WO2010066236A1 - Kalibriernormal für ein bildverarbeitungssystem - Google Patents
Kalibriernormal für ein bildverarbeitungssystem Download PDFInfo
- Publication number
- WO2010066236A1 WO2010066236A1 PCT/DE2009/001714 DE2009001714W WO2010066236A1 WO 2010066236 A1 WO2010066236 A1 WO 2010066236A1 DE 2009001714 W DE2009001714 W DE 2009001714W WO 2010066236 A1 WO2010066236 A1 WO 2010066236A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- calibration standard
- measuring
- circles
- standard according
- color
- Prior art date
Links
- 238000012545 processing Methods 0.000 title claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 239000003086 colorant Substances 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 5
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
- 230000000844 anti-bacterial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000003776 cleavage reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 244000144992 flock Species 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 210000004705 lumbosacral region Anatomy 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 230000003954 pattern orientation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000007017 scission Effects 0.000 description 1
- 238000003307 slaughter Methods 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
- G01J3/52—Measurement of colour; Colour measuring devices, e.g. colorimeters using colour charts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/0295—Constructional arrangements for removing other types of optical noise or for performing calibration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
- G01J3/52—Measurement of colour; Colour measuring devices, e.g. colorimeters using colour charts
- G01J3/522—Measurement of colour; Colour measuring devices, e.g. colorimeters using colour charts circular colour charts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration
- G01N21/274—Calibration, base line adjustment, drift correction
- G01N21/278—Constitution of standards
Definitions
- the invention relates to a calibration standard for an image processing system as an optical measuring device.
- a conventional image processing system as an optical measuring device essentially comprises an electronic camera, a computer (electronic data processing system), such as a computer with operating system, an imaging system and a software for image acquisition and evaluation.
- a calibration body and calibration method for a camera system uses a calibration body on a flat plate with a regular two-dimensional pattern.
- the regularity is defined by the intersections (halftone dots) that form in a system of intersecting flocks of parallel lines.
- at least one further two-dimensional geometric object is arranged whose center of gravity does not coincide with the geometric center of gravity of the first geometric object coincides, thus outputting directional information.
- the first geometric object is basically a checkerboard pattern and the second object can be circles or rectangles.
- Document DE 10 2006 055 758 A1 discloses a method for calibrating cameras and projectors, wherein for geometric calibration a known plane checkerboard pattern is marked, in which at least one of the crossing points is marked with a position indication readable by image processing of the images of the checkerboard pattern Orientation of the location of the crossing point in the form of bright points in dark fields and dark points in bright fields within the checkerboard pattern is used.
- the size of the fields and thus the distance of the edges is known and is used for calibration.
- pattern fields of lines and / or structure patterns with periodic light / dark structures and colorimetric calibration color patterns with at least four color references are used in the field of view of the image sensor.
- the image processing system is calibrated for the optical testing of all or part of existing samples of wood, wherein the calibration body has approximately the cross-sectional shape of the specimens. This method can therefore only be used if the test object has a similar shape as the calibration body.
- the object of the invention is to develop a calibration standard for an image processing system as an optical measuring device, which ensures high accuracy and the correct determination of brightness and / or color values for two-dimensional measurements.
- a calibration standard according to the invention has at least four dimensional circles and at least two color rows on a dimensionally stable, flat surface.
- the color series consist of at least four color fields with different colors.
- the calibration standard includes at least two gray scale wedges.
- the color rows and / or gray levels are arranged so that their gradation is opposite.
- At least one color field which corresponds to the color of a background of the optical recording, can be arranged on the surface.
- the individual colors of the color series originate from a standardized color system, such as the Pantone Matching System, the RAL Color system, the CIE (Commission International d'Elairage) - standard color system or the RGB color system.
- a standardized color system such as the Pantone Matching System, the RAL Color system, the CIE (Commission International d'Elairage) - standard color system or the RGB color system.
- the determination of measurement conditions and the comparison with the imaging system of the EDP, in particular of a monitor, in the sense of a white balance take place during the calibration procedure in order to normalize the measurement conditions.
