CN1648600A - Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera - Google Patents

Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera Download PDF

Info

Publication number
CN1648600A
CN1648600A CN 200410061308 CN200410061308A CN1648600A CN 1648600 A CN1648600 A CN 1648600A CN 200410061308 CN200410061308 CN 200410061308 CN 200410061308 A CN200410061308 A CN 200410061308A CN 1648600 A CN1648600 A CN 1648600A
Authority
CN
China
Prior art keywords
image
sheet metal
digital camera
metal component
coordinate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN 200410061308
Other languages
Chinese (zh)
Other versions
CN1308652C (en
Inventor
张永军
张剑清
张祖勋
吴百川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan University WHU
Original Assignee
Wuhan University WHU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan University WHU filed Critical Wuhan University WHU
Priority to CNB2004100613083A priority Critical patent/CN1308652C/en
Publication of CN1648600A publication Critical patent/CN1648600A/en
Application granted granted Critical
Publication of CN1308652C publication Critical patent/CN1308652C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The 3D measurement method of sheet metal part with single non-measuring digital camera includes the following steps: obtaining the images of the industrial sheet metal part; extracting straight lines of the part from the images by means of edge extracting technology and image matching technology and saving the extracted straight lines automatically; inputting all the straight lines, judging the image straight line number corresponding to the identical spatial straight line, manufacturing at least two image straight lines and completing high precision 3D reconstruction of the sheet metal part based on image measurement principle; displaying the 3D reconstruction result and completing 3D measurement with computer. The present invention has the advantages of using common digital cameras and low measurement cost.

