Measurement method of plane mirror included angle in multiplane-mirror catadioptric system

Abstract

The invention provides a measurement method of a plane mirror included angle in a multiplane-mirror catadioptric system. Technical schemes of the invention comprise the following steps: by using the multiplane mirrors and a monocular camera, establishing a data acquisition system, calibrating a shooting angle and a diaphragm of a real camera and collecting data of an object in a shooting area; acquiring marking points through adopting a threshold method; acquiring center positions of the marking points by using an area gap filling method; elliptically fitting the obtained marking points; calculating the position of circle points by using an ellipse; calculating pole positions by using a limit-restraint technology; finally acquiring the plane mirror included angle by using the poles and the circle points. In the traditional multiplane-mirror catadioptric system, the plane mirror included angle is difficult to be measured because of utilization of a plurality of plane mirrors. By using the method of the invention, the above problem can be solved, calibration precision of the monocular camera can be raised so that accuracy of three-dimensional scene reconstruction and stability of system can be improved.

Description

technical field [0001] The invention relates to a novel catadioptric imaging system, in particular to a method for measuring the included angle of a plane mirror of an uncalibrated multi-plane mirror catadioptric system. Background technique [0002] With the development and application of computer vision and photogrammetry, the measurement of scenes based on computer vision methods has attracted the attention and interest of many scholars. This method has many advantages: (1). The measurement process is convenient and the measurement results are objective; (2). The required hardware equipment is simple and low in cost; (3). Back to the original actual scene. [0003] One of the most typical measurement methods based on computer vision is to use stereo vision to reconstruct the three-dimensional structure of the scene by unifying two or more images of the scene, so as to measure the distance between any bright spots in the three-dimensional space. However, in the process o...

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Problems solved by technology

[0005] The present invention aims to solve the problem of difficulty in measuring the angle between plane mirrors caused by the use of multiple plane mirrors in the traditional multi-plane mirror catadioptric imaging system, thereby improving the calibration accuracy of the monocular camera and improving the accuracy and accuracy of three-dimensional scene reconstruction. system stability

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