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Method for measuring geometric parameters of spatial circle based on technique of binocular stereoscopic vision

A technology of binocular stereo vision and geometric parameters, which is applied in measurement devices, image data processing, 3D image processing, etc.

Inactive Publication Date: 2007-12-26
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Zhou Fuqiang et al. gave a method of using the epipolar line to determine the corresponding points on the two images, then using several point pairs to reconstruct the spatial points, and finally using the spatial points to fit the method of the spatial circle (Zhou Fuqiang, Zhang Guangjun, a A visual measurement method for geometric parameters of a space circle, patent number: ZL 03142659.X), but this method needs to manually determine the position and number of epipolar lines, and the final measurement accuracy will be affected by human factors

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  • Method for measuring geometric parameters of spatial circle based on technique of binocular stereoscopic vision
  • Method for measuring geometric parameters of spatial circle based on technique of binocular stereoscopic vision
  • Method for measuring geometric parameters of spatial circle based on technique of binocular stereoscopic vision

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[0021] In order to better understand the present invention, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 shows a binocular stereo vision system with any configuration. o l x l Y l Z l and O r x r Y r Z r are the left and right camera coordinate systems, o l u l v l and o r u r v r are the left and right image coordinate systems in pixels, respectively. o w x w Y w Z w is the world coordinate system, where O w At the center of the space circle, X w -Y wThe plane is the plane where the space circle is located. Let the rotation matrix and translation vector between the world coordinate system and the left camera coordinate system be R and t respectively, record R=[r 1 r 2 r 3 ], where the three-dimensional column vector r i Indicates the ith column of the matrix R, i=1, 2, 3. Let the rotation matrix and translation vector between the lef...

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Abstract

A method for measuring space-circle geometric parameter based on binocular stereo-vision includes confirming parameter and one-order radial distortion parameter separately in left-right video cameras, calculating out rotary matrix and translation vector presenting relative position relation of left-right video cameras, utilizing left-right video cameras to obtain two frame of images containing space-circle oval image and carrying out distortion calibration on two obtained images and directly calculating out all geometric parameters of space-circle in linear way by adapting oval image of distortion-calibrated image plane.

Description

technical field [0001] The invention relates to a method for measuring geometric parameters of a space circle based on binocular stereo vision technology, which can accurately measure all geometric parameters of any circle in space, including the radius of the space circle, the space coordinates of the center of the circle and the space orientation of the plane where the circle is located. The invention belongs to the field of advanced measurement technology, and is especially suitable for non-contact industrial detection and vision-based autonomous navigation system. Background technique [0002] A circle is a common element of the geometric shape of an object, and it is of great significance to accurately measure the geometric parameters of a space circle in industrial inspection. In addition, through the positioning of a specific circle on the surface of the space object, the space object can be positioned indirectly, thereby enabling visual navigation. [0003] The trad...

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Application Information

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IPC IPC(8): G01B11/00G01B11/02G01B11/03G01B11/08G01B11/24G06T15/00
Inventor 郑银强刘允才
Owner SHANGHAI JIAO TONG UNIV
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