A variable structure binocular vision measurement system and parameter determination method

Abstract

A variable-structure binocular vision measurement system and a parameter determination method of the present invention increase the observation range of the measurement camera by actively changing the direction of the optical axis of the binocular camera, increase the auxiliary optical path, and introduce the reference mark into the main optical path of the left and right cameras. Form the embedded reference mark, and calculate the attitude transformation matrix of the camera through the change of the embedded reference mark on the image plane, so as to complete the real-time correction of the external parameters of the camera, and finally use the internal parameters of offline calibration, distortion parameters and external parameters obtained online The parameters were measured by binocular vision. The invention integrates the calibration of external parameters into each measurement, and the external parameters need to be re-calibrated for each measurement, thus realizing variable-structure binocular vision measurement, increasing the flexibility and measurement range of the stereo camera, and greatly reducing the The measurement cost is reduced, and at the same time, it can ensure that the measurement target is in the center of the field of view, which can effectively improve the measurement accuracy.

Description

technical field [0001] The invention belongs to the technical field of visual measurement, in particular to a variable-structure binocular visual measurement system and a parameter determination method. Background technique [0002] Based on the theory of computer vision, visual measurement technology integrates modern science and technology such as modern optics, computer technology, image processing and analysis technology to form a comprehensive measurement system of optical, mechanical and electrical integration. In principle, it has the advantages of non-contact, strong real-time performance, high precision, and rich information. With the rapid development of related hardware and software performance and the continuous reduction of costs, the principle advantages of visual measurement have been fully utilized. It is widely used in military, industrial, Agriculture and forestry, medicine, aerospace and other fields. Vision measurement technology includes monocular visio...

AI Technical Summary

Problems solved by technology

However, the biggest problem in the variable structure binocular vision measurement method is that after the configuration of the binocular camera is changed, the external parameters of the binocular camera need to be calibrated again, which greatly limits the application and promotion of the variable structure binocular vision

These methods are related to specific application occasions, and the scope of application is small, which cannot solve the problem of real-time calibration of extrinsic parameters of variable-structure binocular cameras

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