WO2021007944A1 - 3d结构光模组支架标定方法、装置和设备 - Google Patents

3d结构光模组支架标定方法、装置和设备 Download PDF

Info

Publication number
WO2021007944A1
WO2021007944A1 PCT/CN2019/105536 CN2019105536W WO2021007944A1 WO 2021007944 A1 WO2021007944 A1 WO 2021007944A1 CN 2019105536 W CN2019105536 W CN 2019105536W WO 2021007944 A1 WO2021007944 A1 WO 2021007944A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmitter
receiving module
calibration
infrared
infrared receiving
Prior art date
Application number
PCT/CN2019/105536
Other languages
English (en)
French (fr)
Inventor
晏文敬
李阳
Original Assignee
南昌欧菲生物识别技术有限公司
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 南昌欧菲生物识别技术有限公司 filed Critical 南昌欧菲生物识别技术有限公司
Publication of WO2021007944A1 publication Critical patent/WO2021007944A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

Definitions

  • This application relates to the technical field of camera modules, in particular to a method, device and equipment for calibration of a 3D structured light module bracket.
  • 3D vision technology has also brought a new development direction to the camera module, for example, 3D face recognition can be performed through a mobile phone camera.
  • 3D face recognition can be performed through a mobile phone camera.
  • it is particularly important to calibrate the 3D structured light module.
  • the traditional 3D structured light module bracket calibration method mainly adjusts the relative position relationship between the infrared receiving module and the transmitter.
  • the infrared structured light projected by the transmitter onto the marking map is collected by the industrial camera, and an infrared light source lamp is installed next to the industrial camera to provide a light source for the infrared receiving module to collect images.
  • a method, device and equipment for calibration of a 3D structured light module bracket are provided.
  • a calibration method for a 3D structured light module bracket including the following steps: controlling a transmitter to project infrared light to a calibration board and receiving an infrared image, the infrared image being taken by the infrared receiving module to the calibration board after the infrared light is projected Obtain the position of the preset mark point in the infrared image, calculate the offset between the position of the preset mark point and the set position of the preset mark point; The infrared receiving module and the transmitter are adjusted in position.
  • a calibration device for a 3D structured light module bracket comprising: an image acquisition module for controlling a transmitter to project infrared light to a calibration board and receiving an infrared image, the infrared image being projected by the infrared receiving module
  • the calibration board is obtained by shooting;
  • the offset calculation module is used to obtain the position of the preset mark point in the infrared image, and calculate the deviation between the position of the preset mark point and the set position of the preset mark point Shift; a position adjustment module for adjusting the position of the infrared receiving module and the transmitter according to the offset.
  • a 3D structured light module bracket calibration equipment comprising a calibration machine, a calibration board and a fixing frame.
  • the calibration machine is used to place the infrared receiving module and transmitter of the 3D structured light module.
  • the fixing frame is arranged at In the calibration machine, the calibration board is fixedly arranged on the fixed frame, and the calibration machine is also used to control the transmitter to project infrared light onto the calibration board and receive infrared images.
  • the infrared light passes through Obtained by the infrared receiving module photographing the calibration plate after projecting infrared light; and acquiring the position of the preset mark point in the infrared image, and calculating the position of the preset mark point and the difference between the preset mark point
  • the offset of the position is set, and the positions of the infrared receiving module and the transmitter are adjusted according to the offset.
  • Figure 1 is a schematic diagram of the structure of a conventional 3D structured light module calibration equipment
  • Figure 2 is a schematic diagram of a marking plate in the calibration of a conventional 3D structured light module
  • FIG. 3 is a schematic diagram of the structure of a calibration device for a 3D structured light module bracket in an embodiment
  • FIG. 4 is a schematic diagram of a calibration board in a 3D structured light module bracket calibration equipment in an embodiment
  • FIG. 5 is a partial structure diagram of a calibration machine in a 3D structured light module bracket calibration equipment in an embodiment
  • FIG. 6 is a flowchart of a method for calibrating a 3D structured light module bracket in an embodiment
  • FIG. 7 is a flow chart of adjusting the positions of the infrared receiving module and the transmitter according to the offset in an embodiment
  • FIG. 8 is a block diagram of the structure of a calibration device for a 3D structured light module bracket in an embodiment.
  • Figure 1 shows the structure diagram of the conventional 3D structured light module bracket calibration (AA) equipment.
  • the equipment includes AA machine 1, transparent char 2, diffusion film 3, infrared light source lamp 4, industrial camera 5, IR (Infrared, infrared ) Module 6 and projector (transmitter) module 7.
  • AA machine 1 transparent char 2
  • diffusion film 3 diffusion film 3
  • infrared light source lamp 4 industrial camera 5
  • IR Infrared, infrared
  • projector projector
  • AA machine 1 calculates the relative position relationship between IR module 6 and projector module 7 through shift1 and shift2, which serves as the basis for adjusting the position of the module.
  • the black patches on the four corners of the transparent char 2 are round patches, and the patch shape can be other shapes (squares, triangles, etc.).
  • the conventional 3D structured light module bracket calibration equipment must rely on the industrial camera 5 to calculate the angle offset of the Project module, and the calculation efficiency and economic benefits are low.
  • a 3D structured light module bracket calibration equipment including a calibration machine 110, a calibration plate 120 and a fixing frame 130.
  • the calibration machine 110 is used to place the infrared of the 3D structured light module.
  • the receiving module 210 and the transmitter 220, the fixing frame 130 is set on the calibration machine 110, and the calibration board 120 is fixed on the fixing frame 130.
  • the calibration machine 110 is also used to control the transmitter 220 to project infrared light to the calibration board 120 to receive infrared light.
  • the infrared image is captured by the infrared receiving module 210 on the calibration board 120 after projecting infrared light; and the calibration machine 110 also obtains the position of the preset mark point in the infrared image, and calculates the position of the preset mark point and The offset of the set position of the mark point is preset, and the position of the infrared receiving module 210 and the transmitter 220 is adjusted according to the obtained offset.
  • the calibration board 120 is used as a 3D structured light module for projection and image acquisition.
  • the specific structure of the calibration board 120 is not unique and does not require special marking, and only a blank board is used for image projection.
  • the calibration machine 110 controls the transmitter 220 to output infrared light carrying preset marking points and projecting it to the calibration board 120, so that the infrared receiving module 210 can perform image acquisition to obtain the infrared light carrying the marked points Infrared image.
  • the calibration board 120 is a blank rectangular calibration board. Specifically, after the emitter 220 projects the infrared light onto the calibration plate 120, preset marking points are formed on the four corner areas of the calibration plate 120. A blank rectangular calibration board is used for image projection, and preset marking points are formed on the four corners of the calibration board 120, which will not affect the subsequent 3D structure extraction and improve the accuracy of module calibration.
  • the calibration plate 120 is disposed along the projection direction perpendicular to the emitter 220.
  • the infrared receiving module 210 and the transmitter 220 can be placed on the horizontally designed test platform of the calibration machine 110, the projection surface of the calibration plate 120 is also arranged in the horizontal direction, and the transmitter 220 is projected from the vertical upward direction.
  • the infrared light reaches the projection surface of the calibration plate 120.
  • the calibration board 120 is arranged along the projection direction perpendicular to the transmitter 220 to ensure that the image projected by the transmitter 220 is displayed on the calibration board 120 clearly and completely, which improves the accuracy of module calibration.
