped, usually be difficult to the pixel coordinate of extract minutiae, and be difficult to gather more reference mark, thereby have only less data to participate in calibrated and calculated, be difficult to reach very high stated accuracy.
Summary of the invention
For overcoming the deficiencies in the prior art, the objective of the invention is to accurately calibrate the light-plane parameters of double eye line structure light vision sensor, and the space measurement coordinate system of left and right cameras is accurately united.
The technical solution used in the present invention is that a kind of double eye line structure optical sensor consistance method for precisely marking comprises the following steps: successively
Target is fixed on the moving guide rail, makes the moving direction of target plane, and adjust guide rail assurance target plane perpendicular to the projecting laser plane perpendicular to guide rail by adjustment;
Laser projections produces a striation to the target face, adjust striation, guarantees that striation is perpendicular to the linear array on the target;
Laser projections produces striation and the many intersection points of the crossing formation of these linear arrays to the target plane, video camera is taken the target image, and extracts the pixel coordinate of these intersection points;
Adjust the diverse location of target on guide rail, the definition target is in first position, i.e. the intersection point of striation and center horizontal line during the range sensor proximal most position, and be defined as the initial point of space measurement coordinate system, be defined as o along the striation downward direction then
wy
wAxle is defined as o along guide rail moving direction and orientation sensor
wx
wAxle is set up right hand space coordinates;
Determine each straight line and the axis coordinate of striation intersection point under space coordinates on the target, determine the intersection point of striation and each horizontal line, extract the pixel coordinate of each intersection point by Flame Image Process, the mathematical model of substitution line structure optical sensor is calculated, and can obtain the sensor parameters of two video cameras.
Wherein, on above-mentioned target surface plate, accurately depict one group of horizontal array straight line;
The pixel coordinate of described extraction intersection point comprises the following steps:
The searching in striation zone: under the opening and closing state of laser, take two width of cloth target images respectively, two width of cloth images are carried out gray scale according to the respective pixel coordinate subtract each other, accurately to extract the pixel distribution zone of striation;
The intersection point pixel coordinate extracts: gather gray level image during laser shutdown, in image, search by row according to the striation center pixel coordinate that extracts, filter out all its center gray scales and be lower than adjacent pixel at 2, guarantee that adjacent capable pixel coordinate spacing must be greater than 10 at 2, then to extracting point extracts them once more according to the intensity-weighted method row sub-pix coordinate, and the capable sub-pix coordinate of the corresponding point that extract in conjunction with the first step, just obtain the sub-pix coordinate of all striations of image-region and horizontal line intersection point;
Asking for of the corresponding volume coordinate of intersection point: adopt the way of topology identification, the middle horizontal line y corresponding with the intersection point of striation
wAxial coordinate is 0, because mark straight line and central line spacing d
sLess than liner determining deviation d
yTherefore,, the row pixel coordinate of each point is sorted according to ascending order, then the spacing d of comparison interval two point range pixel coordinates according to the method for line search
Vt, extract 2 points of spacing minimum, a bit be central point between 2, if the ordering sequence number of central point is i
c, then other points are asked for the corresponding y in space according to following rule
wAxial coordinate:
A kind of device for carrying out said of double eye line structure optical sensor consistance method for precisely marking, comprise left video camera, right video camera, laser instrument and target, it is characterized in that, also comprise moving guide rail, target is fixed on the moving guide rail, the target plane is perpendicular to the moving direction of moving guide rail, moving guide rail guarantees that the target plane is perpendicular to the projecting laser plane, the laser projections that laser instrument sends produces the striation perpendicular to the linear array on the target to the target face, striation and linear array intersect the many intersection points of formation, video camera is taken the target image, and can extract the pixel coordinate of these intersection points, to set up right hand space coordinates.
Wherein, target is accurately to portray the horizontal array straight line that has one group of spacing fixing on its surface plate.
The present invention can bring following effect: owing to adopt parallel lines array target, target is placed on mobile different position on the guide rail, it is right to obtain to demarcate the spatial data point that needs then, thereby the left and right cameras space measurement coordinate system of double eye line structure optical sensor accurately can be united, can accurately calibrate the light-plane parameters of double eye line structure light vision sensor.
Description of drawings
Fig. 1 is a parallel lines array target.
Fig. 2 is double eye line structure optical sensor calibration principle figure, and as Figure of abstract.
Fig. 3 target image and unique point are extracted automatically.
A among Fig. 3 partly is no striation target image, and b partly is a striation target image, and c partly is a subtraction image, and d partly extracts synoptic diagram automatically for unique point.
