随机抽样一致性算法在线结构光视觉测量系统中的应用
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摘要
针对线结构光视觉测量系统中参数标定易受噪声和亮度突变等因素的影响,而传统算法难以拟合包含异常值点云的问题,在现有标定方法的基础上,提出了一种基于随机抽样一致性(RANSAC)的改进算法拟合光平面参数。随机选取三个点云数据拟合光平面,选择阈值并统计在此平面上的内点数量,多次重复求得包含最多内点的平面,并以这些内点以特征值法进行平面拟合得到所求平面方程。实验结果表明,与最小二乘法相比,该方法可以很好地适应标定过程中出现的误差和异常值的情况,稳健地估计平面参数值,从而进一步提高线结构光参数标定精度。
Considering the calibration of parameters in line structured light vision measurement system is easily affected by the noise and brightness change and other factors,and it is difficult to fit outliers with classical algorithm. Based on the existing calibration methods,an improved algorithm of RANSAC is proposed to fit the light plane. Three points are randomly chosen to fit the light plane,then the threshold is selected and the number of inliers on this plane are counted,Finally the plane with the most inliers is obtained repeatedly,and the plane equations are obtained by fitting the inliers with the eigenvalue method. Experimental results show that compared with the least square method,this method can well adapt various situation of error and exception in the calibration process,and the parameters of the plane are estimated steadily. Thus,the calibration accuracy of line structured light parameters is further improved.
Considering the calibration of parameters in line structured light vision measurement system is easily affected by the noise and brightness change and other factors,and it is difficult to fit outliers with classical algorithm. Based on the existing calibration methods,an improved algorithm of RANSAC is proposed to fit the light plane. Three points are randomly chosen to fit the light plane,then the threshold is selected and the number of inliers on this plane are counted,Finally the plane with the most inliers is obtained repeatedly,and the plane equations are obtained by fitting the inliers with the eigenvalue method. Experimental results show that compared with the least square method,this method can well adapt various situation of error and exception in the calibration process,and the parameters of the plane are estimated steadily. Thus,the calibration accuracy of line structured light parameters is further improved.
引文
1刘顺涛,骆华芬,陈雪梅,等.结构光测量系统的标定方法综述.激光技术,2015;39(2):252-258Liu Shuntao,Luo Huafen,Chen Xuemei,et al.Review of calibration method for structured light measurement.Laser Technology,2015;39(2):252-258
2 Zhang Zhengyou.A flexible new technique for camera calibration.IEEE Transactions on Pattern Analysis&Machine Intelligence,2000;22(11):1330-1334
3周富强,张广军,江洁.线结构光视觉传感器的现场标定方法.机械工程学报,2004;40(6):169-173Zhou Fuqiang,Zhang Guangjun,Jiang Jie.Field calibration method for line structured light vision sensor.Chinese Journal of Mechanical Engineering,2004;40(6):169-173
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5刘震,张广军,魏振忠,等.一种高精度线结构光视觉传感器现场标定方法.光学学报,2009;29(11):3124-3128Liu Zhen,Zhang Guangjun,Wei Zhenzhong,et al.An accurate calibration method for line structured light vision sensor.Acta Optica Sinica,2009;29(11):3124-3128
6陈天飞,马孜,吴翔.基于主动视觉标定线结构光传感器中的光平面.光学精密工程,2012;20(2):256-263Chen Tianfei,Ma Zi,Wu Xiang.Calibration of light plane in line structured light sensor based on active vision.Optics and Precision Engineering,2012;20(2):256-263
7 Levenberg K.A method for solution of certain problems in least squares.Quarterly Applied Math,1944;2(4):436-438