  • the calibration machine 110 After receiving the infrared image captured by the infrared receiving module 210, the calibration machine 110 performs image recognition processing on the infrared image, and extracts the position of the preset mark point in the image. Then the calibration machine 110 calculates the offset according to the position of the preset marking point and the set position of the preset marking point, and adjusts the position between the infrared receiving module 210 and the transmitter 220 according to the offset. Among them, the 3D structured light module will be set with a mask (mark) on the lens of the transmitter 220 when it leaves the factory. When the infrared light is emitted, the position coordinates of the four corners of the calibration plate 120 are determined. The calibration machine The station 110 may pre-store the set position of the preset mark point.
  • the position of the preset mark point has a certain offset when the infrared light is projected on the calibration plate 120.
  • the set position coordinates are determined before The relative position of the infrared receiving module 210 and the transmitter 220 is adjusted by the offset from the actual position of the collected preset mark point.
  • the calibration board 120 as a blank rectangular calibration board, and the preset marking points are formed in the four corners of the calibration board 120 as an example, the four marking points in the image projected by the transmitter 220 can be set at the four corners of the calibration board 120 respectively.
  • a three-axis XYZ coordinate system is established, and the infrared receiving module 210 and the transmitter 220 are both located in the XY plane of the three-axis XYZ coordinate system.
  • the calibration machine 110 can obtain the offset of the mark point according to the position of the preset mark point in the infrared image and the set position of the preset mark point, and then obtain the infrared receiving module 210 and the transmitter 220 in the X and Y directions The offset of is used as a reference basis for adjusting the position of the infrared receiving module 210 and the transmitter 220.
  • the calibration machine 110 can also adjust the position of the infrared receiving module 210 and the transmitter 220 in the Z-axis direction by combining the offset of the infrared receiving module 210 and the transmitter 220 on the Z axis.
  • the above-mentioned 3D structured light module bracket calibration equipment uses the calibration machine 110 to control the transmitter 220 to project infrared light to the calibration board 120, and receives the infrared image obtained by the infrared receiver module 210 shooting the calibration board 120 after the infrared light is projected. Then the calibration machine 110 calculates the offset between the position of the preset mark point and the set position of the preset mark point according to the infrared image, and adjusts the position of the infrared receiving module 210 and the transmitter 220 according to the obtained offset.
  • the relationship has improved the productivity per unit time under the same equipment environment, which has a good socio-economic effect.
  • the calibration efficiency is improved and the cost is low.
  • the calibration machine 110 includes a body 112, a moving mechanism 114, a connecting device and a controller (not shown in the figure), and the moving mechanism 114 is installed in the body 112 and used to place the infrared receiving module 210 and the transmitter 220 and drive the infrared receiving module 210 and the transmitter 220 to move; the connecting device is installed in the moving mechanism 114, and the controller is electrically connected to the infrared receiving module through the connecting device 210, and electrically connect the transmitter 220 through the connecting device.
  • the type of controller is not unique.
  • the controller is an MCU (Micro Control Unit, Micro Control Unit). Use MCU for module calibration control with high reliability.
  • the controller can be arranged inside the body 112, and the connecting device includes a first connecting terminal 116 and a second connecting terminal 118.
  • the controller is electrically connected to the transmitter 220 through the first connecting terminal 116, and is electrically connected to the infrared receiver through the second connecting terminal 118.
  • Module 210 Specifically, after the controller controls the transmitter 220 to project infrared light onto the calibration plate 120, it receives the infrared image captured by the infrared receiving module 210. After the controller calculates the offset of the preset marking point according to the infrared image, it controls the moving mechanism 114 to move the transmitter 220 according to the offset, thereby adjusting the positions of the transmitter 220 and the infrared receiving module 210.
  • the controller receives the infrared image acquired by the infrared receiving module 210 through the connecting device, and after analyzing the offset, controls the moving mechanism 114 according to the offset to adjust the relative position of the infrared receiving module 210 and the transmitter 220 ,
  • the operation is simple and reliable.
  • the calibration machine 110 further includes an interactive device connected to the controller, and the interactive device is disposed on the outer surface of the body 112.
  • the tester can control the module calibration operation by inputting instructions through the interactive device, or make the controller extract relevant information and display it through the interactive device for the tester to view.
  • testers can perform calibration operation control and data viewing through the interactive device, which improves the convenience of module calibration operations.
  • the interactive device includes a keyboard and a display screen connected to the controller.
  • the display screen may be an LCD (Liquid Crystal Display, liquid crystal display) display screen or a digital display tube.
  • Testers use the keyboard to input information, which can control the calibration operation of the module, and input instructions to control the controller to extract the required data and send it to the display screen for display.
  • the interactive device is a touch display screen.
  • Testers can achieve information interaction by performing touch operations on the touch screen.
  • Information interaction and calibration control through the touch screen can further improve the convenience of module calibration operations.
  • an XYZ three-axis coordinate system is established, so that the infrared receiving module 210 and the transmitter 220 are both located in the XY plane of the XYZ three-axis coordinate system, and the calibration plate 120 is parallel to the XY plane.
  • the calibration machine 110 adjusts the relative positions of the infrared receiving module 210 and the transmitter 220 on the X and Y axes according to the offset between the position of the preset mark point and the set position of the preset mark point.
  • the X axis is perpendicular to the Y axis
  • the Z axis is perpendicular to the XY plane.
  • the relative position of the infrared receiving module 210 and the transmitter 220 on the XOY plane is adjusted in combination with the coordinate axis, and the operation is simple and accurate.
  • the 3D structured light module bracket calibration equipment further includes a range finder connected to the calibration machine 110.
  • the distance finder may be specifically arranged above the calibration machine 110.
  • the detection and infrared receiving module 210 and the transmitter 220 The distance in the Z-axis direction.
  • the calibration machine 110 is also used to receive the distance between the infrared receiver module 210 and the transmitter 220 in the Z-axis direction measured by the rangefinder; The distance of the direction, the offset of the infrared receiving module 210 and the transmitter 220 in the Z-axis direction is calculated; according to the offset of the infrared receiving module 210 and the transmitter 220 in the Z-axis direction, adjust the infrared receiving module 210 and the transmitter The relative position of 220 on the Z axis.
  • the rangefinder may be a laser rangefinder.
  • the laser rangefinder is fixed above the calibration machine 110, and the distance between the rangefinder and the center of the lens of the infrared receiving module 210 is Z1, and the distance between the rangefinder and the transmitter 220
  • the distance between the infrared receiving module 210 and the transmitter 220 measured by the rangefinder is also used to determine that the infrared receiving module 210 and the transmitter 220 are in the Z axis direction.
  • adjust the relative position of the infrared receiving module 210 and the transmitter 220 on the Z-axis to realize the infrared receiving module 210 and the transmitter 220 The spatial relative position adjustment improves the accuracy and comprehensiveness of the calibration of the 3D structured light module bracket.
  • the calibration board 120 does not require special marking, only a piece of white paper with a relatively high degree of flatness is enough, the infrared receiving module 210 shoots as far as the image above the module
  • the white icon is fixed on the board, the transmitter 220 is projected into the infrared image, and the calibration machine 110 uses algorithms to find the special mark points marked in the infrared image, and calculates X and Y according to the actual position of the found mark points in the infrared image
  • the direction deviation is calculated according to the relative position of the infrared receiving module 210 and the transmitter 220 at the same time, and finally the module position is adjusted according to the deviation position.