Embodiment
Further specify the present invention below in conjunction with drawings and Examples.
Fig. 1 is our designed novel parallel linear array plane target drone, and this target is accurately to depict one group of horizontal array straight line on surface plate, and the spacing between straight line and the straight line is fixed as d
y, the both sides of straight line have two other parallel lines and its distance to be d in the middle of being positioned at
s, and d
s＜d
y, be defined as the mark straight line.As shown in Figure 2, timing signal is fixed on target on the moving guide rail, makes the moving direction of target plane perpendicular to guide rail by adjustment, and adjusts guide rail assurance target plane perpendicular to the projecting laser plane.Laser projections produces a striation to the target face, adjust striation, guarantees that striation is perpendicular to the linear array on the target.Parallel lines array target and one dimension moving guide rail are the core device for carrying out said of double eye line structure optical sensor consistance method for precisely marking.
Laser projections produces striation and the many intersection points of the crossing formation of these linear arrays to the target plane, video camera is taken the target image, and can extract the pixel coordinate of these intersection points.In the calibration process, adjust the diverse location of target on guide rail, the spacing of each position is d
x, the definition target is in first position, and promptly the intersection point of striation and center horizontal line is o during the range sensor proximal most position
w, and be defined as the initial point of space measurement coordinate system, be defined as o along the striation downward direction then
wy
wAxle is defined as o along guide rail moving direction and orientation sensor
wx
wAxle has so just been set up right hand space coordinates.
Because each straight line determines that according to certain position these straight lines of striation straight line in the target plane is vertical on the target, therefore with the intersection point p of each straight line
iO under space coordinates
wy
oThe axis coordinate is just determined.To be in first position be 0 to the definition target, so when target rests on a certain guide rail position, and the space o of intersection point
wy
wAxial coordinate is-nd
x, the intersection point of striation and each horizontal line is just determined like this, extracts the pixel coordinate (u of each intersection point by Flame Image Process
i, v
i), the mathematical model of substitution line structure optical sensor is calculated, and can obtain the sensor parameters of two video cameras:
In order to extract the pixel coordinate (u of intersection point quickly and accurately
i, v
i) and obtain the volume coordinate (x of intersection point correspondence automatically
i, y
i, z
i), we have designed a cover characteristic points automatic extraction method, are described below:
1) searching in striation zone: we take two width of cloth target images respectively under the opening and closing state of laser, two width of cloth images are carried out gray scale according to the respective pixel coordinate to be subtracted each other, because the difference of two width of cloth images just is whether contain striation information, so just can accurately extract the pixel distribution zone of striation, as shown in Figure 3.Because the striation zone is be parallel to pixel vertical substantially, therefore can extract the capable sub-pix coordinate at striation center by row according to the intensity-weighted method.
2) the intersection point pixel coordinate extracts: the gray level image of gathering during laser shutdown, because horizontal line is a black, and the target background is a white, therefore the gray scale in horizontal line zone is significantly less than non-horizontal line zone in the image, in image, search by row according to the striation center pixel coordinate that extracts, filter out all its center gray scales and be lower than adjacent pixel at 2, be called the low peak dot of gray scale.If the quantity of image cathetus is n, then select the low peak dot of n gray scale of gray scale minimum, and the capable pixel coordinate spacing of guaranteeing this n point must be greater than 10, to avoid extracting the low peak dot of the gray scale that is in same horizontal line zone, then n the point that extracts extracted once more their row sub-pix coordinate according to the intensity-weighted method, and the capable sub-pix coordinate of the corresponding point that extract in conjunction with the first step, just obtain the sub-pix coordinate (u of all striations of image-region and horizontal line intersection point
i, v
i).
3) the corresponding space y of intersection point
wAsking for of coordinate: we adopt the way of topology identification, the middle horizontal line y corresponding with the intersection point of striation
wAxial coordinate is 0, because mark straight line and central line spacing d
sLess than liner determining deviation d
yTherefore,, the row pixel coordinate of each point is sorted according to ascending order, then the spacing d of comparison interval two point range pixel coordinates according to the method for line search
Vi, extract 2 points of spacing minimum.A bit be central point between 2, if the ordering sequence number of central point is i
c, then other points are asked for the corresponding y in space according to following rule
wAxial coordinate:
In the experiment, select for use the specification of new type auto demarcation target to be: horizontal line spacing d
y=5mm, two mark horizontal line distance center horizontal lines are apart from d
s=3mm, 12 straight lines distribute on the target.Gather the image of 5 positions altogether, target different fixing location interval d
z=8mm.The error of these parameters is less than 0.01mm.Use the left and right cameras images acquired respectively, obtain two groups through Flame Image Process and comprise that respectively 60 pairs of calculation level data are to (x
i, y
i, 0)-(u
i, v
i), bring the computation model of line structure optical sensor into, can calculate the external parameter of left and right cameras respectively, because the number of control points of the calculation level that extracts can guarantee than higher computational accuracy.The left and right video camera of the line structure optical sensor that process is demarcated is in the measurement range of 100 * 80mm, space measurement precision separately all is higher than 0.1mm, and left and right cameras is higher than 0.05mm for the measured deviation of same measurement point in laser plane, has very high consistance precision.