Description

Utilize the separate unit non-measuring digital camera to carry out the method for sheet metal component three-dimensional measuring
Technical field
The present invention relates to a kind of method of utilizing the separate unit non-measuring digital camera to carry out industrial sheet metal component three-dimensional measuring, be mainly used in the industry close range photography fields of measurement.
Background technology
Along with improving constantly of industrial manufacturing technology and updating of processing technology, detection means has also been proposed more and more higher requirement, when for example the physical dimension of widely used sheet metal component in the industrial circle being measured, require speed fast and precision is high.In the existing all kinds of main method for three-dimensional measurement, large-scale three dimensional coordinate measure device measuring precision is very high, but cost an arm and a leg and work efficiency lower.The precision of moir method is relevant with grating space, and only adapts to the unconspicuous mild target of surface undulation.Newton ring is usually used in checking the suface processing quality of optical element, and this method precision is very high, device simple, but be only applicable to the little optical element of depth.The structured light method is comparatively effective a kind of measurement means for the object that lacks texture, but reaches very difficulty of very high precision, also has other detection meanss such as slide calliper rule, microscope etc., all is difficult to the speed of taking into account and precision contradiction between the two.Three-dimension measuring system based on computer vision often utilizes many dedicated video cameras and structured light projection device etc., has increased system cost greatly, and the calibrated error of multiple cameras etc. also can influence the precision of three-dimensional measuring.Thereby present present situation is: even in the very flourishing states such as Japan of manufacturing industry, the physical dimension of industrial sheet metal component is measured also and is almost undertaken by pure manual method, and inefficiency, cost are very high, can only adopt the method for sampling Detection, exists test leakage and mistake to survey unavoidably.We can say that with low cost, the industrial sheet metal component auto-measuring system of precision higher (for example being higher than 0.1mm) is domestic even anxious to be solved in the world problem.
Summary of the invention
The purpose of this invention is to provide a kind of method of utilizing the separate unit non-measuring digital camera to carry out the sheet metal component three-dimensional measuring, it can overcome above-mentioned the deficiencies in the prior art, satisfies the requirement of industry manufacturing to measuring accuracy and speed.
Technical scheme provided by the invention is that a kind of method of utilizing the separate unit non-measuring digital camera to carry out the sheet metal component three-dimensional measuring may further comprise the steps:
One, obtains the image of industrial sheet metal component.Automatically obtain 10 above images of industrial sheet metal component according to following image capturing method, and import image into computing machine:
A plane is set on the load-bearing rotary table, with the known unique point of some coordinates of mark on this plane (as intersection point, the grid points of crosshair) as the plane control field of points, industrial sheet metal component to be measured is placed on the plane of plane control field of points, be fixed in industrial sheet metal component to be measured top through the non-measuring digital camera of demarcating, the chief ray of digital camera is aimed at industrial sheet metal component, in the load-bearing rotary table process that machine control is rotated as calculated, digital camera is by the image of uniformly-spaced taking industrial sheet metal component to be measured, and every width of cloth image all imports computing machine in real time into.
Two, utilize edge extracting and image matching technology from image, to extract the straight line of sheet metal component image, and the image straight-line segment that all extract is preserved automatically.
Three, utilize the straight-line segment that extracts in all images as the input data, judge same space line section corresponding image straight-line segment number, be saved to rare two corresponding image straight-line segments, the high-precision three-dimensional that utilizes photogrammetric principle to carry out sheet metal component is then rebuild.
Four, the result with three-dimensional reconstruction carries out visualization display, and carries out three-dimensional measuring by computing machine.
The high-precision three-dimensional of above-mentioned sheet metal component is rebuild can adopt following method:
Utilize image straight-line segment after treatment, can carry out three-dimensional reconstruction according to the generalized point photogrammetry method; Two end points of each bar space line Duan Douyong of sheet metal component are represented, when the direction of image straight-line segment is spent more than or equal to 45, adopt first following formula; And when the direction of straight-line segment is spent less than 45, second formula below adopting;
x = - f a 1 ( X - X S ) + b 1 ( Y - Y S ) + c 1 ( Z - Z S ) a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) When | β | in the time of 〉=45 °
y = - f a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) When | β | in the time of＜45 °
