线结构光表面三维测量系统的标定技术研究
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摘要
近年来,现代工业对测量技术提出了更高的要求,而传统测量方法已无法满足,并限制了相关产业的发展。在这种背景下,视觉测量技术应运而生。它具有非接触、测速快、精度高、100%在线和便于计算机集成控制等优点,正承担着越来越重要的角色。
在分析了现有结构光测量系统的运动本体特点,自主研制了一套线结构光表面三维测量系统,可实现物体表面数据的多姿态高精度测量。本文以该系统为实验平台,对相关标定技术展开了深入研究。论文完成工作和主要研究成果如下：
1.建立了一套线结构光表面三维测量系统。在硬件方面,完成了机械运动本体的设计、电控单元的设计和传感数据采集模块的设计。在软件方面,介绍了软件的总体架构和功能模块划分,并设计了软件界面。
2.对于非线性摄像机模型,提出了一种新的两步标定方法。首先,利用非量测方法完成镜头畸变的校正,通过对比实验选择了更具鲁棒性的校正方案。然后,按照小孔模型标定出其余摄像机参数。实验验证了畸变中心和主点坐标的不同,标定精度得到了进一步提升,并且非量测校正过程避免了畸变参数与其余摄像机内参数耦合的可能,降低了优化问题的维数。
3.研究了线结构光传感器的几何标定方法。根据光平面参数的几何意义不同,分步进行标定。首先标定光平面的法向,然后完成距离信息的标定。根据机械运动本体的柔性特点,设计了两种不同的实现方法。一种为主动视觉的标定方法；另一种则利用了单个圆的投影特性来进行标定。综述而言,几何标定方法步骤简单,无复杂的计算,可完成现场快速标定。
4.提出了一种基于柔性拼接靶标的运动学标定方法。柔性拼接靶标是由位置不变的固定靶标和可自由放置的移动靶标来组成,其优势在于对两个靶标上的特征点拼接构成了大型靶标,可计算大范围的关节运动轨迹,降低了标定成本。实验结果表明方法具有较高的精度。
5.提出了基于数据聚类选择的手眼标定方法。指出了不同分布的标定数据会影响到最终的标定精度,并建立了相应的数据筛选机制。因标定数据会存在测量误差,定义了新的优化目标函数,通过非线性优化方法来标定。实验结果表明该方法精度较高。
最后在总结全文工作的基础上,给出了下一步的工作展望。
Recent years, modern industry puts forward higher requirements on the measurement techniques. However, the traditional measurement methods are unable to satisfy the requirements and severely restrict the development of related industries. Under this background, the vision measurement technique which has advantage of non-contact, fast speed, high precision,100%online and easy to computer integrated control, arises at the historic moment and is now playing an increasingly important role.
Considering motion body characteristics of existing structured light vision measuring systems, a line structured light surface three-dimensional (3D) measuring system is developed which can realize high precision measurement of object surface in multi-posture. In this dissertation, the self-designed measuring system is used as experimental platform, and related calibration techniques are studied intensively. The main work and research results are summaried as follows:
1. A line structured light surface3D measuring system is established. In the aspect of hardware, mechanical motion body, electronic control unit and sensor data acquisition module are designed. On the software side, the overall software architecture and module division are introduced, then the software interface of the system is developed.
2. A novel two-step calibration approach for nonlinear camera model is proposed. First, the distortion parameters are calibrated by means of non-metric method, and a more robust correction scheme is selected by comparison. Then, the remaining camera parameters can be calibrated according to the pinhole camera model. The fact that the distortion center and principle point are different is demonstrated through experiments, and calibration accuracy is further improved. In addition, the non-metric correction process avoids the possibility of coupling between distortion parameters and remaining intrinsic camera parameters, and the dimensions of optimization problem are reduced.
3. Geometric calibration approach for line structured light sensor is proposed. According to the geometric meaning of light plane parameters, the calibration work can be completed in two steps. First, the normal vector of light plane is calibrated, and then we calibrate the distance information. Because of the flexible characteristics of the motion body, two different implement ways are designed. One is calibration method based on active vision, and another one calibrates the sensor using projection characteristics of single circle target. In summary, the geometric method is simple with no complex computation, and it can achieve rapid calibration on site.
4. A novel kinematics calibration method based on flexible splicing target is proposed. The flexible splicing target is composed of fixed target and moving target, the fixed target's position is unchanged in the calibration process, but the moving target can be freely placed. The advantage of flexible splicing target is that a large target can be formed after splicing feature points on the fixed target and the moving target, and then a wide range of joint motion trajectory can be computed. The experiment results show that the method has high accuracy, and the cost of calibration is reduced.
5. A hand-eye calibration method based data clustering and selection is proposed. The fact that different distribution of calibration data will affect final calibration accuracy is pointed out, and the corresponding data selection mechanisms are established. Besides that, a novel objective function is defined considering error presence of calibration data, and then hand-eye relationship can be calibrated through nonlinear optimization algorithm. The experiments result show that the proposed method has higher accuracy.