- the lighting devices are aligned in the course of the adjustments for a uniform, optimal illumination of the recording area.
- the measuring circles can be configured as full circles of defined diameter with lines drawn over the diameter vertically, horizontally and over both diagonals, the center of the measuring circles resulting from the center of gravity of the full circle.
- the graduated circles consist of an arrangement of points whose position corresponds to the points of intersection of the lines in the full circle, which are drawn vertically over the diameter in the full circle, horizontally and over both diagonals.
- the center of the circle has a marker.
- the lengths of the vertical, horizontal and both diagonal lines are determined as the diameter of the circle.
- the distance between two diametrically arranged points in vertical, horizontal and diagonal alignment is determined during calibration.
- the high symmetry of the points of the respective measuring circle makes it possible to determine the distances with an accuracy in the subpixel range with simple statistical methods.
- the parameters of the camera system are directly included in the calibration, whereby optical distortions in the recording are also taken into account by means of the known distances of diagonals of the dimensional circles and of the diagonals between the centers of the dimensional circles.
- the diameter of the measuring circles is chosen so that it corresponds to a maximum distance between two boundary lines, such as the thickness of a layer to be measured.
- the position of the measuring circles is selected so that their distance from each other is an integer multiple of their diameter.
- the distances of the dimensional circles to each other are chosen so that they are greater than in the recording area maximum to be measured distances.
- the distances between two neighboring dimensional circles are determined in each case in a horizontal, orthogonal and diagonal direction.
- At least two color rows, at least two gray scale wedges, a color field corresponding to the background color and at least four dimensional circles are arranged on the dimensionally stable planar surface.
- the color rows are preferably horizontal and the gray scale wedges vertically and arranged in opposite directions.
- the calibration standard is preferably realized by means of screen or digital printing on known multilayer compact disks with an aluminum core, as a dimensionally stable, flat surface with a low coefficient of thermal expansion.
- These compact plates can additionally be equipped with an antibacterial coating, so that the use in food processing plants is hygienically safe.
- the calibration standard is positioned at the pickup position instead of an object with details to be measured.
- the calibration is carried out by making an optical recording of the calibration standard, this on the An imaging system of the EDP, in particular a monitor reproduced on the monitor, the pixel spacing of the imaged dimensional circles in horizontal, vertical and diagonal direction to each other and the lengths of the drawn lines or the distances of the corresponding points with the known defined lengths and distances is determined and this be correlated with each other.
- the calibration standard can be used in particular for the calibration of systems for automatic evaluation and classification as well as the determination of qualities and quantities of carcasses by means of optical image processing.
- this is done by an optical recording in the cleavage plane, as in the region of the ham and lumbar region of the hanging on a hook carcass half, with the help of an electronic camera.
- the created digital image is subjected in a known manner with the aid of a computerized image analysis, in which contours of meat and fat tissue and bone are detected. On the basis of the contour curves, individual distances are measured photogrammetrically, distances and areas averaged over contour areas, and optionally angles.
- the calibration standard is positioned at the receiving position instead of the slaughter animal half hanging from the hook on a tube track.
- this is done by means of hooks on the compact plate, which are mounted in the tube path and there existing guide tube.
- Fig. 1 as a schematic representation of a calibration standard with four measuring circuits
- Fig. 2 as a schematic representation of a calibration standard with eight dimensional circuits explained in more detail.
- 1 shows a calibration standard on a dimensionally stable flat surface 1, preferably with a matt white surface, two color rows 2 (2.1, 2.2), two gray scale wedges 3 (3.1, 3.2) and four dimension circles 4 (4.1, 4.2, 4.3, 4.4). on.
- a color field 5 is additionally arranged, whose color, for example blue, corresponds to that of a background for the optical recording of the object to be measured.
- the color series 2.1; 2.2 have four color fields whose colors correspond to the essential colors to be distinguished occurring in the image area of the optical image to be measured.
