线结构光标定方法综述
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摘要
标定方法一直是线结构光三维测量系统研究的关键要素。重点讨论了线结构光传感器标定方法中的三个问题:标定靶物、光平面标定方法以及标定精度评定方法的比较。首先,总结了常用的标定靶物类型及其标定特点,为标定靶物的选型提供参考;然后,按照标定靶物和传感器标定时的相对运动关系,将当前主要的光平面标定方法划分为三类,分别是靶物与传感器位置关系固定不动的标定方法、靶物与传感器之间存在可控运动的标定方法以及靶物与传感器之间可自由移动的标定方法;其次,系统归纳了现有标定精度的评定方法,分析了各种方法的原理以及特点;最后,总结了线结构光标定方法的发展现状,指出线结构光自扫描测量系统和水下标定是线结构光传感器的发展趋势。
The calibration method is an indispensable key element in the study of three-dimensional measurement systems of line-structured light.We focus on three issues in the calibration method of line-structured light sensors,the calibration target,calibration method of light plane,and evaluation of calibration accuracy.At first,the commonly used calibration target type and its calibration characteristics are summarized,which provide a reference for the selection of calibration target.Then,the current main calibration methods of light plane are divided into three kinds according to the relative motion relation between the calibration target and the sensor,namely the calibration method with fixed position between calibration target and the sensor,the calibration method with controllable relative motion between the calibration target and the sensor,and the calibration method with freely motion between calibration target and the sensor.Subsequently,we systematically summarize the existing evaluation methods of the calibration accuracy,and analyze the principles and characteristics of them.Finally,we summarize the development status of the line-structured light calibration method,and point out that the line-structured light self-scanning measurement system and the underwater calibration are the development trend of line-structured light sensor.
The calibration method is an indispensable key element in the study of three-dimensional measurement systems of line-structured light.We focus on three issues in the calibration method of line-structured light sensors,the calibration target,calibration method of light plane,and evaluation of calibration accuracy.At first,the commonly used calibration target type and its calibration characteristics are summarized,which provide a reference for the selection of calibration target.Then,the current main calibration methods of light plane are divided into three kinds according to the relative motion relation between the calibration target and the sensor,namely the calibration method with fixed position between calibration target and the sensor,the calibration method with controllable relative motion between the calibration target and the sensor,and the calibration method with freely motion between calibration target and the sensor.Subsequently,we systematically summarize the existing evaluation methods of the calibration accuracy,and analyze the principles and characteristics of them.Finally,we summarize the development status of the line-structured light calibration method,and point out that the line-structured light self-scanning measurement system and the underwater calibration are the development trend of line-structured light sensor.
引文
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[16]Jiang Y F,Jiang K Y,Lin J Y.Extraction method for sub-pixel center of linear structured light stripe[J].Laser&Optoelectronics Progress,2015,52(7):071502.江永付,江开勇,林俊义.线结构光光条中心亚像素精确提取方法[J].激光与光电子学进展,2015,52(7):071502.
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[19]Salvi J,ArmanguéX,Batlle J.A comparative review of camera calibrating methods with accuracy evaluation[J].Pattern Recognition,2002,35(7):1617-1635.
[20]Zhang Z.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[21]Zhang X,Cheng D Q,Li W.High precision calibration of vision measurement system in large FOV based on virtual3D target[J].Optics and Precision Engineering,2017,25(4):359-367.张曦,程东勤,李伟.构建虚拟立体靶标的大视场高精度视觉标定[J].光学精密工程,2017,25(4):359-367.
[22]Dewar R.Self-generated targets for spatial calibration of structured light optical sectioning sensors with respect to an external coordinate system[J].Society of Manufacturing Engineers,1988:5-13.
[23]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.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.
[24]Huynh D Q,Qwens 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.
[25]Wei Z Z,Zhang G J,Xu Y.Calibration approach for structured-light-stripe vision sensor[J].Chinese Journal of Mechanical Engineering,2005,41(2):210-214.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.
[26]Zhou F Q,Zhang G J.Complete calibration of a structured light stripe vision sensor through planar target of unknown orientations[J].Image and Vision Computing,2005,23(1):59-67.
[27]Zhou F Q,Cai F H.Calibrating structured-light vision sensor with one-dimensional target[J].Chinese Journal of Mechanical Engineering,2010,46(18):7-12.周富强,蔡斐华.基于一维靶标的结构光视觉传感器标定[J].机械工程学报,2010,46(18):7-12.
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[30]Wei Z Z,Li C Q,Ding B S.Line structured light vision sensor calibration using parallel straight lines features[J].Optik-International Journal for Light and Electron Optics,2014,125(17):4990-4997.
[31]Keferstein C P,Marxer M.Testing bench for laser triangulation sensors[J].Sensor Review,1998,18(3):183-187.
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