  • the improved calibration process eliminates the need to use an industrial camera to calculate the position correspondence, eliminates the system bottleneck of the industrial camera in the calibration process, and enables the calculation of the relative position of the infrared receiving module 210 and the transmitter 220 to be implemented directly through software algorithms.
  • Significantly improve production efficiency can also save economic resources, can greatly increase the unit time production capacity under the same equipment environment, and have a good socio-economic effect.
  • only special marks such as small squares, need to be projected on the four corners of the calibration plate 120, and because the mark points are located at the four corners of the calibration plate 120, the actual extraction of 3D structures does not use boundary values to ensure accuracy. Perform analysis, so it does not affect the extraction of 3D structure.
  • a calibration method for a 3D structured light module bracket is also provided, which includes the following steps:
  • Step S110 Control the transmitter to project infrared light to the calibration board and receive the infrared image.
  • the infrared image is obtained by photographing the calibration plate after projecting infrared light through the infrared receiving module.
  • Step S120 Obtain the position of the preset mark point in the infrared image, and calculate the offset between the position of the preset mark point and the set position of the preset mark point.
  • Step S130 Adjust the position of the infrared receiving module and the transmitter according to the offset.
  • the calibration machine can control the transmitter to project infrared light and receive the infrared image taken by the infrared receiving module, and perform image analysis and processing on the infrared image, and calculate the offset to perform the position of the infrared receiving module and the transmitter. Adjustment.
  • the calibration board is used as a 3D structured light module for projection and image acquisition. The specific structure of the calibration board is not unique.
  • the calibration board is a blank rectangular calibration board. After the emitter projects the infrared light to the calibration plate, preset marking points are formed on the four corners of the calibration plate. The setting relationship between the calibration plate and the 3D structured light module is not unique.
  • the calibration plate is arranged along the projection direction perpendicular to the emitter.
  • the calibration machine After receiving the infrared image taken by the infrared receiving module, the calibration machine performs image recognition processing on the infrared image, and extracts the position of the preset mark point in the image. Then the calibration machine calculates the offset according to the position of the preset mark point and the pre-stored set position, and then adjusts the position between the infrared receiving module and the transmitter.
  • the aforementioned 3D structured light module bracket calibration method controls the transmitter to project infrared light to the calibration board, and receives the infrared image obtained by the infrared receiver module shooting the calibration board after the infrared light is projected. Then the calibration machine calculates the offset between the position of the preset mark point and the set position of the preset mark point according to the infrared image, and adjusts the position of the infrared receiving module and the transmitter according to the obtained offset.
  • Transmitter projected by infrared receiver module to project infrared light to the infrared image after calibration board analyze the offset to adjust the position of infrared receiver module and transmitter, no need to use industrial camera to calculate the position correspondence relationship, improve the equality
  • the productivity per unit time in the equipment environment has good socio-economic effects.
  • the calibration efficiency is improved and the cost is low.
  • step S130 includes step S132: adjusting the relative positions of the infrared receiving module and the transmitter on the X and Y axes according to the offset between the position of the preset mark point and the set position of the preset mark point. According to the offset between the position of the preset mark point and the set position of the preset mark point, the relative position of the infrared receiver module and the transmitter on the XOY plane is adjusted in combination with the coordinate axis, which is simple and accurate.
  • step S130 further includes step S134 to step S138.
  • Step S134 Receive the distances from the infrared receiving module and the transmitter in the Z-axis direction measured by the rangefinder.
  • Step S136 According to the distance between the rangefinder and the infrared receiving module and the transmitter in the Z-axis direction, the offset of the infrared receiving module and the transmitter in the Z-axis direction is calculated.
  • Step S138 Adjust the relative position of the infrared receiving module and the transmitter on the Z axis according to the offset of the infrared receiving module and the transmitter in the Z axis direction.
  • step S132 is to adjust the relative position of the infrared receiver module and transmitter on the X axis and Y axis
  • step S134 to step S138 are to adjust the relative position of the infrared receiver module and transmitter on the Z axis.
  • the two can be performed at the same time, which can be to adjust the relative position on the X and Y axes first, and then adjust the relative position of the Z axis; or adjust the relative position on the Z axis first, and then adjust the relative position on the X and Y axis. position.
  • the distance between the infrared receiving module and the transmitter measured by the rangefinder is also used to determine the offset of the infrared receiving module and the transmitter in the Z-axis direction.
  • the offset of the receiving module and the transmitter in the Z-axis direction adjusts the relative position of the infrared receiving module and the transmitter on the Z-axis, realizing the adjustment of the spatial relative position of the infrared receiving module and the transmitter, and improving the 3D structured light model The accuracy and comprehensiveness of group bracket calibration.
  • a 3D structured light module bracket calibration device which includes an image acquisition module 310, an offset calculation module 320 and a position adjustment module 330.
  • the image acquisition module 310 is used to make the transmitter project infrared light to the calibration board and receive the infrared image. Among them, the infrared image is obtained by photographing the calibration plate after projecting infrared light through the infrared receiving module.
  • the offset calculation module 320 is used to obtain the position of the preset mark point in the infrared image, and calculate the offset between the position of the preset mark point and the set position of the preset mark point.
  • the position adjustment module 330 is used to adjust the position of the infrared receiving module and the transmitter according to the offset.
  • an XYZ three-axis coordinate system is established, so that the infrared receiving module and the transmitter are both located in the XY plane of the XYZ three-axis coordinate system, and the calibration plate is parallel to the XY plane.
  • the position adjustment module 330 adjusts the relative positions of the infrared receiving module and the transmitter on the X and Y axes according to the offset between the position of the preset mark point and the set position of the preset mark point.
  • the position adjustment module 330 also receives the distances from the infrared receiver module and the transmitter in the Z-axis direction measured by the rangefinder; The distance of the direction, the offset of the infrared receiving module and the transmitter in the Z-axis direction is calculated; according to the offset of the infrared receiving module and the transmitter in the Z-axis direction, adjust the relative of the infrared receiving module and the transmitter in the Z-axis position.
  • Each module in the above-mentioned 3D structured light module bracket calibration device can be implemented in whole or in part by software, hardware and a combination thereof.
  • the above modules may be embedded in the form of hardware or independent of the processor in the computer equipment, or may be stored in the memory of the computer equipment in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • the above-mentioned 3D structured light module bracket calibration device controls the transmitter to project infrared light to the calibration board, and receives the infrared image obtained by the infrared receiving module shooting the calibration board after the infrared light is projected. Then the calibration machine calculates the offset between the position of the preset mark point and the set position of the preset mark point according to the infrared image, and adjusts the position of the infrared receiving module and the transmitter according to the obtained offset.
  • Transmitter projected by infrared receiver module to project infrared light to the infrared image after calibration board analyze the offset to adjust the position of infrared receiver module and transmitter, no need to use industrial camera to calculate the position correspondence relationship, improve the equality
  • the productivity per unit time in the equipment environment has good socio-economic effects.
  • the calibration efficiency is improved and the cost is low.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