Wherein (X, Y, Z) the end points coordinate of representation space straight-line segment, (X S, Y S, Z S) position at expression video camera place, (a ib ic i, i=1,2,3) and the expression rotation matrix, f is a focus of camera, (x y) is picpointed coordinate.
Advantage of the present invention is the cheap of non-measurement digital camera, and measurement speed is fast, and precision is higher, can realize the online measurement of industrial sheet metal component, thereby raise the efficiency, and guarantees the quality that part processing is made.If hardware is all by computer control, then whole flow process can automatically be carried out, and is consuming time less than 3 minutes.
Description of drawings
Fig. 1 is a schematic flow sheet of the present invention;
Fig. 2 is that digital camera of the present invention is with respect to industrial part and plane controlling filed location view;
Fig. 3 is the generalized point photogrammetry synoptic diagram of straight-line segment of the present invention;
Fig. 4 is the generalized point photogrammetry synoptic diagram of the present invention's circle.
Embodiment
Utilizing before non-measuring digital camera carries out industrial sheet metal component three-dimensional measuring, earlier non-measuring digital camera is demarcated; Or directly the demarcation non-measuring digital camera of (process of obtaining camera internal position element and distortion parameter is called demarcation) had been carried out in employing.
The non-measuring digital camera scaling method can be:
1. three-dimensional controlling filed scaling method of the prior art or other scaling methods.
2. based on the scaling method at two-dimentional reference mark:
A) utilize digital camera to be calibrated to obtain the image of 4 above controlling fileds according to following method;
With the plane that is marked with the known unique point of some coordinates (as the intersection point of crosshair among Fig. 2) on it as the plane control field of points, with perpendicular to the straight line of plane control field as the Z axle, the angle of the chief ray of digital camera and Z axle is not more than 30 degree; Intersection point along Z axle and plane control field of points is taken pictures, and for every photo, the position of digital camera and three rotation angle are then different;
B) utilize edge extracting of the prior art and image matching technology from image, to extract the image coordinate at reference mark;
C) utilize the image coordinate of extracting in known reference mark planimetric coordinates and the image, obtain the s internal and external orientation initial value of digital camera by the corresponding relation between 2 d dlt and collinearity equation;
What 2 d dlt was represented is space plane and the interplanar mapping relations of picture
x = h 1 X + h 2 Y + h 3 h 7 X + h 8 Y + 1
y = h 4 X + h 5 Y + h 6 h 7 X + h 8 Y + 1
H=(h wherein 1, h 2, h 3, h 4, h 5, h 6, h 7, h 8) TBe eight transformation parameters of 2 d dlt, X, Y are the planimetric control point volume coordinate, and x, y are corresponding picture coordinate.When photo is counted greater than 4, following formula can be carried out proper transformation, try to achieve the 2 d dlt parameter by separating overdetermined equation AH=0;
Collinearity equation the most frequently used in photogrammetric is:
x - x 0 = - f a 1 ( X - X S ) + b 1 ( Y - Y S ) + c 1 ( Z - Z S ) a 3 ( X - X S ) + b 3 ( Y - Y S ) + c 3 ( Z - Z S )
y - y 0 = - f a 2 ( X - X s ) + b 2 ( Y - Y s ) + c 2 ( Z - Z s ) a 3 ( X - X s ) + b 3 ( Y - Y s ) + c 3 ( Z - Z s )
X wherein 0, y 0, f is the elements of interior orientation (principal point and focal length) of video camera; (X S, Y S, Z S) for taking the photograph station coordinates; (X, Y Z) are the object space coordinate; (x y) is corresponding picpointed coordinate; R={a i, b i, c i, i=1,2,3} be photogrammetric in rotation angle commonly used, ω, the rotation matrix that κ (Y is a main shaft) constitutes; For flat field, coordinate system is based upon the controlling filed center, X then, Y-axis planar, the Z axle is vertical with the plane, this moment, the Z coordinate at all reference mark was zero; Collinearity equation is carried out conversion can obtain the expression-form identical, thereby each all can be by the 2 d dlt parametric representation with 2 d dlt; Character according to rotation matrix a 1 2 + a 2 2 + a 3 2 = 1 With b 1 2 + b 2 2 + b 3 2 = 1 Can get:
( h 1 h 8 - h 2 h 7 ) ( h 1 h 7 - h 7 2 x 0 + h 2 h 8 - h 8 2 x 0 ) + ( h 4 h 8 - h 5 h 7 ) ( h 4 h 7 - h 7 2 y 0 + h 5 h 8 - h 8 2 y 0 ) = 0
For two above photos, utilize following formula to find the solution principal point (x 0, y 0) initial value;
Character a according to rotation matrix 1b 1+ a 2b 2+ a 3b 3=0 can derive the solving equation of focal length:
f = - ( h 1 h 7 x 0 ) · ( h 2 - h 8 x 0 ) - ( h 4 - h 7 y 0 ) · ( h 5 - h 8 y 0 ) h 7 h 8
After obtaining the initial value of principal point and focal length, further try to achieve the initial value of elements of exterior orientation; At Y is under the corner system of main shaft, tan κ = b 1 b 2 = h 2 - h 8 x 0 h 5 - h 8 y 0 , Sin ω=-b 3,
Figure A20041006130800068
Thereby the value of three rotation angle can uniquely be determined; Separate following system of linear equations and obtain X S, Y S, Z SInitial value:
h 3 = x 0 - f ( a 1 X s + b 1 Y s + c 1 Z s ) / λ h 6 = y 0 - f ( a 2 X s + b 2 Y s + c 2 Z s ) / λ λ = ( a 3 X s + b 3 Y s + c 3 Z s )
