基于平面靶标的三维测量数据拼接方法
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摘要
为实现列车转向架的大尺寸参数测量,提出了一种基于大尺寸标定板的数据拼接方法。首先,将被测工件分割成若干子区域;接着,通过双目视觉测量系统分别获取每个子区域的测量数据,将平面靶标放在共同视野下,每个子区域采集靶标上的3个及多个非共线的标记点;然后,通过运算获取各区域间的坐标关系,选取其中一个摄像机坐标系作为世界坐标系,可将其他摄像机获取的数据统一至世界坐标系中,实现数据的拼接。最后,通过求解标定板上圆心间距,验证算法精度。实验结果表明:本方法简单易行,精度较高。
In order to measure the large size parameters of the bogie,a data registration method based on the large scale calibration board is proposed.Firstly,the workpiece is divided into several sub-regions.Then,through the binocular vision measurement system,the measurement data of each sub-region are obtained.The plane target is placed in the common vision,and each sub-region collects three or more non-collinear mark points on the target.Then,the coordinate relation of each region is obtained by operation,and one of the camera coordinate systems is selected as the world coordinate system.The data obtained by other cameras can be unified into the world coordinate system,and the data can be spliced together.Finally,in order to verify the accuracy of the algorithm,the center distance on the calibration plate is solved.The experimental results show that this method is simple and accurate.
In order to measure the large size parameters of the bogie,a data registration method based on the large scale calibration board is proposed.Firstly,the workpiece is divided into several sub-regions.Then,through the binocular vision measurement system,the measurement data of each sub-region are obtained.The plane target is placed in the common vision,and each sub-region collects three or more non-collinear mark points on the target.Then,the coordinate relation of each region is obtained by operation,and one of the camera coordinate systems is selected as the world coordinate system.The data obtained by other cameras can be unified into the world coordinate system,and the data can be spliced together.Finally,in order to verify the accuracy of the algorithm,the center distance on the calibration plate is solved.The experimental results show that this method is simple and accurate.
引文
[1]孙军华,张广军,魏振忠,等.基于平面基线靶标的视觉测量数据拼接方法[J].机械工程学报,2006,42(7):192-195.
[2]倪春杰,胡彦萍.手持式三维激光扫描仪数据拼接技术与实践[J].机械研究与应用,2018,31(5):173-175.
[3]周富强,张广军,江洁,等.现场双经纬仪三维坐标测量系统[J].机械工程学报,2004,40(1):165-169.
[4]徐永安,杨钦,怀进鹏,等.激光旋转扫描测量系统中转轴标定及多视拼合[J].中国激光,2005,32(5):659-662.
[5]刘晓利,彭翔,殷永凯,等.借助标志点的深度数据全局匹配方法[J].光学学报,2009,29(4):1010-1014.
[6]戴静兰,陈志杨,叶修梓,等.ICP算法在点云配准中的应用[J].中国图象图形学报,2007,12(3):517-521.
[2]倪春杰,胡彦萍.手持式三维激光扫描仪数据拼接技术与实践[J].机械研究与应用,2018,31(5):173-175.
[3]周富强,张广军,江洁,等.现场双经纬仪三维坐标测量系统[J].机械工程学报,2004,40(1):165-169.
[4]徐永安,杨钦,怀进鹏,等.激光旋转扫描测量系统中转轴标定及多视拼合[J].中国激光,2005,32(5):659-662.
[5]刘晓利,彭翔,殷永凯,等.借助标志点的深度数据全局匹配方法[J].光学学报,2009,29(4):1010-1014.
[6]戴静兰,陈志杨,叶修梓,等.ICP算法在点云配准中的应用[J].中国图象图形学报,2007,12(3):517-521.