新型复眼定位装置设计及关键技术研究
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摘要
视觉定位,作为目标定位技术领域中的重要手段之一,在工业测量、安防监控、导航、军事目标定位与跟踪等场合有着广泛的应用。自然界中的复眼由于具有特有的曲面结构、多通道成像系统以及对神经信息的高度集中处理单元,拥有大视场范围内的目标定位和对运动目标高灵敏的捕捉及处理等能力,因此非常适合于市场对定位装置的重量轻、体积小、功耗低及可靠性高等方面日益增长的需求。本论文提出一种用于大视场目标定位的新型复眼定位系统,并讨论了为获取大视场而采用的技术和成像过程中曲面透镜阵列到平面图像传感器成像的解决办法。介绍了透镜安装的要求,搭建起透镜安装平台并完成透镜的安装工作。通过对双目视觉定位技术的调研,建立了适用本复眼系统目标定位的数学模型。从理论和实验两方面研究了该系统多透镜成像畸变的标定任务以及目标像点的识别方法,并分析了目标像点中心的提取技术。基于簇眼单元的划分,提出“搜索三维坐标波动误差”的方法对像点通道进行匹配,进一步完成目标定位任务,最后对复眼系统的标定性能进行了评价并初步研究了复眼定位系统的应用。
本论文的研究工作主要有以下几个方面：
1.设计一套进行大视场目标定位的新型复眼装置。以曲面分布的透镜阵列方式获取大视场范围内的目标,研究各透镜相互之间既满足高填充比又最大限度消除成像盲区的排布方式。对透镜阵列的安装方案进行了简要设计并完成各子透镜的安装工作。研究了曲面分布的透镜阵列到图像传感器有限成像面的映射问题和边缘视场接收透镜成像质量差的问题,采用了在透镜阵列与图像传感器之间加入折转透镜的解决办法。选择了大面阵图像传感器,并编写了图像传感器的驱动程序,实现了基于FPGA的图像传感器像素的采集并通过USB2.0高速总线上传到PC机,完成复眼接收通道图像的显示及后续处理。
2.调研总结双目视觉定位技术,建立复眼各子眼透镜坐标系和世界坐标系,确立复眼定位数学模型和标定内容。为利于模型的表达和问题的解决,把目标点入射光线经接收透镜-折转透镜两层变化后最终成像在图像传感器上的轨迹光线分为两部分。其中一部分是目标到各子透镜中心的线性部分,而另外一部分是各子透镜中心经过折转透镜到图像传感器上像点的部分。根据已有的机器视觉标定模型,通过分析,提出根据三维坐标已知的目标点标定每个透镜入射光线向量角度与其成像点之间对应关系的标定方式。
3.根据标定原理,设计标定方案,完成复眼成像系统的标定任务。选择了等离子电视机、分光镜、半导体激光器、水平仪以及水平移动导轨等实验设备和仪器。使用等离子电视机作为目标平面,利用分光镜调整了复眼平面和目标平面之间的平行性,采用激光与目标平面上一个固定点重合的方式调节了水平移动轴与目标平面的垂直性,根据水平仪调整了目标平面的行列和复眼坐标系一致。在以上基础上,根据消失点找出复眼中心透镜光轴与目标平面之间的交点在目标平面上的位置,并由不同目标共像点的方法求出复眼中心透镜与垂足之间的距离,进而求出目标平面上各点的三维世界坐标。最后算出各点与接收透镜之间的向量角度和对应像点的中心坐标后,对每一个透镜都建立起一种它与所有接收到目标之间的向量角度和对应目标像点坐标之间的关系,完成系统的标定工作。标定过程中还介绍了提取目标像点的图像处理方法并分析了提取目标光斑像点中心的算法和图像降噪方法。
4.研究使用复眼定位系统进行目标三维定位的关键问题和简单应用。分析了基于Delaunay三角剖分的数据插值、神经网络插值、双调和样条插值等常用散乱点数据插值方法以及插值精度特点。根据采集到的目标像点中心坐标,插值标定结果得到对应通道的向量角度。提出把复眼透镜分成169个簇眼单元,对接收到一个目标的一组像点首先识别出属于一个簇眼单元的若干通道,然后通过归一化三维坐标差异定义了每一次匹配所求出不同三维坐标之间的的波动误差,实现了目标像点与对应通道的有效识别,解决了复眼三维定位中的像点对应通道识别的关键问题。通过移动不同目标平面并定位目标点,评估了复眼系统的标定效果,根据计算指出透镜向量角度标定均方误差在0.02°左右,X、Y、Z三维坐标相对误差在2%左右。在对目标定位的研究过程中,分析了插值点与周边基准点分布关系对插值精度的影响,只对位于4个基准点构成的四边形内的插值点进行了插值。设计了物体轮廓测量的实验方案并搭建实验平台,使用所设计的复眼定位系统进行了相关的测量并重构了不同视场内的零件轮廓。
Visual technology, as an important method in the fields of target positioning, has been widely applied to the industrial measurement, surveillance and control system, navigation, positioning and tracking for military target, and so on. Because compound eye in nature is endowed with especial surface construction, imaging system with multi-channel and high centralized process unit for information with neural network, and it is capacity of target positioning with large field of view and high sensitivity to capture moving target and deal with it quickly, it is very fit for the requirement of light weight, small size, low power consumption and high reliability of positioning equipment. Based on these characteristics of compound eye, a novel compound eye system for target positioning with large field of view is put forward in this paper, and the adopted technology to capture the entire target within large field of view and the solved method to project lenses array within large field of view on limited imaging area of one CMOS are discussed. After installation requirements