D) utilize the image coordinate of extracting in known reference mark planimetric coordinates and the image, and above-mentioned digital camera s internal and external orientation initial value of trying to achieve, expressed according to the following equation tight bundle adjustment principle is carried out the high-precision calibrating of digital camera, thereby tries to achieve the exact value of digital camera s internal and external orientation; The realization non-measuring digital camera is demarcated
x - x 0 - Δx = - f x a 1 ( X - X s ) + b 1 ( Y - Y s ) + c 1 ( Z - Z s ) a 3 ( X - X s ) + b 3 ( Y - Y s ) + c 3 ( Z - Z s ) = - f x X _ _ Z _ _
y - y 0 - Δy = - f y a 2 ( X - X s ) + b 2 ( Y - Y s ) + c 2 ( Z - Z s ) a 3 ( X - X s ) + b 3 ( Y - Y s ) + c 3 ( Z - Z s ) = - f y Y _ _ Z _ _
Wherein lens distortion difference is:
Δx＝(x-x 0)(K 1r 2+K 2r 4)+P 1(r 2+2(x-x 0) 2))+2P 2(x-x 0)·(y-y 0)
Δy＝(y-y 0)(K 1r 2+K 2r 4)+P 2(r 2+2(y-y 0) 2))+2P 1(x-x 0)·(y-y 0)。
Utilize the separate unit non-measuring digital camera to carry out the three-dimensional measuring (referring to Fig. 1) of industrial sheet metal component:
1. obtain the image of industrial sheet metal component.The industry sheet metal component generally can be regarded as by many straight-line segments and combines, and its image demonstrates very strong straight-line segment feature.
Referring to Fig. 2, with the rotating disk 2 that is carved with crosshair 5 on it load bearing equipment as sheet metal component 4, the coordinate of the intersection point of crosshair 5 is known, is used as the absolute control of asking fixation sheet elements of exterior orientation.Industrial sheet metal component 4 to be measured is placed on the load-bearing rotary table 2, non-measuring digital camera 1 (elements of interior orientation of camera and distortion parameter are known) through demarcating is fixed in industrial sheet metal component to be measured 4 tops, the chief ray 3 of digital camera is aimed at industrial sheet metal component 4, and by the image of uniformly-spaced taking industrial sheet metal component 4 to be measured; Obtain 10 above images (as 25) of industrial sheet metal component according to above-mentioned image capturing method, and import image into computing machine.
The rotation of part load-bearing rotary table can transfer replacement with the derotation of digital camera, and the image that two kinds of methods are obtained is of equal value.And be maintained fixed at digital camera, tool had great advantage when load-bearing rotary table was rotated under computer control, and the space of hold facility little (requisite space has only half of camera rotation mode) might realize full-automation.
2. utilize image processing meanses such as edge extracting and match and image matching technology from image, to extract the straight line of sheet metal component image, and the image straight-line segment that all extract is preserved automatically.
3. utilize the straight-line segment that extracts in all images as the input data, the high-precision three-dimensional that adopts existing straight line photogrammetric survey method or generalized point photogrammetry method to carry out sheet metal component is rebuild.
The generalized point photogrammetry method is as follows:
Generalized point photogrammetry model and traditional photogrammetric model of point exist basic difference, and it no longer requires the strict corresponding relation between spatial point and picture point, and goes for the Any shape image Reconstruction.For physical points, the generalized point photogrammetry model is identical with traditional photogrammetric model of point (collinearity equation), and each picture point observed reading can two error equations of row.There is not strict corresponding relation in point on straight-line segment, circle, the free curve etc. between spatial point and picture point, each picture point can only be according to error equation of direction row of tangent vector.As shown in Figure 3, the projection of * representation space point on photo, ● be illustrated in nearest picture point on x (or y) direction, its mathematical model be exactly adjustment rear space point project to picture point equal minimum apart from dx (or dy).When the direction of image straight-line segment is spent more than or equal to 45, adopt the error equation of x direction; And when the direction of straight-line segment is spent less than 45, adopt the error equation of y direction.For the point on circle and other free curves, then whether also has only an error equation greater than 45 degree according to the tangent vector (for example β angle among Fig. 4) of each point.The mathematical model of generalized point photogrammetry can be represented with following formula:
x = - f a 1 ( X - X S ) + b 1 ( Y - Y S ) + c 1 ( Z - Z S ) a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) When | β | in the time of 〉=45 °
y = - f a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) When | β | in the time of＜45 °
Wherein (X, Y, Z) representation space point coordinate, (X S, Y S, Z S) position at expression video camera place, (a ib ic i, i=1,2,3) and the expression rotation matrix, f is a focus of camera, (x y) is picpointed coordinate.
4. the result with three-dimensional reconstruction shows with OpenGL or DirectX, carries out semi-automatic or full-automatic measurement.
The program that automatically is meant is calculated automatically according to preassigned measurement content, and semi-automatic then mainly is that man-machine interaction utilizes three-dimensional display interface to measure accordingly.The measurement content can be distance between points as required; Distance between line and the line, angle; Distance between face and the face, angle; And point and line, the distance of face; The distance of line and face, angle; Right alignment between circle and circle etc.

