CN209312098U - Laser point cloud and visible images are total to optical path registration apparatus - Google Patents
Laser point cloud and visible images are total to optical path registration apparatus Download PDFInfo
- Publication number
- CN209312098U CN209312098U CN201920118110.6U CN201920118110U CN209312098U CN 209312098 U CN209312098 U CN 209312098U CN 201920118110 U CN201920118110 U CN 201920118110U CN 209312098 U CN209312098 U CN 209312098U
- Authority
- CN
- China
- Prior art keywords
- laser
- optical path
- laser scanner
- visible images
- point cloud
- 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.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model relates to a kind of laser point clouds and visible images to be total to optical path registration apparatus, it includes laser scanner end and phase generator terminal, the phase generator terminal sets gradually the first convex lens, pellicle mirror and concavees lens, and it is respectively positioned in same optical path, the second convex lens is arranged in the laser scanner end, the laser of laser scanner transmitting reflexes to pellicle mirror by reflecting mirror after the second convex lens, and concavees lens are reflexed to by pellicle mirror, the pixel data of the point cloud data of laser scanner measurement and visible images is completed into one-to-one registration effect, compared with the subsequent calculating method for registering of currently used data, from the physics optical path of DATA REASONING, the optical path of scanner and camera is combined into one, achieve the purpose that registration, registration target can be not only done directly, and it is unobvious for measured target characteristic point or without spy The case where sign point, can also smoothly complete registration purpose.
Description
Technical field
The utility model relates to laser point clouds and visual image fusion registration technique, can be used for unmanned, robot
Vision, virtual reality, building are shown and the multiple fields such as recovery.Light is total to more particularly to a kind of laser point cloud and visible images
Road registration apparatus.
Background technique
Laser radar can be fast and reliable acquisition testee space length data, utilize these range data and right
The angle-data answered can accurately obtain the 3 d space coordinate data on testee surface, since these coordinate datas are object
The discrete point set on surface, therefore the measurement data of laser radar is also known as point cloud data.Visible images data can be obtained quickly
Take testee surface color and data texturing, but image data itself and the depth distance information for not having measured target.Though
So currently based on Binocular Vision Principle, image data also available depth data, but in contrast, laser radar, which has, more may be used
The depth data leaned on.The DAS (Driver Assistant System) Zeng Yinwei of tesla depends on the erroneous judgement of image data generation unduly and causes serious
Accident, and after having a laser radar, so that it may it avoids because of erroneous judgement caused by image.By laser data and visible images number
It is a current research hotspot to make up the defect of each measurement according to information fusion is carried out.
The premise of laser point cloud and image co-registration is registration, that is, determines that each cloud coordinate is corresponding with image pixel and close
System.Have some scholars both at home and abroad at present to be studied for point cloud and image registration.The basis of these researchs is to measure
In the process, laser scanner and Visible Light Camera relative position are fixed, and then measurement obtains laser point cloud and visible alone respectively
Light image extracts the characteristic point of measured target and the characteristic point of visible images in point cloud then according to characteristic point lookup algorithm,
According to the spatial relationship of scanner and camera, the focus information of combining camera can be obtained by calculating the corresponding relationship of characteristic point
To cloud to transition matrix when image registration, all the points cloud is converted using the transition matrix, thus reach a cloud with
The purpose of pixel matching.The shortcomings that these algorithms is, if the characteristic point of measurand is unobvious or when without characteristic point, nothing
Method completes registration.And when due to calculating transition matrix, what is utilized is the relative space position relationship of scanner and camera, these
The measurement error of positional relationship will cause transition matrix, and there is also errors, and as measured target becomes at a distance from measuring device
It sharply increases greatly, eventually leading to registration result, there are large errors.
Summary of the invention
In view of the deficienciess of the prior art, the utility model provides a kind of laser point cloud optical path is total to visible images matches
The round-trip optical path of laser point cloud can be combined into one with visible images imaging optical path, reach laser point cloud and visible light by standard apparatus
Image is total to the purpose of optical path registration.