of lenses array is introduced, lenses installation platform is set up and installation task is completed. Based on the survey of positioning technology with binocular vision, the mathematical model fitting to the compound eye is set up. Next, calibration task for imaging distortion of multi-lenses of compound eye and the image processing method to recognize imaging point of target are studied and summarized in the ways of theory and experiment, and the algorithm to extract the center of every imaging point is analyzed. Subsequently, based on the unit partition for compound eye, a new algorithm to match every imaging point and its corresponding lens is put forward, and thus to complete further task of target positioning. Finally, according to the target positioning algorithm, calibrated performance of compound eye imaging system is evaluated and simply applications are initially studied.
The main research contents of this thesis are listed as follows:
1. A novel compound eye device for target positioning with large field of view is designed. The device makes use of the lenses array with surface distribution to obtain targets within large field of view. The arrange type which could not only meet high fill ratio but also eliminate imaging blind region by the greatest extent is studied. Installation scheme for lenses array is initially designed and the task of installing lenses array is completed. After the question projecting lenses array with large field of view on the limited imaging plane of one CMOS and the question of serious defocus and inclination of received lenses locating at the edge of compound eye are studied, one solution is put forward that refractive lens is added to the location between lenses array and CMOS plane. For the selected CMOS image sense, its driver is developed, and pixel data is collected by FPGA. Then the data is sent to PC by USB2.0. Finally, the received images with compound eye are displayed and the imaging information is further copied with.
2. After the current technology for target positioning with binocular vision is studied and summarized, sub-coordinate system of compound eye and its world coordinate system are set up, then the mathematical model and calibrating content for target positioning with compound eye are established. In order to help express complex relationship of incident ray and solve the question setting up mathematical model, the ray, form target point to received lens and to refractive lens and to CMOS plane, is split into two parts. One is the linear part from target point to received sub-lens of compound eye, and the other is the nonlinear part from received sub-lens to refractive lens and to CMOS plane. Based on the existing calibrating model, after those methods are analyzed, the calibrating method which establishes the corresponding relationship between imaging points and its corresponding incident angels of every lens of compound eye is put forward.