Claims (3)

1. method of utilizing the separate unit non-measuring digital camera to carry out the sheet metal component three-dimensional measuring is characterized in that: may further comprise the steps:
One, obtains the image of industrial sheet metal component; Obtain 10 or above image of industrial sheet metal component according to following image capturing method, and import image into computing machine:
A plane is set on the load-bearing rotary table, with the known unique point of some coordinates of mark on this plane as the plane control field of points, industrial sheet metal component to be measured is placed on the plane of plane control field of points, be fixed in industrial sheet metal component to be measured top through the non-measuring digital camera of demarcating, the chief ray of digital camera is aimed at industrial sheet metal component, in the load-bearing rotary table process that machine control is rotated as calculated, digital camera is by the image of uniformly-spaced taking industrial sheet metal component to be measured, and every width of cloth image all imports computing machine in real time into;
Two, utilize edge extracting and image matching technology from image, to extract the straight line of sheet metal component image, and the image straight-line segment that all extract is preserved automatically;
Three, utilize the straight-line segment that extracts in all images as the input data, judge same space line section corresponding image straight-line segment number, be saved to rare two corresponding image straight-line segments, the high-precision three-dimensional that utilizes photogrammetric principle to carry out sheet metal component is then rebuild;
Four, the result with three-dimensional reconstruction carries out visualization display, and carries out three-dimensional measuring by computing machine.
2. method according to claim 1 is characterized in that: the high-precision three-dimensional method for reconstructing of sheet metal component is:
Utilize image straight-line segment after treatment, can carry out three-dimensional reconstruction according to the generalized point photogrammetry method; Two end points of each bar space line Duan Douyong of sheet metal component are represented, when the direction of image straight-line segment is spent more than or equal to 45, adopt first following formula; And when the direction of straight-line segment is spent less than 45, second formula below adopting;
x = - f a 1 ( X - X S ) + b 1 ( Y - Y S ) + c 1 ( Z - Z S ) a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) When | β | in the time of 〉=45 °
y = - f a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) When | β | in the time of＜45 °
Wherein (X, Y, Z) the end points coordinate of representation space straight-line segment, (X s, Y s, Z s) position at expression video camera place, (a ib ic i, i=1,2,3) and the expression rotation matrix, f is a focus of camera, (x y) is picpointed coordinate.
3. method according to claim 1 and 2 is characterized in that: the scaling method of non-measuring digital camera is:
A) utilize digital camera to be calibrated to obtain the image of 4 above controlling fileds according to following method;
With the plane that is marked with the known unique point of some coordinates on it as the plane control field of points, with perpendicular to the straight line of plane control field as the Z axle, the angle of the chief ray of digital camera and Z axle is not more than 30 degree; Intersection point along Z axle and plane control field of points is taken pictures, and for every photo, the position of digital camera and three rotation angle are then different;
B) utilize edge extracting of the prior art and image matching technology from image, to extract the image coordinate at reference mark;
C) utilize the image coordinate of extracting in known reference mark planimetric coordinates and the image, obtain the s internal and external orientation initial value of digital camera by the corresponding relation between 2 d dlt and collinearity equation;
What 2 d dlt was represented is space plane and the interplanar mapping relations of picture
x = h 1 X + h 2 Y + h 3 h 7 X + h 8 Y + 1
y = h 4 X + h 5 Y + h 6 h 7 X + h 8 Y + 1
H=(H wherein 1, H 2, H 3, H 4, h 5, H 6, H 7, H 8) TBe eight transformation parameters of 2 d dlt, X, Y are the planimetric control point volume coordinate, and x, y are corresponding picture coordinate.When photo is counted greater than 4, following formula can be carried out proper transformation, try to achieve the 2 d dlt parameter by separating overdetermined equation AH=0;
Collinearity equation the most frequently used in photogrammetric is:
x - x 0 = - f a 1 ( X - X s ) + b 1 ( Y - Y s ) + c 1 ( Z - Z s ) a 3 ( X - X s ) + b 3 ( Y - Y s ) + c 3 ( Z - Z s )
y - y 0 = - f a 2 ( X - X s ) + b 2 ( Y - Y s ) + c 2 ( Z - Z s ) a 3 ( X - X s ) + b 3 ( Y - Y s ) + c 3 ( Z - Z s )
X wherein 0, y 0, f is the elements of interior orientation (principal point and focal length) of video camera; (X s, Y x, Z s) for taking the photograph station coordinates; (X, Y Z) are the object space coordinate; (x y) is corresponding picpointed coordinate; R={a i, b i, c i, i=1,2,3} be photogrammetric in rotation angle commonly used, ω, the rotation matrix that κ (Y is a main shaft) constitutes; For flat field, coordinate system is based upon the controlling filed center, X then, Y-axis planar, the Z axle is vertical with the plane, this moment, the Z coordinate of all planar points was zero;
Collinearity equation is carried out conversion can obtain the expression-form identical, thereby each all can be by the 2 d dlt parametric representation with 2 d dlt; Character according to rotation matrix a 1 2 + a 2 2 + a 3 2 = 1 With b 1 2 + b 2 2 + b 3 2 = 1 Can get:
( h 1 h 8 - h 2 h 7 ) ( h 1 h 7 - h 7 2 x 0 + h 2 h 8 - h 8 2 x 0 ) + ( h 4 h 8 - h 5 h 7 ) ( h 4 h 7 - h 7 2 y 0 + h 5 h 8 - h 8 2 y 0 ) = 0
For two above photos, utilize following formula to find the solution principal point (x 0, y 0) initial value;
Character a according to rotation matrix 1b 1+ a 2b 2+ a 3b 3=0 can derive the solving equation of focal length:
f = - ( h 1 - h 7 x 0 ) · ( h 2 - h 8 x 0 ) - ( h 4 - h 7 y 0 ) · ( h 5 - h 8 y 0 ) h 7 h 8 - - - ( 1 )
After obtaining the initial value of principal point and focal length, further try to achieve the initial value of elements of exterior orientation; At Y is under the corner system of main shaft, tan κ = b 1 b 2 = h 2 - h 8 x 0 h 5 - h 8 y 0 , Sin ω=-b 3, Thereby the value of three rotation angle can uniquely be determined; Separate following system of linear equations and obtain X s, Y s, Z sInitial value:
h 3 = x 0 - f ( a 1 X s + b 1 Y s + c 1 Z s ) / λ h 6 = y 0 - f ( a 2 X s + b 2 Y s + c 2 Z s ) / λ λ = ( a 3 X s + b 3 Y s + c 3 Z s )
D) utilize the image coordinate of extracting in known reference mark planimetric coordinates and the image, and above-mentioned digital camera s internal and external orientation initial value of trying to achieve, carry out the high-precision calibrating of digital camera according to the tight bundle adjustment principle in photogrammetric, thereby try to achieve the exact value of digital camera s internal and external orientation; The realization non-measuring digital camera is demarcated.
CNB2004100613083A 2004-12-09 2004-12-09 Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera Expired - Fee Related CN1308652C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2004100613083A CN1308652C (en) 2004-12-09 2004-12-09 Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2004100613083A CN1308652C (en) 2004-12-09 2004-12-09 Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera

