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Optical vision measuring system with wide-field structure and measuring method thereof

A visual measurement and structured light technology, applied in the field of measurement, can solve the problems of limited measurement range and inability to meet the task requirements of wide-field structured light three-dimensional vision measurement tasks, and achieve expanded field of view and wide-field visual three-dimensional perception measurement , strong practical effect

Inactive Publication Date: 2012-11-21
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

[0004] However, the traditional camera model is based on the first pinhole camera designed and manufactured more than a hundred years ago. Simple, the field of view is too small, therefore, the measurement range of the structured light vision measurement system based on the traditional camera is limited, and it cannot meet the requirements of the wide field of view structured light 3D vision measurement task

Method used

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  • Optical vision measuring system with wide-field structure and measuring method thereof
  • Optical vision measuring system with wide-field structure and measuring method thereof
  • Optical vision measuring system with wide-field structure and measuring method thereof

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Embodiment

[0091] The BM-500GE CCD camera from JAI Company of Denmark, the LH650-8-3(5) line structured light projector from Xi’an Huake Optoelectronics Company, the H1214-M(KP) model 12mm focal length lens produced by Japan PENTAX Company, and the bottom The side length is 150mm, the height is 45mm, and the positive quadrangular pyramid reflector constitutes the wide field of view structured light vision measurement system.

[0092] use figure 2 The shown two-dimensional plane target 8 calibrates the four virtual camera parameters and the equation coefficients of the structured light planes in the respective virtual camera coordinate systems. The number of white circles on the target is 121.

[0093] The internal parameters of the four virtual cameras obtained through calibration are shown in Table 1:

[0094]

[0095] Table I

[0096] The coefficients of the four light plane equations are shown in Table 2:

[0097]

[0098] Table II

[0099] use image 3 The quasi-three-di...

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Abstract

The invention belongs to the technical field of measurement, and provides an optical vision measuring system with a wide-field structure and a measuring method thereof. The measuring system consists of an optical vision sensor 7 with a wide-field structure, a computer, a calibration target 8 and a calibration target 9, wherein the optical vision sensor 7 with the wide-field structure comprises a camera 1, a regular rectangular pyramid reflecting mirror 2 and four structured light projectors 3, 4, 5 and 6. The method comprises the following steps of: projecting structured light onto a wide-field scene object in a way of splicing a plurality of linear structure light projectors; forming a deformed structural light bar on the surface of a measured object; receiving the structural light bar by using the camera 1 after being reflected by the regular rectangular pyramid reflecting mirror 2; acquiring a formed image with the computer; processing the acquired image by using the computer; extracting the image coordinate of a central line of the structural light bar; and calculating the three-dimensional coordinate of a light bar point on the surface of the measured object to obtained wide-field scene information according to a measurement model. In the system, the regular rectangular pyramid reflecting mirror is used for reflecting and imaging, so that the view field range of the camera is expanded; and the system and the method are combined with a structured light vision measurement technology, so that three-dimensional sensing measurement of wide-field scene information is realized.

Description

technical field [0001] The invention belongs to the technical field of measurement, and relates to a wide-field structured light vision measurement system and a measurement method. Background technique [0002] In visual 3D measurement, the visual 3D perception measurement of wide field of view scene information is representative, and it is the most effective means to improve the 3D perception ability of a wider range of unknown environmental information when the robot is autonomously guided. For example, by configuring the airborne visual 3D measurement The system enhances the ability of robots to obtain three-dimensional information of uncertain environments, thereby improving the autonomy and flexibility of robots in scientific research and industrial applications, enabling robots to work in harsh environments or environments that are not suitable for people to work for a long time, such as Detect the surface state of the dam of the hydropower station, the shape state of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/24G01C11/00
Inventor 周富强彭斌
Owner BEIHANG UNIV
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