一种3D结构光模组支架标定方法、装置和设备，该方法包括：控制发射器(220)投影红外光至标定板(120)，并接收红外图像，红外图像是通过红外接收模组(210)对投影红外光后的标定板(120)进行拍摄得到的，获取红外图像中预设标记点的位置，计算预设标记点的位置与预设标记点的设定位置的偏移量，根据偏移量对红外接收模组(210)和发射器(220)进行位置调整。

Description

3D结构光模组支架标定方法、装置和设备
本申请要求于2019年7月15日提交中国专利局，申请号为201910635441.1，申请名称为“3D结构光模组支架标定方法、装置和设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及摄像头模组技术领域，特别是涉及一种3D结构光模组支架标定方法、装置和设备。
背景技术
随着科技的发展和社会的不断进步，人们在日常生活和工作中对图像采集的需求越来越大。3D视觉技术的发展也给摄像头模组带来了一个新的发展方向，例如可以通过手机摄像头来进行3D人脸识别。而为了确保3D摄像的准确，对3D结构光模组进行标定尤为重要。
传统的3D结构光模组支架标定方法主要是调整红外接收模组和发射器的相对位置关系。通过工业相机采集发射器投影到标记图上的红外结构光，在工业相机旁边安装红外光源灯为红外接收模组采集图像提供光源。在透明标记图的四个角上设置有黑色的斑块，工业相机和红外接收模组都可以采集到标记图上的四个黑色斑块，可通过四个斑块定位标记图的中心。以标记图为参照，分别计算红外结构光中心与标记图中心的偏移值，以及红外接收模组的光心与标记图中心的偏移值，根据偏移值的大小调整模组的相对位置实现3D结构光模组支架标定。由于必须依赖于工业相机进行发射器的角度偏移的计算，传统的3D结构光模组支架标定方法存在标定效率低和成本高的缺点。
发明内容
根据本申请的各种实施例，提供一种3D结构光模组支架标定方法、装置和设备。
一种3D结构光模组支架标定方法，包括以下步骤：控制发射器投影红外光至标定板，并接收红外图像，所述红外图像是通过红外接收模组对投影红外光后的标定板进行拍摄得到的；获取所述红外图像中预设标记点的位置，计算所述预设标记点的位置与所述预设标记点的设定位置的偏移量；根据所述偏移量对所述红外接收模组和所述发射器进行位置调整。
一种3D结构光模组支架标定装置，包括：图像获取模块，用于控制发射器投影红外光至标定板，并接收红外图像，所述红外图像是通过红外接收模组对投影红外光后的标定板进行拍摄得到的；偏移量计算模块，用于获取所述红外图像中预设标记点的位置，计算所述预设标记点的位置与所述预设标记点的设定位置的偏移量；位置调整模块，用于根据所述偏移量对所述红外接收模组和所述发射器进行位置调整。
一种3D结构光模组支架标定设备，包括标定机台、标定板和固定架，所述标定机台用于放置3D结构光模组的红外接收模组和发射器，所述固定架设置于所述标定机台，所述标定板固定设置于所述固定架，所述标定机台还用于控制所述发射器投影红外光至所述标定板，接收红外图像，所述红外光是通过所述红外接收模组对投影红外光后的标定板进行拍摄得到的；以及获取所述红外图像中预设标记点的位置，计算所述预设标记点的位置与所述预设标记点的设定位置的偏移量，根据所述偏移量对所述红外接收模组和所述发射器进行位置调整。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请 的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为常规的3D结构光模组标定设备的结构示意图；
图2为常规的3D结构光模组标定中标记板的示意图；
图3为一实施例中3D结构光模组支架标定设备的结构示意图；
图4为一实施例中3D结构光模组支架标定设备中标定板的示意图；
图5为一实施例中3D结构光模组支架标定设备中标定机台的部分结构架构图；
图6为一实施例中3D结构光模组支架标定方法的流程图；
图7为一实施例中根据偏移量对红外接收模组和发射器进行位置调整的流程图；
图8为一实施例中3D结构光模组支架标定装置的架构框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
如图1所示为常规的3D结构光模组支架标定(AA)设备结构图，设备包括AA机台①、透明char②、扩散膜③、红外光源灯④、工业相机⑤、IR(Infrared，红外)模组⑥和projector(发射器)模组⑦。通过透明char(标记板)②上四个斑块的中心计算char的中心位置坐标，并以此作为IR模组⑥和projector模组⑦的位置参照，IR模组⑥光心与透明char②中心的偏移量shift1通过IR模组⑥采集到的图像获得，projector模组⑦光心与透明char②中心的偏移量shift2通过工业相机⑦采集到的图像获得。AA机台①通过shift1和shift2计算IR模组⑥和projector模组⑦的相对位置关系，以此作为调整模组位置的依据。其中，如图2所示，透明char②四角上的黑色斑块为圆形斑块，斑块形状可以是其他形状(方块、三角等)。常规的3D结构光模组支架标定设备，必须依赖于工业相机⑤进行Project模组的角度偏移的计算，计算效率和经济效益较低。
基于此，提供了一种3D结构光模组支架标定设备，如图3所示，包括标定机台110、标定板120和固定架130，标定机台110用于放置3D结构光模组的红外接收模组210和发射器220，固定架130设置于标定机台110，标定板120固定设置于固定架130，标定机台110还用于控制发射器220投影红外光至标定板120，接收红外图像，红外图像是通过红外接收模组210对投影红外光后的标定板120进行拍摄得到的；以及标定机台110还获取红外图像中预设标记点的位置，计算预设标记点的位置与预设标记点的设定位置的偏移量，根据得到的偏移量对红外接收模组210和发射器220进行位置调整。
其中，标定板120用作3D结构光模组进行投影和图像采集，标定板120的具体结构并不唯一，且不需要进行特殊的标记，只需采用空白板进行图像投影即可。在对3D结构光模组进行标定时，标定机台110控制发射器220输 出携带预设标记点的红外光并投影至标定板120，以便红外接收模组210进行图像采集得到携带有标记点的红外图像。在一个实施例中，如图4所示，标定板120为空白的矩形标定板。具体地，发射器220投影红外光至标定板120后，在标定板120的四角区域形成预设标记点。采用空白的矩形标定板进行图像投影，并在标定板120的四角区域形成预设标记点，不会对后续3D结构提取造成影响，提高了模组标定的准确性。