Publications (2)

Publication Number Publication Date
CN1648600A true CN1648600A (en) 2005-08-03
CN1308652C CN1308652C (en) 2007-04-04

Family

ID=34868803

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2004100613083A Expired - Fee Related CN1308652C (en) 2004-12-09 2004-12-09 Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera

Country Status (1)

Country Link
CN (1) CN1308652C (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100430690C (en) * 2006-12-19 2008-11-05 南京航空航天大学 Method for making three-dimensional measurement of objects utilizing single digital camera to freely shoot
CN101629822A (en) * 2009-08-10 2010-01-20 张征宇 Multi-camera movable photography measuring method in vibration environment
CN101551907B (en) * 2009-04-28 2011-05-04 浙江大学 Method for multi-camera automated high-precision calibration
CN1931110B (en) * 2005-08-24 2011-08-31 德固萨有限责任公司 Method of determining the shape of a dental technology object and apparatus for per-forming the method
CN103411532A (en) * 2013-08-02 2013-11-27 上海锅炉厂有限公司 Method for mounting and measuring space connecting pipes
CN103906992A (en) * 2011-11-02 2014-07-02 西门子公司 3D surface inspection system using 2D images and method
CN105783752A (en) * 2016-03-03 2016-07-20 华能澜沧江水电股份有限公司小湾水电厂 High-dam large-reservoir hydropower station flood discharge gate dynamic monitoring method and system
CN106323241A (en) * 2016-06-12 2017-01-11 广东警官学院 Method for measuring three-dimensional information of person or object through monitoring video or vehicle-mounted camera