Finally, future work is provided based on the conclusion of whole work.
在分析了现有结构光测量系统的运动本体特点,自主研制了一套线结构光表面三维测量系统,可实现物体表面数据的多姿态高精度测量。本文以该系统为实验平台,对相关标定技术展开了深入研究。论文完成工作和主要研究成果如下：
1.建立了一套线结构光表面三维测量系统。在硬件方面,完成了机械运动本体的设计、电控单元的设计和传感数据采集模块的设计。在软件方面,介绍了软件的总体架构和功能模块划分,并设计了软件界面。
2.对于非线性摄像机模型,提出了一种新的两步标定方法。首先,利用非量测方法完成镜头畸变的校正,通过对比实验选择了更具鲁棒性的校正方案。然后,按照小孔模型标定出其余摄像机参数。实验验证了畸变中心和主点坐标的不同,标定精度得到了进一步提升,并且非量测校正过程避免了畸变参数与其余摄像机内参数耦合的可能,降低了优化问题的维数。
3.研究了线结构光传感器的几何标定方法。根据光平面参数的几何意义不同,分步进行标定。首先标定光平面的法向,然后完成距离信息的标定。根据机械运动本体的柔性特点,设计了两种不同的实现方法。一种为主动视觉的标定方法；另一种则利用了单个圆的投影特性来进行标定。综述而言,几何标定方法步骤简单,无复杂的计算,可完成现场快速标定。
4.提出了一种基于柔性拼接靶标的运动学标定方法。柔性拼接靶标是由位置不变的固定靶标和可自由放置的移动靶标来组成,其优势在于对两个靶标上的特征点拼接构成了大型靶标,可计算大范围的关节运动轨迹,降低了标定成本。实验结果表明方法具有较高的精度。
5.提出了基于数据聚类选择的手眼标定方法。指出了不同分布的标定数据会影响到最终的标定精度,并建立了相应的数据筛选机制。因标定数据会存在测量误差,定义了新的优化目标函数,通过非线性优化方法来标定。实验结果表明该方法精度较高。
最后在总结全文工作的基础上,给出了下一步的工作展望。
Recent years, modern industry puts forward higher requirements on the measurement techniques. However, the traditional measurement methods are unable to satisfy the requirements and severely restrict the development of related industries. Under this background, the vision measurement technique which has advantage of non-contact, fast speed, high precision,100%online and easy to computer integrated control, arises at the historic moment and is now playing an increasingly important role.
Considering motion body characteristics of existing structured light vision measuring systems, a line structured light surface three-dimensional (3D) measuring system is developed which can realize high precision measurement of object surface in multi-posture. In this dissertation, the self-designed measuring system is used as experimental platform, and related calibration techniques are studied intensively. The main work and research results are summaried as follows:
1. A line structured light surface3D measuring system is established. In the aspect of hardware, mechanical motion body, electronic control unit and sensor data acquisition module are designed. On the software side, the overall software architecture and module division are introduced, then the software interface of the system is developed.
2. A novel two-step calibration approach for nonlinear camera model is proposed. First, the distortion parameters are calibrated by means of non-metric method, and a more robust correction scheme is selected by comparison. Then, the remaining camera parameters can be calibrated according to the pinhole camera model. The fact that the distortion center and principle point are different is demonstrated through experiments, and calibration accuracy is further improved. In addition, the non-metric correction process avoids the possibility of coupling between distortion parameters and remaining intrinsic camera parameters, and the dimensions of optimization problem are reduced.
3. Geometric calibration approach for line structured light sensor is proposed. According to the geometric meaning of light plane parameters, the calibration work can be completed in two steps. First, the normal vector of light plane is calibrated, and then we calibrate the distance information. Because of the flexible characteristics of the motion body, two different implement ways are designed. One is calibration method based on active vision, and another one calibrates the sensor using projection characteristics of single circle target. In summary, the geometric method is simple with no complex computation, and it can achieve rapid calibration on site.
4. A novel kinematics calibration method based on flexible splicing target is proposed. The flexible splicing target is composed of fixed target and moving target, the fixed target's position is unchanged in the calibration process, but the moving target can be freely placed. The advantage of flexible splicing target is that a large target can be formed after splicing feature points on the fixed target and the moving target, and then a wide range of joint motion trajectory can be computed. The experiment results show that the method has high accuracy, and the cost of calibration is reduced.
5. A hand-eye calibration method based data clustering and selection is proposed. The fact that different distribution of calibration data will affect final calibration accuracy is pointed out, and the corresponding data selection mechanisms are established. Besides that, a novel objective function is defined considering error presence of calibration data, and then hand-eye relationship can be calibrated through nonlinear optimization algorithm. The experiments result show that the proposed method has higher accuracy.
Finally, future work is provided based on the conclusion of whole work.
引文
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