基于位置敏感器件的视觉测量系统标定技术
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摘要
位置敏感器件(PSD)具有受光照影响小、数据处理简单的特点,在视觉位姿测量方面具有很大优势。但受PSD传感器自身非线性的影响,其畸变复杂,PSD传感器的标定成为其应用的关键。针对PSD相机和红外发光二极管(LED)光源组成的PSD视觉测量系统,提出了一种PSD相机标定方法。该方法采用多项式模型表征PSD相机畸变,结合传统的针孔成像模型共同构成PSD相机成像模型;利用非线性优化标定相机模型参数;设计了专用的红外LED标定板,实现了PSD视觉测量系统的标定。实验结果表明:该方法对PSD相机的标定精度较高,利用该标定结果进行位姿测量的精度较高,速度较快,可以满足高精度光学测量的需求。
Position sensitive detector(PSD)has a great advantage in terms of visual pose measurement due to less affect by light and the simple data processing.However,due to the non-linearity of the PSD sensor itself,the distortion of the PSD sensor is complex and the calibration of the PSD sensor becomes the key to its application.Aiming at the PSD vision measurement system composed of PSD camera and infrared light emitting diode(LED)light source,we propose a PSD camera calibration method.The method uses polynomial model to characterize the PSD camera distortion,combined with the traditional pinhole imaging model to form the PSD camera imaging model.Non-linear optimization is used to get calibration camera model parameters.A dedicated infrared LED calibration board is designed to achieve PSD vision measurement system calibration.Experimental results show that this method has high calibration accuracy for PSD camera. With this calibration result,we can obtain high measurement accuracy of position and orientation and short running time,which can meet the demand of high precision optical measurement.
Position sensitive detector(PSD)has a great advantage in terms of visual pose measurement due to less affect by light and the simple data processing.However,due to the non-linearity of the PSD sensor itself,the distortion of the PSD sensor is complex and the calibration of the PSD sensor becomes the key to its application.Aiming at the PSD vision measurement system composed of PSD camera and infrared light emitting diode(LED)light source,we propose a PSD camera calibration method.The method uses polynomial model to characterize the PSD camera distortion,combined with the traditional pinhole imaging model to form the PSD camera imaging model.Non-linear optimization is used to get calibration camera model parameters.A dedicated infrared LED calibration board is designed to achieve PSD vision measurement system calibration.Experimental results show that this method has high calibration accuracy for PSD camera. With this calibration result,we can obtain high measurement accuracy of position and orientation and short running time,which can meet the demand of high precision optical measurement.
引文
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[2]Zou Y Y,Guo D Z,Zhang X J,et al.Research on motion stability measurement of guide rails based on position sensitive detector[C].2010 International Conference on Future Industrial Engineering and Application,2010:72-75.
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[6]Liu M.Research on nonlinear compensation of improved neural network PSD[J].China Measurement&Test,2009,35(2):37-39.刘迈.改进型的神经网络PSD非线性补偿研究[J].中国测试,2009,35(2):37-39.
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[8]Tsai R Y.A versatile camera calibration technique for high-accuracy 3D machine vision metrology using offthe-shelf TV cameras and lenses[J].IEEE Journal on Robotics&Automation,2003,3(4):323-344.
[9]Du J Y.Vision based navigation system for autonomous proximity operations:an experimental and analytical study[D].Texas:Texas A&MUniversity,2005.
[10]Chen H,Zhu J G,Xue B.Impact of rough surface scattering characteristics to measurement accuracy of laser displacement sensor based on position sensitive detector[J].Chinese Journal of Lasers,2013,40(8):0808003.陈浩,邾继贵,薛彬.粗糙表面散射特性对基于PSD的激光位移传感器测量精度的影响[J].中国激光,2013,40(8):0808003.
[11]Yang D S,Bi S S,Cai Y R,et al.Wide-area monocular plane measurement based on calibration on aparallel plane using multiple targets[J].Acta Optica Sinica,2017,37(10):1015001.杨东升,毕树生,蔡月日,等.基于平行面多靶标标定的单目大视场平面测量[J].光学学报,2017,37(10):1015001.