8 Fischler M A,Bolles R C.Random sample consensus:a paradigm for model fitting with applications to image analysis and automated cartography.ACM,1981;24(6):726-740
9周春霖,朱合华,李晓军.随机抽样一致性平面拟合及其应用研究.计算机工程与应用,2011;47(7):177-179Zhou Chunlin,Zhu Hehua,Li Xiaojun.Research and application of robust plane fitting algorithm with RANSAC.Computer Engineering and Applications,2011;47(7):177-179
10 Raguram R.USAC:a universal framework for random sample consensus.IEEE Transactions on Pattern Analysis&Machine Intelligence,2013;35(8):2022-2038
11李孟迪,蒋胜平,王红平.基于随机抽样一致性算法的稳健点云平面拟合方法.测绘科学,2015;40(1):102-106Li Mengdi,Jiang Shengping,Wang Hongping.A RANSAC-based stable plane fitting method of point clouds.Science of Surveying and Mapping,2015;40(1):102-106
12 Steger C.An unbiased detector of curvilinear structures.IEEETransactions on Pattern Analysis&Machine Intelligence,2002;20(2):113-125
13官云兰,程效军,施贵刚.一种稳健的点云数据平面拟合方法.同济大学学报(自然科学版),2008;36(7):981-984Guan Yunlan,Cheng Xiaojun,Shi Guigang.A robust method for fitting a plane to point clouds.Journal of Tongji University(Natural Science),2008;36(7):981-984
2 Zhang Zhengyou.A flexible new technique for camera calibration.IEEE Transactions on Pattern Analysis&Machine Intelligence,2000;22(11):1330-1334
3周富强,张广军,江洁.线结构光视觉传感器的现场标定方法.机械工程学报,2004;40(6):169-173Zhou Fuqiang,Zhang Guangjun,Jiang Jie.Field calibration method for line structured light vision sensor.Chinese Journal of Mechanical Engineering,2004;40(6):169-173
4韩建栋,吕乃光,董明利,等.线结构光传感系统的快速标定方法.光学精密工程,2009;17(5):958-963Han Jiandong,Lv Naiguang,Dong Mingli,et al.Fast method to calibrate structure parameters of line structured light vision sersor.Optics and Precision Engineering,2009;17(5):958-963
5刘震,张广军,魏振忠,等.一种高精度线结构光视觉传感器现场标定方法.光学学报,2009;29(11):3124-3128Liu Zhen,Zhang Guangjun,Wei Zhenzhong,et al.An accurate calibration method for line structured light vision sensor.Acta Optica Sinica,2009;29(11):3124-3128
6陈天飞,马孜,吴翔.基于主动视觉标定线结构光传感器中的光平面.光学精密工程,2012;20(2):256-263Chen Tianfei,Ma Zi,Wu Xiang.Calibration of light plane in line structured light sensor based on active vision.Optics and Precision Engineering,2012;20(2):256-263
7 Levenberg K.A method for solution of certain problems in least squares.Quarterly Applied Math,1944;2(4):436-438
8 Fischler M A,Bolles R C.Random sample consensus:a paradigm for model fitting with applications to image analysis and automated cartography.ACM,1981;24(6):726-740
9周春霖,朱合华,李晓军.随机抽样一致性平面拟合及其应用研究.计算机工程与应用,2011;47(7):177-179Zhou Chunlin,Zhu Hehua,Li Xiaojun.Research and application of robust plane fitting algorithm with RANSAC.Computer Engineering and Applications,2011;47(7):177-179
10 Raguram R.USAC:a universal framework for random sample consensus.IEEE Transactions on Pattern Analysis&Machine Intelligence,2013;35(8):2022-2038
11李孟迪,蒋胜平,王红平.基于随机抽样一致性算法的稳健点云平面拟合方法.测绘科学,2015;40(1):102-106Li Mengdi,Jiang Shengping,Wang Hongping.A RANSAC-based stable plane fitting method of point clouds.Science of Surveying and Mapping,2015;40(1):102-106
12 Steger C.An unbiased detector of curvilinear structures.IEEETransactions on Pattern Analysis&Machine Intelligence,2002;20(2):113-125
13官云兰,程效军,施贵刚.一种稳健的点云数据平面拟合方法.同济大学学报(自然科学版),2008;36(7):981-984Guan Yunlan,Cheng Xiaojun,Shi Guigang.A robust method for fitting a plane to point clouds.Journal of Tongji University(Natural Science),2008;36(7):981-984