3. According to the calibrating theory, calibrating scheme is designed, and the calibrating goal is completed. The experimental equipments and laboratory instruments of plasma television, plane mirror interferometer, semiconductor laser, level instrument and horizontal moving guide rail are selected. The plasma television is selected as the target plane. The parallelism between planes of compound eye and of target is adjusted by interferometer. The verticality between horizontal moving axle and target plane is regulated by the superposition of laser dot and the fixed point in the target plane in the moving process of target plane. The uniformities between X-axis of coordination system of compound eye and row on the target, and between Y-axis of compound eye coordination system and column on the target are adjusted. Based on the work above, the intersection of optical axis of center lens of compound eye and target plane is found out, and the position coordinate on the target plane is calculated by the vanishing point. The distance between the center lens of compound eye and the intersection is obtained by coincidence imaging point of different points in the Y-axis. Then the three dimensional coordinates of all points on the target plane are known. After every center coordinate of imaging point and its corresponding angles of incident ray for every lens are obtained, the corresponding relationship between imaging points and its incident angles is set up. Finally, the calibrated task for imaging distortion of compound eye is completed. In the process of system calibration, image processing method to extract imaging point of target is introduced. And the algorithms to extract imaging point center and of imaging denoising are analyzed.
4. The key issue of three dimension target positioning based on compound eye is studied, and initial application on target positioning with large field of view is discussed. The data interpolation methods based on Delaunay triangulation and neuron network and biharmonic spline are introduced, and interpolation accuracy and interpolation characteristic are analyzed. After the target imaging point center coordinate is extracted, it is interpolated into calibrating results of corresponding lens and the angles is obtained. This paper puts forward to divide lenses array of compound eye into169units of cluster eyes. For received some imaging points of one target, the imaging points that belong to a cluster eyes are found out firstly. Then the waving error is defined by normalized3D coordinates different. Finally, their corresponding lenses are matched successfully and the key issue to match received imaging point and its corresponding lens is solved. After target plane is moved to different position and the points on the target plane are calculated, the calibrated results of compound eye imaging system are evaluated. The results show that the mean square error of angle of every lens is about0.02°, and the relative error of X or Y or Z of three dimension coordinate of every point is about2%. In the process of target positioning, the influence of distribution relationship of interpolation point and referential points on interpolation accuracy is analyzed. Then the interpolation point that is within quadrangle formed with four neighbor points among referential points is only selected to interpolate. Finally, by the designing experiment scheme and putting up experimental platform, the intersection points of different parts with different field of view are initially measured with the designed compound eye positioning system, and their three dimensional contours of are reconstructed.