- the colors from a bright orange to a dark red are of importance in order to be able to assess the proportions of skin, fat and different muscle tissues.
- the gradations of the color series 2 (2.1, 2.2) and the gray scale wedges 3 (3.1, 3.2) are preferably arranged in opposite directions, so that potential color distortions and differences in brightness can be reduced by adjusting the illumination system and distortions are taken into account by the camera system during calibration.
- the diameter of the measuring circles 4 (4.1, 4.2, 4.3, 4.4) is selected so that it corresponds to a maximum occurring value of a significant detail to be measured in the image area.
- the diameter of the circles 4 corresponds in particular to the maximum thickness of the fat.
- the distance of the rectangularly arranged measuring circles 4 (4.1, 4.2, 4.3, 4.4) from each other is in each case an integer multiple of the diameter.
- a horizontal distance is shown, the threefold, a vertical distance four times and a di agonal distance is five times the chosen diameter of the measuring circles 4 (4.1, 4.2 / 4.3, 4.4).
- the distances of the measuring circles 4 (4.1, 4.2, 4.3, 4.4) from one another are thus greater than the maximum lengths of the measurement to be measured in the recording area of the electronic camera, such as a maximum muscle thickness of the pig.
- the vertical 6, the diagonal 8 (8.1, 8.2) and the horizontal 7 subdivide the measuring circles 4 (4.1, 4.2, 4.3, 4.4) into sections at an angle of 45 degrees.
- the respective distance of the measuring circuits 4.1; 4.2; 4.5; 4.6; 4.3 and 4.4 to each other is the same and corresponds to an integer multiple of their diameter.
- the measuring circuits 4.1; 4.2, 4.5 and 4.6 and 4.5; 4.6; 4.3 and 4.4 are arranged like a square.
- the measuring circles 4 (4.1, 4.2, 4.3, 4.4, 4.5, 4.6, 4.7, 4.8) are not designed as a full circle, but, as shown again on the measuring circle 4.2, at the points of intersection of the verticals 6 shown in FIG , the horizontal 7 and the diagonal 8 (8.1; 8.2) with the full circle, points arranged.
- each circle 4 (4.1, 4.2, 4.3, 4.4, 4.5, 4.6, 4.7, 4.8) has a marker 9 for its identification.
- the calibration standard of FIG. 2 is used to calibrate the image processing system as an optical measuring device when greater lengths and distances of an object or detail from an object are to be determined with high accuracy.
- the calibration standard of Figure 2 with the square and arranged in the center of the square, the circles 4.1; 4.2, 4.5; 4.6 and dimension circle 4.7 and 4.5; 4.6; 4.3; 4.4 and 4.8, by adding one or more squares, depending on lengths and distances to be determined, by horizontally mirroring them over the centers of two dimensional circles such as 4.1 and 4.2 or / and 4.3 and 4.4.
- the calibration standard can also be expanded by means of vertical mirroring via the measuring circles 4.1, 4.5 and 4.3 or / and 4.2, 4.6 and 4.4.
- the adaptation to the measuring task is performed to determine the lengths and distances as well as the accuracy.