To achieve the above object, the utility model provides following technical solution: a kind of laser point cloud and visible images
Optical path registration apparatus altogether comprising laser scanner end and phase generator terminal, the phase generator terminal set gradually the first convex lens, semi-transparent
Mirror and concavees lens, and be respectively positioned in same optical path, the second convex lens, laser scanner transmitting is arranged in the laser scanner end
Laser pellicle mirror is reflexed to by reflecting mirror after the second convex lens, and concavees lens are reflexed to by pellicle mirror,
Wherein the laser of laser scanner transmitting successively passes through the second convex lens, reflecting mirror, pellicle mirror and concavees lens extremely
Object under test, and return is reflected through original optical path to laser scanner, ranging is completed, the object under test reflects natural light through recessed
Lens, pellicle mirror and the first convex lens, complete visual light imaging by camera.
The launching centre of laser scanner and the focus of the second convex lens overlap.
The reflecting surface of the reflecting mirror and the reflecting surface of pellicle mirror are oppositely arranged.
The angle of departure of the divergent rays of the concavees lensθ 2With the angle of divergence of the scanning ray of laser scannerθ 1It is equal.
Laser scanner is in the natural light that the reflected laser pulse of body surface is reflected into camera imaging with body surface
Same optical path.
Reflected laser pulse and natural light in same optical path are divided into the reflection for being back to laser scanner through pellicle mirror
Laser pulse and the natural light for being back to camera.
The utility model has the beneficial effects that by the pixel data of the point cloud data of laser scanner measurement and visible images
One-to-one registration effect is completed, compared with the subsequent calculating method for registering of currently used data, from the physics of DATA REASONING
Optical path is set out, and the optical path of scanner and camera is combined into one, and achievees the purpose that registration, can not only be done directly registration
Target, and it is unobvious for measured target characteristic point or registration purpose can also be smoothly completed without the case where characteristic point.
Detailed description of the invention
Fig. 1 is the whole design schematic diagram of the utility model.
The visible images of Fig. 2 camera shooting.
The point cloud that Fig. 3 laser scanner obtains.
Fig. 4 utilizes the effect picture after this paper device registration.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment
It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as
When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. should do broad sense reason
Solution, for example, " fixation " may be a fixed connection, may be a detachable connection, or integral；It can be mechanical connection, it can also
To be electrical connection；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary
Or the interaction relationship of two elements, unless otherwise restricted clearly.It for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and cannot manage
Solution is its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In addition, the skill between each embodiment
Art scheme can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when technical solution
It will be understood that the combination of this technical solution is not present in conjunction with there is conflicting or cannot achieve when, also not in the utility model
It is required that protection scope within.
The utility model discloses a kind of laser point clouds and visible images to be total to optical path registration apparatus comprising laser scanning
Instrument end and phase generator terminal, laser scanner end are connect with laser scanner 1, for obtaining the laser of laser scanner transmitting, and
Phase generator terminal then connects camera.
The phase generator terminal sets gradually the first convex lens, pellicle mirror and concavees lens, and is respectively positioned in same optical path, described
The second convex lens is arranged in laser scanner end, and the laser of the laser scanner transmitting is reflected after the second convex lens by reflecting mirror
Concavees lens are reflexed to pellicle mirror, and by pellicle mirror,
Wherein laser scanner, the second convex lens, reflecting mirror, pellicle mirror, concavees lens composition laser ranging optical path, camera,
First convex lens, pellicle mirror, concavees lens constitute natural light imaging optical path, two optical paths are combined into one, then obtained laser
Point cloud coordinate and image pixel coordinates are the registration relationship of same target same position, that is, reach laser point cloud and visible images
The purpose of optical path registration altogether.
Wherein the laser of laser scanner transmitting successively passes through the second convex lens, reflecting mirror, pellicle mirror and concavees lens extremely
Object under test, and return is reflected through original optical path to laser scanner, ranging is completed, the object under test reflects natural light through recessed
Lens, pellicle mirror and the first convex lens, complete visual light imaging by camera.
