采用低速相机测量轮的相对高速转动
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摘要
采用机器视觉测量轮的转速具有高效、直观的特点。采用高帧速相机测量高转速会导致相机数据量激增。为了解决数据量过大的问题,提出了一种采用低速电子卷帘快门相机测量轮子转速的方法。低速电子卷帘快门相机采集相对高速转轮的图像时,卷帘快门会引起轮图像的几何畸变。利用这些畸变图像中的信息,可以求解出对应的转速,实现利用低速相机测量轮的相对高速转动的目的。为了揭示转动速度和图像畸变之间的关系,建立了旋转仿真模型,并在模型中验证了求解方法的有效性。为了解决空间中的轮被单目相机拍摄产生的二义性,提出结合轮的转速来消除二义性的方法。最后进行了验证实验,实验结果表明,采用低速电子卷帘快门相机能够测量高于相机帧速的转速,并且相对误差小于4%。
Measuring the rotating velocity of the wheel with machine vision is efficient and straightforward.Measuring the high-speed rotation with a high-speed camera can generate massive data.In order to reduce the massive data,we propose a method to measure the relative high-speed rotation of the wheel by a low-speed electronic rolling shutter camera.This method bases on that the effect of rolling shutter can induce geometric distortion in the image when the wheel is rotating fast.The information in the distortion image can be used to get the rotating velocity of the wheel,and the purpose of measuring relative high-speed rotation with low-speed camera is realized at the same time.The proposed algorithm is validated in a simulation model which reveals the relationship between the rotation and the distortion image.In order to eliminate the dualistic caused by the spatial wheel photographed by a single camera,the rotation property of the wheel is researched.Finally,the verification experiment is carried out.The result of the experiment shows that this method can detect the rotating velocity which is higher than the speed of the camera,and the relative error is less than 4%.
Measuring the rotating velocity of the wheel with machine vision is efficient and straightforward.Measuring the high-speed rotation with a high-speed camera can generate massive data.In order to reduce the massive data,we propose a method to measure the relative high-speed rotation of the wheel by a low-speed electronic rolling shutter camera.This method bases on that the effect of rolling shutter can induce geometric distortion in the image when the wheel is rotating fast.The information in the distortion image can be used to get the rotating velocity of the wheel,and the purpose of measuring relative high-speed rotation with low-speed camera is realized at the same time.The proposed algorithm is validated in a simulation model which reveals the relationship between the rotation and the distortion image.In order to eliminate the dualistic caused by the spatial wheel photographed by a single camera,the rotation property of the wheel is researched.Finally,the verification experiment is carried out.The result of the experiment shows that this method can detect the rotating velocity which is higher than the speed of the camera,and the relative error is less than 4%.
引文
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[3]Hou W,Jiang Y,Wu X,et al.Detection of kinematics parameters of index finger movement with high-speed video camera[J].Chinese Journal of Scientific Instrument,2008,29(2):240-243.
[4]Hou W S,Wu X Y,Jiang Y T,et al.Phased multijoint movement of the index finger during a full flexion cycle[J].Biomedical Engineering Applications Basis&Communications,2008,20(5):303-312.
[5]Furuno S,Kobayashi K,Okubo T,et al.A study on spin-rate measurement using a uniquely marked moving ball[C]∥ICCAS-SICE,August 18-21,2009,Fukuoka,Japan.IEEE,10992034.
[6]Schaeper M,Schmidt R,Kostbade R,et al.Optical high-resolution analysis of rotational movement:testing circular spatial filter velocimetry(CSFV)with rotating biological cells[J].Journal of Physics D:Applied Physics,2016,49(26):265402.
[7]Nakamura H,Iwasakia T,Watanoa S.Experimental analysis of bubble velocity in a rotating fluidized bed[J].Chemical Engineering&Processing Process Intensification,2009,48(1):178-186.
[8]Wang S,Li Q,Guan B.A computer vision method for measuring angular velocity[J].Optics&Lasers in Engineering,2007,45(11):1037-1048.
[9]Kim H,Handa A,Benosman R,et al.Simultaneous mosaicing and tracking with an event camera[C].Proceedings of the British Machine Vision Conference,2014:26.1-26.12.
[10]Lichtsteiner P,Posch C,Delbruck T.A 128×128120dB 15μm latency asynchronous temporal contrast vision sensor[J].IEEE Journal of Solid-State Circuits,2008,43(2):566-576.
[11]Gallego G,Scaramuzza D.Accurate angular velocity estimation with an event camera[J].IEEE Robotics&Automation Letters,2017,2(2):632-639.
[12]Liang C K,Chang L W,Chen H H.Analysis and compensation of rolling shutter effect[J].IEEETransactions on Image Process,2008,17(8):1323-1330.
[13]Sun Y,Liu G,Sun Y.An affine motion model for removing rolling shutter distortions[J].IEEE Signal Processing Letters,2016,23(9):1250-1254.
[14]Aitaider O,Bartoli A,Andreff N.Kinematics from lines in a single rolling shutter image[C]∥2007IEEEConference on Computer Vision and Pattern Recognition,June 17-22,2007,Minneapolis,MN,USA.New York:IEEE,4270144.
[15]Ait-Aider O,Andreff N,Lavest J M,et al.Exploiting rolling shutter distortions for simultaneous object pose and velocity computation using a single view[C]∥IEEE International Conference on Computer Vision Systems,January 4-7,2006,New York,USA.New York:IEEE,35.
[16]He Z,Wei P.New method for 2D velocity measurement based on electronic rolling shutter[J].Proceedings of SPIE,2008,6625:66251W.
[17]Davis A,Rubinstein M,Mysore G J,et al.The visual microphone:passive recovery of sound from video[J].ACM Transactions on Graphics,2014,33(4):79.
[18]Shiu Y C,Ahmad S.3D location of circular and spherical features by monocular model-based vision[C]∥IEEE International Conference on Systems,Man and Cybernetics,November 14-17,1989,Cambridge,MA,USA.New York:IEEE,3719665.
[19]Chen Z K,Hu L J,Wang Y,et al.Solution of duality in pose estimation of a single circle using rectangle constrain[J].Laser&Optoelectronics Progress,2017,54(10):101501.陈至坤,胡连军,王一,等.单圆位姿识别二义性的矩形约束消除[J].激光与光电子学进展,2017,54(10):101501.
[20]Zhang L J,Huang X X,Feng W C,et al.Solution of duality in pose estimation of a single circle utilizing constraint angles motion reconstruction[J].Acta Optica Sinica,2016,36(1):0115002.张李俊,黄学祥,冯渭春,等.运动重建约束角的圆位姿二义性消除方法[J].光学学报,2016,36(1):0115002.
[21]Zhang L J,Huang X X,Feng W C,et al.Solution of duality in circular feature with three line configuration[J].Acta Optica Sinica,2016,36(5):0515001.张李俊,黄学祥,冯渭春,等.消除圆位姿二义性的三线构型法[J].光学学报,2016,36(5):0515001.
[22]Mai F,Hung Y S,Zhong H,et al.A hierarchical approach for fast and robust ellipse extraction[J].Pattern Recognition,2008,41(8):2512-2524.
[23]HeikkilJ,Silvén O.A four-step camera calibration procedure with implicit image correction[J].Proceedings of IEEE,1997:1106-1112.