标定板120与3D结构光模组的设置关系也不是唯一的，在一个实施例中，标定板120沿与垂直于发射器220的投影方向设置。具体地，可将红外接收模组210和发射器220放置在标定机台110的水平设计的测试平台上，标定板120的投影面同样沿水平方向设置，发射器220从竖直向上的方向投影红外光至标定板120的投影面。将标定板120沿与垂直于发射器220的投影方向设置，确保发射器220投影的图像清晰完整的在标定板120上显示，提高了模组标定的准确性。
标定机台110在接收到红外接收模组210拍摄得到的红外图像后，对红外图像进行图像识别处理，提取图像中的预设标记点的位置。然后标定机台110根据预设标记点的位置与预设标记点的设定位置计算得到偏移量，根据偏移量调整红外接收模组210和发射器220之间的位置。其中，3D结构光模组在出厂的时候会在发射器220的镜头上设置有mask(标记)，该标记在红外光出射时，在标定板120四个角的位置坐标是确定的，标定机台110可预先存储预设标记点的设定位置。当实际测试过程中，将红外光投射到标定板120时预设标记点的位置有一定的偏移，在获取到红外图像中预设标记点的实际位置后，根据之前确定的设定位置坐标与采集到的预设标记点的实际位置之间的偏移量来调整红外接收模组210和发射器220的相对位置。同样以 标定板120为空白的矩形标定板，预设标记点形成在标定板120的四角区域为例，可通过控制发射器220投影的图像中四个标记点分别设置在标定板120的四角。建立一XYZ三轴坐标系，红外接收模组210和发射器220均位于XYZ三轴坐标系的XY平面内。标定机台110根据红外图像中预设标记点的位置和预设标记点的设定位置可得到标记点的偏移量，进而便可得到红外接收模组210与发射器220在X和Y方向的偏移，作为对红外接收模组210和发射器220进行位置调整的参考依据。此外，标定机台110还可结合红外接收模组210和发射器220在Z轴上的偏移，对红外接收模组210和发射器220进行Z轴方向上的位置调整。
上述3D结构光模组支架标定设备，利用标定机台110控制发射器220投影红外光至标定板120，接收红外接收模组210对投影红外光后的标定板120进行拍摄得到的红外图像。然后标定机台110根据红外图像计算预设标记点的位置与预设标记点的设定位置的偏移量，根据得到的偏移量对红外接收模组210和发射器220进行位置调整。通过红外接收模组210拍摄的发射器220投影红外光至标定板120后的红外图像，分析得到偏移量对红外接收模组210和发射器220进行位置调整，无需使用工业相机来计算位置对应关系，提高了同等设备环境下的单位时间产能，具有良好是社会经济效应。与传统的3D结构光模组支架标定方法相比，提高了标定效率且成本低。
标定机台110的具体结构并不唯一，在一个实施例中，如图5所示，标定机台110包括机体112、移动机构114、连接装置和控制器(图中未示出)，移动机构114设置于机体112，用于放置红外接收模组210和发射器220并驱动红外接收模组210和发射器220移动；连接装置设置于移动机构114，控制器通过连接装置电连接红外接收模组210，并通过连接装置电连接发射 器220。控制器的类型并不唯一，本实施例中，控制器为MCU(Micro Control Unit，微控制单元)。利用MCU进行模组标定控制，可靠性高。
其中，控制器可设置于机体112内部，连接装置包括第一连接端116和第二连接端118，控制器通过第一连接端116电连接发射器220，通过第二连接端118电连接红外接收模组210。具体地，控制器控制发射器220投影红外光至标定板120后，接收红外接收模组210拍摄得到的红外图像。控制器在根据红外图像计算得到预设标记点的偏移量之后，根据偏移量控制移动机构114移动发射器220，从而调节发射器220与红外接收模组210的位置。
本实施例中，控制器通过连接装置接收红外接收模组210获取的红外图像，并分析得到偏移量后，根据偏移量控制移动机构114调节红外接收模组210和发射器220的相对位置，操作简便可靠。
进一步地，在一个实施例中，标定机台110还包括与控制器连接的交互装置，交互装置设置于机体112外表面。测试人员可通过交互装置输入指令对模组标定操作进行控制，或使控制器提取相关信息通过交互装置进行显示，以便测试人员查看。利用交互装置进行信息交互，测试人员可通过交互装置进行标定操作控制和数据查看等操作，提高了模组标定操作的便利性。
交互装置的具体结构并不是唯一的，在一个实施例中，交互装置包括连接控制器的键盘和显示屏。其中，显示屏可以是LCD(Liquid Crystal Display，液晶显示器)显示屏或数码显示管等。测试人员利用键盘进行信息输入，可实现对模组标定操作的控制，以及输入指令控制控制器提取所需数据发送至显示屏进行显示。
在另一个实施例中，交互装置为触控显示屏。测试人员通过在触控显示屏进行触控操作即可实现信息交互，通过触控屏进行信息交互和标定控制， 可进一步提高模组标定操作的便利性。
在一个实施例中，建立一XYZ三轴坐标系，使红外接收模组210和发射器220均位于XYZ三轴坐标系的XY平面内，标定板120平行于XY平面。标定机台110根据预设标记点的位置与预设标记点的设定位置的偏移量，调整红外接收模组210和发射器220在X、Y轴的相对位置。其中，X轴与Y轴垂直，Z轴与XY平面垂直。根据预设标记点的位置与预设标记点的设定位置的偏移量，结合坐标轴对红外接收模组210和发射器220进行XOY平面上的相对位置调整，操作简便准确。
在一个实施例中，3D结构光模组支架标定设备还包括连接标定机台110的测距器，测距器具体可设置于标定机台110上方，检测与红外接收模组210和发射器220在Z轴方向的距离。标定机台110还用于接收测距器测得的分别与红外接收模组210和发射器220在Z轴方向的距离；根据测距器分别与红外接收模组210和发射器220在Z轴方向的距离，计算得到红外接收模组210和发射器220在Z轴方向的偏移；根据红外接收模组210和发射器220在Z轴方向的偏移，调整红外接收模组210和发射器220在Z轴的相对位置。
具体地，测距器可采用激光测距器，在标定机台110上方固定激光测距器，分别测距器到红外接收模组210的镜头中心的距离Z1，以及测距器到发射器220的镜头中心距离Z2，得到Z方向偏移为ΔZ＝Z2-Z1，最后根据Z方向偏移进行模组位置的调整。
在对红外接收模组210和发射器220进行位置调整时，还结合测距器测得的与红外接收模组210和发射器220的距离确定红外接收模组210和发射器220在Z轴方向的偏移，根据红外接收模组210和发射器220在Z轴方向的偏移调整红外接收模组210和发射器220在Z轴的相对位置，实现对红外 接收模组210和发射器220的空间相对位置调整，提高了对3D结构光模组支架标定的准确性和全面性。
为便于更好地理解上述3D结构光模组支架标定设备，下面结合具体实施例进行详细解释说明。