Claims (5)
1. a double eye line structure optical sensor consistance method for precisely marking is characterized in that, comprises the following steps: successively
Target is fixed on the moving guide rail, makes the moving direction of target plane, and adjust guide rail assurance target plane perpendicular to the projecting laser plane perpendicular to guide rail by adjustment;
Laser projections produces a striation to the target face, adjust striation, guarantees that striation is perpendicular to the linear array on the target;
Laser projections produces striation and the many intersection points of the crossing formation of these linear arrays to the target plane, video camera is taken the target image, and extracts the pixel coordinate of these intersection points;
Adjust the diverse location of target on guide rail, the definition target is in first position, i.e. the intersection point of striation and center horizontal line during the range sensor proximal most position, and be defined as the initial point of space measurement coordinate system, be defined as o along the striation downward direction then
wy
wAxle is defined as o along guide rail moving direction and orientation sensor
wx
wAxle is set up right hand space coordinates;
Determine each straight line and the axis coordinate of striation intersection point under space coordinates on the target, determine the intersection point of striation and each horizontal line, extract the pixel coordinate of each intersection point by Flame Image Process, the mathematical model of substitution line structure optical sensor is calculated, and can obtain the sensor parameters of two video cameras.
2. a kind of double eye line structure optical sensor consistance method for precisely marking according to claim 1 is characterized in that, accurately depicts one group of horizontal array straight line on above-mentioned target surface plate.
3. a kind of double eye line structure optical sensor consistance method for precisely marking according to claim 1 is characterized in that the pixel coordinate of described extraction intersection point comprises the following steps:
The searching in striation zone: under the opening and closing state of laser, take two width of cloth target images respectively, two width of cloth images are carried out gray scale according to the respective pixel coordinate subtract each other, accurately to extract the pixel distribution zone of striation;
The intersection point pixel coordinate extracts: gather gray level image during laser shutdown, in image, search by row according to the striation center pixel coordinate that extracts, filter out all its center gray scales and be lower than adjacent pixel at 2, guarantee that adjacent capable pixel coordinate spacing must be greater than 10 at 2, then to extracting point extracts them once more according to the intensity-weighted method row sub-pix coordinate, and the capable sub-pix coordinate of the corresponding point that extract in conjunction with the first step, just obtain the sub-pix coordinate of all striations of image-region and horizontal line intersection point;
Asking for of the corresponding volume coordinate of intersection point: adopt the way of topology identification, the middle horizontal line y corresponding with the intersection point of striation
wAxial coordinate is 0, because mark straight line and central line spacing d
sLess than liner determining deviation d
yTherefore,, the row pixel coordinate of each point is sorted according to ascending order, then the spacing d of comparison interval two point range pixel coordinates according to the method for line search
Vi, extract 2 points of spacing minimum, a bit be central point between 2, if the ordering sequence number of central point is i
c, then other points are asked for the corresponding y in space according to following rule
wAxial coordinate:
4. the device for carrying out said of a double eye line structure optical sensor consistance method for precisely marking, comprise left video camera, right video camera, laser instrument and target, it is characterized in that, also comprise moving guide rail, target is fixed on the moving guide rail, the target plane is perpendicular to the moving direction of moving guide rail, moving guide rail guarantees that the target plane is perpendicular to the projecting laser plane, the laser projections that laser instrument sends produces the striation perpendicular to the linear array on the target to the target face, striation and linear array intersect the many intersection points of formation, video camera is taken the target image, and can extract the pixel coordinate of these intersection points, to set up right hand space coordinates.
5. the device for carrying out said of a kind of double eye line structure optical sensor consistance method for precisely marking according to claim 4 is characterized in that, target is accurately to portray the horizontal array straight line that has one group of spacing fixing on its surface plate.
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