Convergence is parallel rays after the laser pulse planoconvex lens of laser scanner transmitting, successively by reflecting mirror and semi-transparent
Mirror, then be converted to scattered rays again by concavees lens, reaches testee surface, laser pulse after body surface reflects, from
Above-mentioned path returns in laser scanner, distance measurement function is completed, to generate the reflection point in the point of laser scanner measurement
Cloud coordinate.
When natural lighting is mapped to body surface laser reflection point, scattering light enters this registration apparatus by concavees lens, according to
It is secondary to reach camera imaging unit by pellicle mirror and convex lens, visual light imaging is completed, the picture of the reflection point in the picture is obtained
Plain coordinate.
Laser scanner launching centre is placed in the focal position of convex lens by laser scanner end, this design can be by laser
The light of the different angles of departure of scanner transmitting becomes parallel rays.At camera imaging end, the effect of convex lens be by the external world into
The parallel rays entered is changed into nature angle light, is collected in a manner of pinhole imaging system, to carry out in camera imaging unit
Imaging.
The reflecting surface of the reflecting mirror and the reflecting surface of pellicle mirror are oppositely arranged, so that the laser of laser scanner is by reflecting
Mirror reflexes to pellicle mirror, and is reflected by it to concavees lens, realizes Common-path method.
Laser scanner is in the natural light that the reflected laser pulse of body surface is reflected into camera imaging with body surface
Same optical path, to achieve the purpose that total optical path.
Reflected laser pulse and natural light in same optical path are divided into the reflection for being back to laser scanner through pellicle mirror
Laser pulse and the natural light for being back to camera, to will not influence laser scanner measurement and camera imaging.
For laser scanner, the effect of concavees lens is the laser beam for being become directional light when will emit by convex lens
Again divergent rays are become again, and according to the parameter setting of convex lens and concavees lens, the transmitting of the divergent rays of the concavees lens
Angleθ 2With the angle of divergence of the scanning ray of laser scannerθ 1It is equal.For camera imaging unit, the effect of concavees lens be by
Natural reflection light is changed into parallel rays and enters imaging system.
Embodiment
In the present embodiment, the carton being placed in simultaneously to one using the present apparatus, camera and laser scanner before wall
It measures, the image taken pictures using camera is as shown in Figure 2.Utilize laser point cloud image such as Fig. 3 of laser scanning measurement
It is shown.Image after matching is as shown in Figure 4.
As can be seen that can directly be registrated to laser point cloud and visible images using the present apparatus, any volume is not needed
Outer algorithm is registrated, and the registration error as caused by camera and scanner spatial position is reduced, and Simultaneous Registration effect is more preferable.
Embodiment is not construed as limitations of the present invention, but changes made by any spirit based on the utility model
Into should all be within the protection scope of the utility model.
Claims (6)
1. a kind of laser point cloud and visible images are total to optical path registration apparatus, it is characterised in that: it include laser scanner end with
And phase generator terminal, the phase generator terminal sets gradually the first convex lens, pellicle mirror and concavees lens, and is respectively positioned in same optical path, institute
It states laser scanner end and the second convex lens is set, the laser of laser scanner transmitting is reflexed to after the second convex lens by reflecting mirror
At pellicle mirror, and concavees lens are reflexed to by pellicle mirror,
Wherein the laser of laser scanner transmitting successively passes through the second convex lens, reflecting mirror, pellicle mirror and concavees lens to be measured
Object, and return is reflected through original optical path to laser scanner, ranging is completed, the object under test reflects natural light through recessed
Mirror, pellicle mirror and the first convex lens, complete visual light imaging by camera.
2. laser point cloud according to claim 1 and visible images are total to optical path registration apparatus, it is characterised in that: laser is swept
The focus for retouching the launching centre and the second convex lens of instrument overlaps.
3. laser point cloud according to claim 1 and visible images are total to optical path registration apparatus, it is characterised in that: described anti-
The reflecting surface of the reflecting surface and pellicle mirror of penetrating mirror is oppositely arranged.