如图3所示的3D结构光模组支架标定设备，标定板120不需要进行特殊的标记，只需要一张平整度较高的白纸即可，红外接收模组210拍摄至于模组上方的白图标定板，发射器220通过投影至红外图像中，标定机台110通过算法寻找红外图像中标记的特殊标记点，并根据寻找出的标记点在红外图像中的实际位置计算出X和Y方向的偏移，同时根据红外接收模组210和发射器220的相对位置进行关系计算Z方向的偏移，最后根据偏移位置进行模组位置的调整。
改进后的标定流程，无需使用工业相机来计算位置对应关系，消除了工业相机在标定流程中的系统瓶颈，使计算红外接收模组210和发射器220的相对位置直接通过软件算法进行实现，可以大幅提高生产效率，也可以节约经济资源可以大大提高同等设备环境下的单位时间产能，具有良好是社会经济效应。此外，由于只需在标定板120的四角区域中投影生成特殊标记，如小正方形等，而且由于标记点位于标定板120的四角，实际中3D结构的提取为保证精度要求并不会使用边界值进行解析，因此不影响3D结构的提取。
在一个实施例中，如图6所示，还提供了一种3D结构光模组支架标定方法，包括以下步骤：
步骤S110：控制发射器投影红外光至标定板，并接收红外图像。其中，红外图像是通过红外接收模组对投影红外光后的标定板进行拍摄得到的。
步骤S120：获取红外图像中预设标记点的位置，计算预设标记点的位置与预设标记点的设定位置的偏移量。
步骤S130：根据偏移量对红外接收模组和发射器进行位置调整。
具体地，可通过标定机台控制发射器投影红外光并接收红外接收模组拍摄得到的红外图像，以及对红外图像进行图像分析处理，计算得到偏移量对红外接收模组和发射器进行位置调整。标定板用作3D结构光模组进行投影和图像采集，标定板的具体结构并不唯一，在一个实施例中，标定板为空白的矩形标定板。发射器投影红外光至标定板后，在标定板的四角区域形成预设标记点。标定板与3D结构光模组的设置关系也不是唯一的，在一个实施例中，标定板沿与垂直于发射器的投影方向设置。标定机台在接收到红外接收模组拍摄得到的红外图像后，对红外图像进行图像识别处理，提取图像中的预设标记点的位置。然后标定机台根据预设标记点的位置和预先存储的设定位置计算得到偏移量，进而调整红外接收模组和发射器之间的位置。
3D结构光模组支架标定方法的具体过程在上述3D结构光模组支架标定设备中进行了详细的解释说明，在此不再赘述。
上述3D结构光模组支架标定方法，控制发射器投影红外光至标定板，接收红外接收模组对投影红外光后的标定板进行拍摄得到的红外图像。然后标定机台根据红外图像计算预设标记点的位置与预设标记点的设定位置的偏移量，根据得到的偏移量对红外接收模组和发射器进行位置调整。通过红外接收模组拍摄的发射器投影红外光至标定板后的红外图像，分析得到偏移量对红外接收模组和发射器进行位置调整，无需使用工业相机来计算位置对应关系，提高了同等设备环境下的单位时间产能，具有良好是社会经济效应。与传统的3D结构光模组支架标定方法相比，提高了标定效率且成本低。
在一个实施例中，建立一XYZ三轴坐标系，使红外接收模组210和发射器220均位于XYZ三轴坐标系的XY平面内，标定板120平行于XY平面。如图7所示，步骤S130包括步骤S132：根据预设标记点的位置与预设标记点的设定位置的偏移量，调整红外接收模组和发射器在X、Y轴的相对位置。根据预设标记点的位置与预设标记点的设定位置的偏移量，结合坐标轴对红外接收模组和发射器进行XOY平面上的相对位置调整，操作简便准确。
在其中一个实施例中，继续参照图7，步骤S130还包括步骤S134至步骤S138。
步骤S134：接收测距器测得的分别与红外接收模组和发射器在Z轴方向的距离。
步骤S136：根据测距器分别与红外接收模组和发射器在Z轴方向的距离，计算得到红外接收模组和发射器在Z轴方向的偏移。
步骤S138：根据红外接收模组和发射器在Z轴方向的偏移，调整红外接收模组和发射器在Z轴的相对位置。
可以理解，步骤S132即是对红外接收模组和发射器进行X轴和Y轴上的相对位置调整，步骤S134至步骤S138即是对红外接收模组和发射器进行Z轴上的相对位置调整，两者可以是同时进行，可以是先调整X、Y轴上的相对位置，再调整Z轴的相对位置；也可以是先调整Z轴上的相对位置，再调整X、Y轴上的相对位置。
在对红外接收模组和发射器进行位置调整时，还结合测距器测得的与红外接收模组和发射器的距离确定红外接收模组和发射器在Z轴方向的偏移，根据红外接收模组和发射器在Z轴方向的偏移调整红外接收模组和发射器在Z轴的相对位置，实现对红外接收模组和发射器的空间相对位置调整，提高 了对3D结构光模组支架标定的准确性和全面性。
在一个实施例中，如图8所示，还提供了一种3D结构光模组支架标定装置，包括图像获取模块310、偏移量计算模块320和位置调整模块330。
图像获取模块310用于制发射器投影红外光至标定板，并接收红外图像。其中，红外图像是通过红外接收模组对投影红外光后的标定板进行拍摄得到的。
偏移量计算模块320用于获取红外图像中预设标记点的位置，计算预设标记点的位置与预设标记点的设定位置的偏移量。
位置调整模块330用于根据偏移量对红外接收模组和发射器进行位置调整。
在一个实施例中，建立一XYZ三轴坐标系，使红外接收模组和发射器均位于XYZ三轴坐标系的XY平面内，标定板平行于XY平面。位置调整模块330根据预设标记点的位置与预设标记点的设定位置的偏移量，调整红外接收模组和发射器在X、Y轴的相对位置。
在一个实施例中，位置调整模块330还接收测距器测得的分别与红外接收模组和发射器在Z轴方向的距离；根据测距器分别与红外接收模组和发射器在Z轴方向的距离，计算得到红外接收模组和发射器在Z轴方向的偏移；根据红外接收模组和发射器在Z轴方向的偏移，调整红外接收模组和发射器在Z轴的相对位置。
关于3D结构光模组支架标定装置的具体限定可以参见上文中对于3D结构光模组支架标定设备的描述，在此不再赘述。上述3D结构光模组支架标定装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模 块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
上述3D结构光模组支架标定装置，控制发射器投影红外光至标定板，接收红外接收模组对投影红外光后的标定板进行拍摄得到的红外图像。然后标定机台根据红外图像计算预设标记点的位置与预设标记点的设定位置的偏移量，根据得到的偏移量对红外接收模组和发射器进行位置调整。通过红外接收模组拍摄的发射器投影红外光至标定板后的红外图像，分析得到偏移量对红外接收模组和发射器进行位置调整，无需使用工业相机来计算位置对应关系，提高了同等设备环境下的单位时间产能，具有良好是社会经济效应。与传统的3D结构光模组支架标定方法相比，提高了标定效率且成本低。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (19)