本论文的研究工作主要有以下几个方面：
1.设计一套进行大视场目标定位的新型复眼装置。以曲面分布的透镜阵列方式获取大视场范围内的目标,研究各透镜相互之间既满足高填充比又最大限度消除成像盲区的排布方式。对透镜阵列的安装方案进行了简要设计并完成各子透镜的安装工作。研究了曲面分布的透镜阵列到图像传感器有限成像面的映射问题和边缘视场接收透镜成像质量差的问题,采用了在透镜阵列与图像传感器之间加入折转透镜的解决办法。选择了大面阵图像传感器,并编写了图像传感器的驱动程序,实现了基于FPGA的图像传感器像素的采集并通过USB2.0高速总线上传到PC机,完成复眼接收通道图像的显示及后续处理。
2.调研总结双目视觉定位技术,建立复眼各子眼透镜坐标系和世界坐标系,确立复眼定位数学模型和标定内容。为利于模型的表达和问题的解决,把目标点入射光线经接收透镜-折转透镜两层变化后最终成像在图像传感器上的轨迹光线分为两部分。其中一部分是目标到各子透镜中心的线性部分,而另外一部分是各子透镜中心经过折转透镜到图像传感器上像点的部分。根据已有的机器视觉标定模型,通过分析,提出根据三维坐标已知的目标点标定每个透镜入射光线向量角度与其成像点之间对应关系的标定方式。
3.根据标定原理,设计标定方案,完成复眼成像系统的标定任务。选择了等离子电视机、分光镜、半导体激光器、水平仪以及水平移动导轨等实验设备和仪器。使用等离子电视机作为目标平面,利用分光镜调整了复眼平面和目标平面之间的平行性,采用激光与目标平面上一个固定点重合的方式调节了水平移动轴与目标平面的垂直性,根据水平仪调整了目标平面的行列和复眼坐标系一致。在以上基础上,根据消失点找出复眼中心透镜光轴与目标平面之间的交点在目标平面上的位置,并由不同目标共像点的方法求出复眼中心透镜与垂足之间的距离,进而求出目标平面上各点的三维世界坐标。最后算出各点与接收透镜之间的向量角度和对应像点的中心坐标后,对每一个透镜都建立起一种它与所有接收到目标之间的向量角度和对应目标像点坐标之间的关系,完成系统的标定工作。标定过程中还介绍了提取目标像点的图像处理方法并分析了提取目标光斑像点中心的算法和图像降噪方法。
4.研究使用复眼定位系统进行目标三维定位的关键问题和简单应用。分析了基于Delaunay三角剖分的数据插值、神经网络插值、双调和样条插值等常用散乱点数据插值方法以及插值精度特点。根据采集到的目标像点中心坐标,插值标定结果得到对应通道的向量角度。提出把复眼透镜分成169个簇眼单元,对接收到一个目标的一组像点首先识别出属于一个簇眼单元的若干通道,然后通过归一化三维坐标差异定义了每一次匹配所求出不同三维坐标之间的的波动误差,实现了目标像点与对应通道的有效识别,解决了复眼三维定位中的像点对应通道识别的关键问题。通过移动不同目标平面并定位目标点,评估了复眼系统的标定效果,根据计算指出透镜向量角度标定均方误差在0.02°左右,X、Y、Z三维坐标相对误差在2%左右。在对目标定位的研究过程中,分析了插值点与周边基准点分布关系对插值精度的影响,只对位于4个基准点构成的四边形内的插值点进行了插值。设计了物体轮廓测量的实验方案并搭建实验平台,使用所设计的复眼定位系统进行了相关的测量并重构了不同视场内的零件轮廓。
Visual technology, as an important method in the fields of target positioning, has been widely applied to the industrial measurement, surveillance and control system, navigation, positioning and tracking for military target, and so on. Because compound eye in nature is endowed with especial surface construction, imaging system with multi-channel and high centralized process unit for information with neural network, and it is capacity of target positioning with large field of view and high sensitivity to capture moving target and deal with it quickly, it is very fit for the requirement of light weight, small size, low power consumption and high reliability of positioning equipment. Based on these characteristics of compound eye, a novel compound eye system for target positioning with large field of view is put forward in this paper, and the adopted technology to capture the entire target within large field of view and the solved method to project lenses array within large field of view on limited imaging area of one CMOS are discussed. After installation requirements of lenses array is introduced, lenses installation platform is set up and installation task is completed. Based on the survey of positioning technology with binocular vision, the mathematical model fitting to the compound eye is set up. Next, calibration task for imaging distortion of multi-lenses of compound eye and the image processing method to recognize imaging point of target are studied and summarized in the ways of theory and experiment, and the algorithm to extract the center of every imaging point is analyzed. Subsequently, based on the unit partition for compound eye, a new algorithm to match every imaging point and its corresponding lens is put forward, and thus to complete further task of target positioning. Finally, according to the target positioning algorithm, calibrated performance of compound eye imaging system is evaluated and simply applications are initially studied.