Landscapes
- Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP09808929A EP2376866A1 (de) | 2008-12-09 | 2009-12-04 | Kalibriernormal für ein bildverarbeitungssystem |
DE112009003324T DE112009003324A5 (de) | 2008-12-09 | 2009-12-04 | Kalibriernormal für ein bildverarbeitungssystem |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202008016206.8 | 2008-12-09 | ||
DE202008016206U DE202008016206U1 (de) | 2008-12-09 | 2008-12-09 | Kalibriernormal für ein Bildverarbeitungssystem |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010066236A1 true WO2010066236A1 (de) | 2010-06-17 |
Family
ID=40435967
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2009/001714 WO2010066236A1 (de) | 2008-12-09 | 2009-12-04 | Kalibriernormal für ein bildverarbeitungssystem |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2376866A1 (de) |
DE (3) | DE202008016206U1 (de) |
WO (1) | WO2010066236A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015122842B4 (de) | 2015-12-27 | 2019-02-07 | Faro Technologies, Inc. | Verfahren zum Kalibrieren einer 3D-Messvorrichtung mittels einer Kalibrierplatte |
CN106092057B (zh) * | 2016-07-28 | 2018-05-29 | 南昌航空大学 | 一种基于四目立体视觉的直升机旋翼桨叶动态轨迹测量方法 |
US20200014909A1 (en) | 2018-07-03 | 2020-01-09 | Faro Technologies, Inc. | Handheld three dimensional scanner with autofocus or autoaperture |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4218971C2 (de) | 1992-06-10 | 1994-09-22 | Grecon Greten Gmbh & Co Kg | Verfahren zur Kalibrierung eines Bildverarbeitungssystems |
EP1339240A2 (de) * | 2002-02-14 | 2003-08-27 | Canon Kabushiki Kaisha | Verfahren und Vorrichtung zur Informationsverarbeitung, und Aufzeichnungsmedium |
US6734973B1 (en) * | 2001-02-06 | 2004-05-11 | The Regents Of The University Of California | Method and apparatus for determining plant nutrient status |
DE10332161A1 (de) | 2003-07-15 | 2005-02-03 | Daimlerchrysler Ag | Kalibrationskörper und Kalibrationsverfahren für ein Kamerasystem |
DE102004033585A1 (de) * | 2004-07-06 | 2006-02-02 | Axana-Müller, Susi | Verfahren und System zur automatischen Bestimmung von Farben sowie ein entsprechendes Computerprogramm und ein entsprechendes computerlesbares Speichermedium |
DE102006055758A1 (de) | 2006-11-25 | 2008-05-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Kalibrierung von Kameras und Projektoren |
-
2008
- 2008-12-09 DE DE202008016206U patent/DE202008016206U1/de not_active Expired - Lifetime
-
2009
- 2009-10-24 DE DE102009050604A patent/DE102009050604A1/de not_active Withdrawn
- 2009-12-04 EP EP09808929A patent/EP2376866A1/de not_active Withdrawn
- 2009-12-04 DE DE112009003324T patent/DE112009003324A5/de not_active Withdrawn
- 2009-12-04 WO PCT/DE2009/001714 patent/WO2010066236A1/de active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4218971C2 (de) | 1992-06-10 | 1994-09-22 | Grecon Greten Gmbh & Co Kg | Verfahren zur Kalibrierung eines Bildverarbeitungssystems |
US6734973B1 (en) * | 2001-02-06 | 2004-05-11 | The Regents Of The University Of California | Method and apparatus for determining plant nutrient status |
EP1339240A2 (de) * | 2002-02-14 | 2003-08-27 | Canon Kabushiki Kaisha | Verfahren und Vorrichtung zur Informationsverarbeitung, und Aufzeichnungsmedium |
DE10332161A1 (de) | 2003-07-15 | 2005-02-03 | Daimlerchrysler Ag | Kalibrationskörper und Kalibrationsverfahren für ein Kamerasystem |
DE102004033585A1 (de) * | 2004-07-06 | 2006-02-02 | Axana-Müller, Susi | Verfahren und System zur automatischen Bestimmung von Farben sowie ein entsprechendes Computerprogramm und ein entsprechendes computerlesbares Speichermedium |
DE102006055758A1 (de) | 2006-11-25 | 2008-05-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Kalibrierung von Kameras und Projektoren |
Non-Patent Citations (1)
Title |
---|
"testpattern018dz.jpg", 9 August 2005 (2005-08-09), XP002577314, Retrieved from the Internet <URL:http://img302.imageshack.us/i/testpattern018dz.jpg/> [retrieved on 20100409] * |
Also Published As
Publication number | Publication date |
---|---|
DE102009050604A1 (de) | 2010-06-17 |
DE112009003324A5 (de) | 2012-01-26 |
EP2376866A1 (de) | 2011-10-19 |
DE202008016206U1 (de) | 2009-03-12 |
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