  1. 一种3D结构光模组支架标定方法，其特征在于，包括以下步骤：
    控制发射器投影红外光至标定板，并接收红外图像，所述红外图像是通过红外接收模组对投影红外光后的标定板进行拍摄得到的；
    获取所述红外图像中预设标记点的位置，计算所述预设标记点的位置与所述预设标记点的设定位置的偏移量；
    根据所述偏移量对所述红外接收模组和所述发射器进行位置调整。
  2. 根据权利要求1所述的方法，其特征在于，建立一XYZ三轴坐标系，使所述红外接收模组和所述发射器均位于所述XYZ三轴坐标系的XY平面内，所述标定板平行于所述XY平面；所述根据所述偏移量对所述红外接收模组和所述发射器进行位置调整，包括：
    根据所述预设标记点的位置与所述预设标记点的设定位置的偏移量，调整所述红外接收模组和所述发射器在X、Y轴的相对位置。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述偏移量对所述红外接收模组和所述发射器进行位置调整，还包括：
    接收测距器测得的分别与所述红外接收模组和所述发射器在Z轴方向的距离；
    根据测距器分别与所述红外接收模组和所述发射器在Z轴方向的距离，计算得到所述红外接收模组和所述发射器在Z轴方向的偏移；
    根据所述红外接收模组和所述发射器在Z轴方向的偏移，调整所述红外接收模组和所述发射器在Z轴的相对位置。
  4. 一种3D结构光模组支架标定装置，其特征在于，包括：
    图像获取模块，用于控制发射器投影红外光至标定板，并接收红外图像， 所述红外图像是通过红外接收模组对投影红外光后的标定板进行拍摄得到的；
    偏移量计算模块，用于获取所述红外图像中预设标记点的位置，计算所述预设标记点的位置与所述预设标记点的设定位置的偏移量；
    位置调整模块，用于根据所述偏移量对所述红外接收模组和所述发射器进行位置调整。
  5. 根据权利要求4所述的装置，其特征在于，建立一XYZ三轴坐标系，使所述红外接收模组和所述发射器均位于所述XYZ三轴坐标系的XY平面内，所述标定板平行于所述XY平面；所述位置调整模块根据所述预设标记点的位置与所述预设标记点的设定位置的偏移量，调整所述红外接收模组和所述发射器在X、Y轴的相对位置。
  6. 根据权利要求5所述的装置，其特征在于，所述位置调整模块还接收测距器测得的分别与所述红外接收模组和所述发射器在Z轴方向的距离；根据测距器分别与所述红外接收模组和所述发射器在Z轴方向的距离，计算得到所述红外接收模组和所述发射器在Z轴方向的偏移；根据所述红外接收模组和所述发射器在Z轴方向的偏移，调整所述红外接收模组和所述发射器在Z轴的相对位置。
  7. 一种3D结构光模组支架标定设备，其特征在于，包括标定机台、标定板和固定架，所述标定机台用于放置3D结构光模组的红外接收模组和发射器，所述固定架设置于所述标定机台，所述标定板固定设置于所述固定架，
    所述标定机台还用于控制所述发射器投影红外光至所述标定板，接收红外图像，所述红外图像是通过所述红外接收模组对投影红外光后的标定板进行拍摄得到的；以及获取所述红外图像中预设标记点的位置，计算所述预设 标记点的位置与所述预设标记点的设定位置的偏移量，根据所述偏移量对所述红外接收模组和所述发射器进行位置调整。
  8. 根据权利要求7所述的设备，其特征在于，所述标定板为空白的矩形标定板，所述发射器投影红外光至所述标定板后，在所述标定板的四角区域形成所述预设标记点。
  9. 根据权利要求7所述的设备，其特征在于，所述标定板沿与垂直于所述发射器的投影方向设置。
  10. 根据权利要求7所述的设备，其特征在于，所述标定机台包括机体、移动机构、连接装置和控制器，所述移动机构设置于所述机体，用于放置所述红外接收模组和所述发射器并驱动所述红外接收模组和所述发射器移动；所述连接装置设置于所述移动机构，所述控制器通过所述连接装置电连接所述红外接收模组，并通过所述连接装置电连接所述发射器。
  11. 根据权利要求10所述的设备，其特征在于，所述控制器为MCU。
  12. 根据权利要求10所述的设备，其特征在于，所述控制器设置于所述机体内部，所述连接装置包括第一连接端和第二连接端，所述控制器通过所述第一连接端电连接所述发射器，通过所述第二连接端电连接所述红外接收模组。
  13. 根据权利要求10所述的设备，其特征在于，所述标定机台还包括与所述控制器连接的交互装置，所述交互装置设置于所述机体外表面。
  14. 根据权利要求13所述的设备，其特征在于，所述交互装置包括连接所述控制器的键盘和显示屏。
  15. 根据权利要求14所述的设备，其特征在于，所述显示屏为LCD显示屏或数码显示管。
  16. 根据权利要求13所述的设备，其特征在于，所述交互装置为触控显示屏。
  17. 根据权利要求7所述的设备，其特征在于，建立一XYZ三轴坐标系，使所述红外接收模组和所述发射器均位于所述XYZ三轴坐标系的XY平面内，所述标定板平行于所述XY平面；所述标定机台根据预设标记点的位置与预设标记点的设定位置的偏移量，调整所述红外接收模组和所述发射器在X、Y轴的相对位置。
  18. 根据权利要求17所述的设备，其特征在于，还包括连接所述标定机台的测距器；所述标定机台还用于接收测距器测得的分别与所述红外接收模组和所述发射器在Z轴方向的距离；根据测距器分别与所述红外接收模组和所述发射器在Z轴方向的距离，计算得到所述红外接收模组和所述发射器在Z轴方向的偏移；根据所述红外接收模组和所述发射器在Z轴方向的偏移，调整所述红外接收模组和所述发射器在Z轴的相对位置。
  19. 根据权利要求18所述的设备，其特征在于，所述测距器为激光测距器。
PCT/CN2019/105536 2019-07-15 2019-09-12 3d结构光模组支架标定方法、装置和设备 WO2021007944A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910635441.1 2019-07-15
CN201910635441.1A CN112233183A (zh) 2019-07-15 2019-07-15 3d结构光模组支架标定方法、装置和设备