The main research contents of this thesis are listed as follows:
1. A novel compound eye device for target positioning with large field of view is designed. The device makes use of the lenses array with surface distribution to obtain targets within large field of view. The arrange type which could not only meet high fill ratio but also eliminate imaging blind region by the greatest extent is studied. Installation scheme for lenses array is initially designed and the task of installing lenses array is completed. After the question projecting lenses array with large field of view on the limited imaging plane of one CMOS and the question of serious defocus and inclination of received lenses locating at the edge of compound eye are studied, one solution is put forward that refractive lens is added to the location between lenses array and CMOS plane. For the selected CMOS image sense, its driver is developed, and pixel data is collected by FPGA. Then the data is sent to PC by USB2.0. Finally, the received images with compound eye are displayed and the imaging information is further copied with.
2. After the current technology for target positioning with binocular vision is studied and summarized, sub-coordinate system of compound eye and its world coordinate system are set up, then the mathematical model and calibrating content for target positioning with compound eye are established. In order to help express complex relationship of incident ray and solve the question setting up mathematical model, the ray, form target point to received lens and to refractive lens and to CMOS plane, is split into two parts. One is the linear part from target point to received sub-lens of compound eye, and the other is the nonlinear part from received sub-lens to refractive lens and to CMOS plane. Based on the existing calibrating model, after those methods are analyzed, the calibrating method which establishes the corresponding relationship between imaging points and its corresponding incident angels of every lens of compound eye is put forward.
3. According to the calibrating theory, calibrating scheme is designed, and the calibrating goal is completed. The experimental equipments and laboratory instruments of plasma television, plane mirror interferometer, semiconductor laser, level instrument and horizontal moving guide rail are selected. The plasma television is selected as the target plane. The parallelism between planes of compound eye and of target is adjusted by interferometer. The verticality between horizontal moving axle and target plane is regulated by the superposition of laser dot and the fixed point in the target plane in the moving process of target plane. The uniformities between X-axis of coordination system of compound eye and row on the target, and between Y-axis of compound eye coordination system and column on the target are adjusted. Based on the work above, the intersection of optical axis of center lens of compound eye and target plane is found out, and the position coordinate on the target plane is calculated by the vanishing point. The distance between the center lens of compound eye and the intersection is obtained by coincidence imaging point of different points in the Y-axis. Then the three dimensional coordinates of all points on the target plane are known. After every center coordinate of imaging point and its corresponding angles of incident ray for every lens are obtained, the corresponding relationship between imaging points and its incident angles is set up. Finally, the calibrated task for imaging distortion of compound eye is completed. In the process of system calibration, image processing method to extract imaging point of target is introduced. And the algorithms to extract imaging point center and of imaging denoising are analyzed.
4. The key issue of three dimension target positioning based on compound eye is studied, and initial application on target positioning with large field of view is discussed. The data interpolation methods based on Delaunay triangulation and neuron network and biharmonic spline are introduced, and interpolation accuracy and interpolation characteristic are analyzed. After the target imaging point center coordinate is extracted, it is interpolated into calibrating results of corresponding lens and the angles is obtained. This paper puts forward to divide lenses array of compound eye into169units of cluster eyes. For received some imaging points of one target, the imaging points that belong to a cluster eyes are found out firstly. Then the waving error is defined by normalized3D coordinates different. Finally, their corresponding lenses are matched successfully and the key issue to match received imaging point and its corresponding lens is solved. After target plane is moved to different position and the points on the target plane are calculated, the calibrated results of compound eye imaging system are evaluated. The results show that the mean square error of angle of every lens is about0.02°, and the relative error of X or Y or Z of three dimension coordinate of every point is about2%. In the process of target positioning, the influence of distribution relationship of interpolation point and referential points on interpolation accuracy is analyzed. Then the interpolation point that is within quadrangle formed with four neighbor points among referential points is only selected to interpolate. Finally, by the designing experiment scheme and putting up experimental platform, the intersection points of different parts with different field of view are initially measured with the designed compound eye positioning system, and their three dimensional contours of are reconstructed.
引文
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