[12]Sun J Y,Sun J,Xu C L,et al.A calibration method of focused light field cameras based on light field images[J].Acta Optica Sinica,2017,37(5):0515002.孙俊阳,孙俊,许传龙,等.一种基于光场图像的聚焦光场相机标定方法[J].光学学报,2017,37(5):0515002.
[13]Zou P P,Zhang Z L,Wang P,et al.Binocular camera calibration based on collinear vector and plane homography[J].Acta Optica Sinica,2017,37(11):1115006.邹朋朋,张滋黎,王平,等.基于共线向量与平面单应性的双目相机标定方法[J].光学学报,2017,37(11):1115006.
[2]Zou Y Y,Guo D Z,Zhang X J,et al.Research on motion stability measurement of guide rails based on position sensitive detector[C].2010 International Conference on Future Industrial Engineering and Application,2010:72-75.
[3]Li T Z,Wang S Y,Shen J,et al.Nonlinear error analysis of improved PSD and its applications[J].Opto-Electronic Engineering,2008,35(2):123-127.李田泽,王淑云,申晋,等.改进型PSD非线性误差分析及其应用研究[J].光电工程,2008,35(2):123-127.
[4]Yamamoto K,Yamaguchi S,Terada Y.New structure of two-dimensional position sensitive semiconductor detector and application[J].IEEETransactions on Nuclear Science,1985,32(1):438-442.
[5]Yuan H X,Wang Z X,He A Z.Algorithm study of non-linear correction of PSD[J].Chinese Journal of Scientific in Strument,1999,20(3):271-274.袁红星,王志兴,贺安之.PSD非线性修正的算法研究[J].仪器仪表学报,1999,20(3):271-274.
[6]Liu M.Research on nonlinear compensation of improved neural network PSD[J].China Measurement&Test,2009,35(2):37-39.刘迈.改进型的神经网络PSD非线性补偿研究[J].中国测试,2009,35(2):37-39.
[7]Zhang Z.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis&Machine Intelligence,2000,22(11):1330-1334.
[8]Tsai R Y.A versatile camera calibration technique for high-accuracy 3D machine vision metrology using offthe-shelf TV cameras and lenses[J].IEEE Journal on Robotics&Automation,2003,3(4):323-344.
[9]Du J Y.Vision based navigation system for autonomous proximity operations:an experimental and analytical study[D].Texas:Texas A&MUniversity,2005.
[10]Chen H,Zhu J G,Xue B.Impact of rough surface scattering characteristics to measurement accuracy of laser displacement sensor based on position sensitive detector[J].Chinese Journal of Lasers,2013,40(8):0808003.陈浩,邾继贵,薛彬.粗糙表面散射特性对基于PSD的激光位移传感器测量精度的影响[J].中国激光,2013,40(8):0808003.
[11]Yang D S,Bi S S,Cai Y R,et al.Wide-area monocular plane measurement based on calibration on aparallel plane using multiple targets[J].Acta Optica Sinica,2017,37(10):1015001.杨东升,毕树生,蔡月日,等.基于平行面多靶标标定的单目大视场平面测量[J].光学学报,2017,37(10):1015001.
[12]Sun J Y,Sun J,Xu C L,et al.A calibration method of focused light field cameras based on light field images[J].Acta Optica Sinica,2017,37(5):0515002.孙俊阳,孙俊,许传龙,等.一种基于光场图像的聚焦光场相机标定方法[J].光学学报,2017,37(5):0515002.
[13]Zou P P,Zhang Z L,Wang P,et al.Binocular camera calibration based on collinear vector and plane homography[J].Acta Optica Sinica,2017,37(11):1115006.邹朋朋,张滋黎,王平,等.基于共线向量与平面单应性的双目相机标定方法[J].光学学报,2017,37(11):1115006.