一种线结构光视觉测量现场标定方法
|
摘要
针对线结构光视觉测量的现场标定问题,提出一种基于直角方框共线圆点靶标的测量系统参数现场标定方法,建立标定模型,给出了所使用的直角方框共线圆点靶标的设计方案和标定步骤。标定时,只需将线结构光传感器的光平面与靶标圆点中心平面调整至同一平面,采集靶标上的特征圆点图像并提取特征圆点圆心的图像坐标,进而将其代入线结构光视觉测量标定模型,即可一次性标定出测量系统的参数。实验结果表明:标定精度可达0. 001 mm,该方法较现有线结构光标定方法操作简单,可满足实际测量需求,提高了线结构光视觉现场测量效率。
Aiming at the problem of field calibration of line structured light vision measurement,a field calibration method for line structured light vision measurement system based on a right angle box co-dot pattern was proposed,and the calibration model was established.The design scheme and the calibration steps of the right angle box co-dot pattern were presented.In the system calibration,only the light plane of line structured light sensor and plane of the pattern dot center were adjusted to the same plane.Then the images of feature points on the target were captured and the image coordinates of them were extracted.Those coordinates were substituted into the calibration model,so the system parameters could be calibrated only once.The experimental results show that the system calibration precision accuracy is 0.001 mm,and the operation of this calibration method is simpler than others.The method can meet the actual measurement requirement and improve the efficiency of field calibration for line structured light vision measurement.
Aiming at the problem of field calibration of line structured light vision measurement,a field calibration method for line structured light vision measurement system based on a right angle box co-dot pattern was proposed,and the calibration model was established.The design scheme and the calibration steps of the right angle box co-dot pattern were presented.In the system calibration,only the light plane of line structured light sensor and plane of the pattern dot center were adjusted to the same plane.Then the images of feature points on the target were captured and the image coordinates of them were extracted.Those coordinates were substituted into the calibration model,so the system parameters could be calibrated only once.The experimental results show that the system calibration precision accuracy is 0.001 mm,and the operation of this calibration method is simpler than others.The method can meet the actual measurement requirement and improve the efficiency of field calibration for line structured light vision measurement.
引文
[1]崔希民,李聪,袁德宝,等.基于拉丝法的线结构光视觉测量系统标定[J].科技导报,2014,32(24):64-67.CUI X M,LI C,YUAN D B,et al. Calibration of a Line Structured Light Vision Measuring System Based on the Drawing Method[J]. Science&Technology Review,2014,32(24):64-67.
[2]段发阶,刘凤梅,叶声华.一种新型线结构光传感器结构参数标定方法[J].仪器仪表学报,2000,21(1):108-110.DUAN F J,LIU F M,YE S H. A New Accurate Method for the Calibration of Line Structured Light Sensor[J]. Chinese Journal of Scientific Instrument,2000,21(1):108-110.
[3]HUYNH D Q,OWENS R A,HARTMANN P E. Calibration a Structured Light Stripe System:A Novel Approach[J].International Journal of Computer Vision,1999,33(1):73-86.
[4]魏振忠,张广军,徐园.一种线结构光视觉传感器标定方法[J].机械工程学报,2005,41(2):210-214.WEI Z Z,ZHANG G J,XU Y. Calibration Approach for Structured-lighted-stripe Vision Sensor[J]. Journal of Mechanical Engineering,2005,41(2):210-214.
[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[J].光学学报,2009,29(11):3124-3128.LIU Z,ZHANG G J,WEI Z Z,et al. An Accurate Calibration Method for Line Structured Light Vision Sensor[J].Acta Optica Sinica,2009,29(11):3124-3128.
[6]黄风山,王雪莎.连铸坯视觉定重线结构光平面调整方法研究[J].半导体光电,2016,37(2):279-283.HUANG F S,WANG X S. Research on Adjustment Method of Linear Structure Laser Plane in Billet Vision Weight[J]. Semiconductor Optoelectronics,2016,37(2):279-283.
[7]马颂德,张正友.计算机视觉——计算理论与算法基础[M].北京:科学出版社,1998.
[8]何援军.透视和透视投影变换——论图形变换和投影的若干问题之三[J].计算机辅助设计与图形学学报,2005,17(4):734-739.HE Y J. Perspective and Its Projection Transformation[J].Journal of Computer-aided Design&Computer Graphics,2005,17(4):734-739.
[9]田垅,刘宗田.最小二乘法分段直线拟合[J].计算机科学,2012,39(S1):482-484.TIAN L,LIU Z T. Least-squares Method Piecewise Linear Fitting[J]. Computer Science,2012,39(S1):482-484.
[10]胡浩,梁晋,唐正宗,等.显微立体视觉小尺度测量系统的标定[J].光学精密工程,2014,22(8):1985-1994.HU H,LIANG J,TANG Z Z,et al. Calibration of Stereo Microscope Measurement Systems[J]. Optics and Precision Engineering,2014,22(8):1985-1994.
[2]段发阶,刘凤梅,叶声华.一种新型线结构光传感器结构参数标定方法[J].仪器仪表学报,2000,21(1):108-110.DUAN F J,LIU F M,YE S H. A New Accurate Method for the Calibration of Line Structured Light Sensor[J]. Chinese Journal of Scientific Instrument,2000,21(1):108-110.
[3]HUYNH D Q,OWENS R A,HARTMANN P E. Calibration a Structured Light Stripe System:A Novel Approach[J].International Journal of Computer Vision,1999,33(1):73-86.
[4]魏振忠,张广军,徐园.一种线结构光视觉传感器标定方法[J].机械工程学报,2005,41(2):210-214.WEI Z Z,ZHANG G J,XU Y. Calibration Approach for Structured-lighted-stripe Vision Sensor[J]. Journal of Mechanical Engineering,2005,41(2):210-214.
[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[J].光学学报,2009,29(11):3124-3128.LIU Z,ZHANG G J,WEI Z Z,et al. An Accurate Calibration Method for Line Structured Light Vision Sensor[J].Acta Optica Sinica,2009,29(11):3124-3128.
[6]黄风山,王雪莎.连铸坯视觉定重线结构光平面调整方法研究[J].半导体光电,2016,37(2):279-283.HUANG F S,WANG X S. Research on Adjustment Method of Linear Structure Laser Plane in Billet Vision Weight[J]. Semiconductor Optoelectronics,2016,37(2):279-283.
[7]马颂德,张正友.计算机视觉——计算理论与算法基础[M].北京:科学出版社,1998.
[8]何援军.透视和透视投影变换——论图形变换和投影的若干问题之三[J].计算机辅助设计与图形学学报,2005,17(4):734-739.HE Y J. Perspective and Its Projection Transformation[J].Journal of Computer-aided Design&Computer Graphics,2005,17(4):734-739.
[9]田垅,刘宗田.最小二乘法分段直线拟合[J].计算机科学,2012,39(S1):482-484.TIAN L,LIU Z T. Least-squares Method Piecewise Linear Fitting[J]. Computer Science,2012,39(S1):482-484.
[10]胡浩,梁晋,唐正宗,等.显微立体视觉小尺度测量系统的标定[J].光学精密工程,2014,22(8):1985-1994.HU H,LIANG J,TANG Z Z,et al. Calibration of Stereo Microscope Measurement Systems[J]. Optics and Precision Engineering,2014,22(8):1985-1994.