4. laser point cloud according to claim 1 and visible images are total to optical path registration apparatus, it is characterised in that: described recessed
The angle of departure of the divergent rays of lensθ 2 With the angle of divergence of the scanning ray of laser scannerθ 1 It is equal.
5. laser point cloud according to claim 1 and visible images are total to optical path registration apparatus, it is characterised in that: laser is swept
It is same optical path that instrument, which is retouched, in the natural light that the reflected laser pulse and body surface of body surface are reflected into camera imaging.
6. laser point cloud according to claim 5 and visible images are total to optical path registration apparatus, it is characterised in that: in same
The reflected laser pulse and natural light of one optical path are divided into the reflected laser pulse for being back to laser scanner and return through pellicle mirror
To the natural light of camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920118110.6U CN209312098U (en) | 2019-01-24 | 2019-01-24 | Laser point cloud and visible images are total to optical path registration apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920118110.6U CN209312098U (en) | 2019-01-24 | 2019-01-24 | Laser point cloud and visible images are total to optical path registration apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209312098U true CN209312098U (en) | 2019-08-27 |
Family
ID=67681352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920118110.6U Expired - Fee Related CN209312098U (en) | 2019-01-24 | 2019-01-24 | Laser point cloud and visible images are total to optical path registration apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209312098U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114509776A (en) * | 2022-04-08 | 2022-05-17 | 探维科技(北京)有限公司 | Synchronous measurement device, method, equipment and medium of hardware-level image fusion system |
-
2019
- 2019-01-24 CN CN201920118110.6U patent/CN209312098U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114509776A (en) * | 2022-04-08 | 2022-05-17 | 探维科技(北京)有限公司 | Synchronous measurement device, method, equipment and medium of hardware-level image fusion system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10574963B2 (en) | Triangulation scanner and camera for augmented reality | |
| CN106127745B (en) | The combined calibrating method and device of structure light 3 D vision system and line-scan digital camera | |
| CN103492870B (en) | Cooperate with the long-range projector with the six degree of freedom laser traces device of mail message | |
| CN111435162B (en) | Laser radar and camera synchronization method, device, equipment and storage medium | |
| US9762883B2 (en) | Balancing colors in a scanned three-dimensional image | |
| CN111325801B (en) | Combined calibration method for laser radar and camera | |
| US20150373321A1 (en) | Six degree-of-freedom triangulation scanner and camera for augmented reality | |
| CN109458928A (en) | Based on scanning galvanometer and event camera laser line scanning 3D detection method and system | |
| CN105115560B (en) | A kind of non-contact measurement method of cabin volume of compartment | |
| CN110470238A (en) | A kind of hand-held laser 3 d scanner, scan method and device | |
| CN114998499A (en) | Binocular three-dimensional reconstruction method and system based on line laser galvanometer scanning | |
| CN108650447A (en) | Imaging sensor, depth data measurement head and measuring system | |
| US11692812B2 (en) | System and method for measuring three-dimensional coordinates | |
| CN105004324A (en) | Monocular vision sensor with triangulation ranging function | |
| WO2016025358A1 (en) | A six degree-of-freedom triangulation scanner and camera for augmented reality | |
| DE102017131102A1 (en) | SYSTEM FOR MEASURING SIX FREEDOM LEVELS | |
| CN107564051A (en) | A kind of depth information acquisition method and system | |
| CN209312098U (en) | Laser point cloud and visible images are total to optical path registration apparatus | |
| US20220120863A1 (en) | Three-dimensional scanning and image reconstruction thereof | |
| Sergiyenko et al. | Multi-view 3D data fusion and patching to reduce Shannon entropy in Robotic Vision | |
| CN105910627B (en) | Kinetic-simulator for spatial vision navigation sensor | |
| CN105091797B (en) | A kind of single CCD intensity correlation autocollimator | |
| CN116592766A (en) | Precise three-dimensional measurement method and device based on fusion of laser and monocular vision | |
| CN208509062U (en) | Imaging sensor and depth data measuring head | |
| EP4180837A1 (en) | Removing reflection from scanned data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190827 Termination date: 20200124 |