Publications (1)

Publication Number Publication Date
WO2021007944A1 true WO2021007944A1 (zh) 2021-01-21

Family

ID=74111360

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/105536 WO2021007944A1 (zh) 2019-07-15 2019-09-12 3d结构光模组支架标定方法、装置和设备

Country Status (2)

Country Link
CN (1) CN112233183A (zh)
WO (1) WO2021007944A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113315897A (zh) * 2021-05-20 2021-08-27 江西欧迈斯微电子有限公司 Aa方法、测试标尺、aa设备、摄像模组和电子设备
CN114291004A (zh) * 2021-12-16 2022-04-08 华人运通(江苏)技术有限公司 一种hud调整装置、方法及车辆

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170085860A1 (en) * 2015-09-22 2017-03-23 Purdue Research Foundation Calibration arrangement for structured light system using a tele-centric lens
CN108225216A (zh) * 2016-12-14 2018-06-29 中国科学院深圳先进技术研究院 结构光系统标定方法及装置、结构光系统及移动设备
CN207854012U (zh) * 2017-12-28 2018-09-11 宁波舜宇光电信息有限公司 基于结构光的深度相机
CN108683908A (zh) * 2018-06-28 2018-10-19 深圳奥比中光科技有限公司 多功能标定装置
CN109443214A (zh) * 2018-12-19 2019-03-08 广东工业大学 一种结构光三维视觉的标定方法、装置及测量方法、装置
CN109544637A (zh) * 2018-10-18 2019-03-29 北京伟景智能科技有限公司 双目标定验证装置
CN208834323U (zh) * 2018-09-30 2019-05-07 南昌欧菲生物识别技术有限公司 3d识别模组、3d识别装置及智能终端

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170085860A1 (en) * 2015-09-22 2017-03-23 Purdue Research Foundation Calibration arrangement for structured light system using a tele-centric lens
CN108225216A (zh) * 2016-12-14 2018-06-29 中国科学院深圳先进技术研究院 结构光系统标定方法及装置、结构光系统及移动设备
CN207854012U (zh) * 2017-12-28 2018-09-11 宁波舜宇光电信息有限公司 基于结构光的深度相机
CN108683908A (zh) * 2018-06-28 2018-10-19 深圳奥比中光科技有限公司 多功能标定装置
CN208834323U (zh) * 2018-09-30 2019-05-07 南昌欧菲生物识别技术有限公司 3d识别模组、3d识别装置及智能终端
CN109544637A (zh) * 2018-10-18 2019-03-29 北京伟景智能科技有限公司 双目标定验证装置
CN109443214A (zh) * 2018-12-19 2019-03-08 广东工业大学 一种结构光三维视觉的标定方法、装置及测量方法、装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113315897A (zh) * 2021-05-20 2021-08-27 江西欧迈斯微电子有限公司 Aa方法、测试标尺、aa设备、摄像模组和电子设备
CN113315897B (zh) * 2021-05-20 2023-04-14 江西欧迈斯微电子有限公司 Aa方法、测试标尺、aa设备、摄像模组和电子设备
CN114291004A (zh) * 2021-12-16 2022-04-08 华人运通(江苏)技术有限公司 一种hud调整装置、方法及车辆

Also Published As

Publication number Publication date
CN112233183A (zh) 2021-01-15

Similar Documents

Publication Publication Date Title
US10664992B2 (en) Non-contact visual detection method for mark positioning of mobile phone touch screen
US7124046B2 (en) Method and apparatus for calibration of camera system, and method of manufacturing camera system
CN111351431B (zh) 一种pcb板上多孔位的检测系统的校正方法
CN109916304B (zh) 镜面/类镜面物体三维测量系统标定方法
US20200186768A1 (en) System and Method for Recalibrating a Projector System
CN109978960B (zh) 基于摄影测量的高精度屏幕-相机位姿标定方法
WO2021007944A1 (zh) 3d结构光模组支架标定方法、装置和设备
CN109191527A (zh) 一种基于最小化距离偏差的对位方法及装置
CN110044266B (zh) 基于散斑投影的摄影测量系统
CN106454294A (zh) 投影机画面校正方法及投影机
CN113358070B (zh) 一种汽车刹车片平整度及销钉高度检测系统及其检测方法
CN115682937A (zh) 一种自动化三维激光扫描仪的校准方法
CN206961189U (zh) 一种车载摄像头的光轴偏转测量装置
JPH1140996A (ja) 部品装着装置およびその認識位置校正方法
CN102890821A (zh) 红外摄像机标定方法及系统
TW201828695A (zh) 用於投影機投影畫面測試與對位的方法及系統
CN110645922A (zh) 一种快速建立激光基准弦线的轨道平顺度测量装置及方法
CN207923416U (zh) 一种手机触控屏Mark定位非接触式视觉检测装置
JP2012127930A (ja) 車両用ヘッドライトの測定方法とその装置
Wang et al. Distance measurement using single non-metric CCD camera
CN112686960B (zh) 一种基于光线追迹的相机入瞳中心及视线方向的标定方法
CN100419504C (zh) 光学装置的制造装置、其制造方法以及投影机
CN210833458U (zh) 一种便携式轨道平顺度测量装置
CN100529744C (zh) 光学检测装置和检测方法
TW201833510A (zh) 物體尺寸計算系統

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19938025

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19938025

Country of ref document: EP

Kind code of ref document: A1