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1297796C (en) * 2003-07-02 2007-01-31 西安交通大学 Chromatographic scanning three-dimension measuring method and device linear array photoelectric sensor
CN1194207C (en) * 2003-07-02 2005-03-23 西安邮电学院 Multiple-section synthesizing three-dimensional profile measuring method
CN1203292C (en) * 2003-08-15 2005-05-25 清华大学 Method and system for measruing object two-dimensiond surface outline

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1931110B (en) * 2005-08-24 2011-08-31 德固萨有限责任公司 Method of determining the shape of a dental technology object and apparatus for per-forming the method
CN100430690C (en) * 2006-12-19 2008-11-05 南京航空航天大学 Method for making three-dimensional measurement of objects utilizing single digital camera to freely shoot
CN101551907B (en) * 2009-04-28 2011-05-04 浙江大学 Method for multi-camera automated high-precision calibration
CN101629822A (en) * 2009-08-10 2010-01-20 张征宇 Multi-camera movable photography measuring method in vibration environment
CN101629822B (en) * 2009-08-10 2012-11-21 张征宇 Multi-camera movable photography measuring method in vibration environment
CN103906992A (en) * 2011-11-02 2014-07-02 西门子公司 3D surface inspection system using 2D images and method
CN103411532A (en) * 2013-08-02 2013-11-27 上海锅炉厂有限公司 Method for mounting and measuring space connecting pipes
CN103411532B (en) * 2013-08-02 2016-08-24 上海锅炉厂有限公司 The method measured is installed in the adapter of a kind of space
CN105783752A (en) * 2016-03-03 2016-07-20 华能澜沧江水电股份有限公司小湾水电厂 High-dam large-reservoir hydropower station flood discharge gate dynamic monitoring method and system
CN105783752B (en) * 2016-03-03 2018-09-11 华能澜沧江水电股份有限公司小湾水电厂 A kind of power stations high dam great Ku floodgate dynamic monitoring method and system
CN106323241A (en) * 2016-06-12 2017-01-11 广东警官学院 Method for measuring three-dimensional information of person or object through monitoring video or vehicle-mounted camera

Also Published As

Publication number Publication date
CN1308652C (en) 2007-04-04

Similar Documents

Publication Publication Date Title
CN108921901B (en) Large-view-field camera calibration method based on precise two-axis turntable and laser tracker
CN110672040B (en) High-precision rotation angle measuring method based on vision
CN1294533C (en) Calibration method of pick up camera or photographic camera geographic distortion
CN103743352B (en) A kind of 3 D deformation measuring method based on polyphaser coupling
CN1220866C (en) Method for calibarting lens anamorphic parameter
CN109272574B (en) Construction method and calibration method of linear array rotary scanning camera imaging model based on projection transformation
CN109544628B (en) Accurate reading identification system and method for pointer instrument
CN1801953A (en) Video camera reference method only using plane reference object image
CN110455198B (en) Rectangular spline shaft key width and diameter measuring method based on line structure light vision
CN106570907B (en) Camera calibration method and device
CN1308652C (en) Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera
CN105118086A (en) 3D point cloud data registering method and system in 3D-AOI device
CN1620153A (en) Method of implementing non-measuration digital camera calibration using plane control point field
CN106403838A (en) Field calibration method for hand-held line-structured light optical 3D scanner
CN105374067A (en) Three-dimensional reconstruction method based on PAL cameras and reconstruction system thereof
CN111707187A (en) Measuring method and system for large part
CN113610929B (en) Combined calibration method of camera and multi-line laser
WO2020113978A1 (en) Method for calculating center position of hole located on plane
CN104715106A (en) Part measuring and drawing method
CN116958218A (en) Point cloud and image registration method and equipment based on calibration plate corner alignment
CN1928490A (en) Flexible plane target for vision system scaling
CN111563936A (en) Camera external parameter automatic calibration method and automobile data recorder
CN111968182B (en) Calibration method for nonlinear model parameters of binocular camera
CN112884847B (en) Dual-camera calibration method and system
CN114820810A (en) Analysis method based on Tsai camera plane calibration algorithm

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract

Assignee: Hangzhou Taiyo Machinery Co., Ltd.

Assignor: Wuhan University

Contract record no.: 2010330002030

Denomination of invention: Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera

Granted publication date: 20070404

License type: Exclusive License

Open date: 20050803

Record date: 20101008

C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20070404

Termination date: 20131209