Multilane laser light plane calibration method based on binocular vision

Abstract

The invention discloses a multilane laser light plane calibration method based on binocular vision. The method comprises the following steps: projecting laser rays emit by the multilane laser onto a plane calibration target having circular markers, and guaranteeing that the laser rays are distributed at intervals between rows of the circular markers; processing calibration target images shoot by the left and the right eye camera and obtaining a stereo matching of the pixel of the marker center, and then extracting and separating laser pixel points of different laser rays; using the theory of binocular vision to calculate the three-dimensional coordinates of the marker center and subsequently obtaining a calibration target plane equation; calculating the three-dimensional coordinates with the calibration target plane equation as restraints; moving the calibration target and repeating the aforementioned procedure at least once, and obtaining the three-dimensional coordinates of different positions on each light plane; fitting the multiple position data points on each light plane and obtaining a light plane equation. According to the invention, the method is characterized by easy implementation, linear solution and reliable result, and is applicable to all fields which employ multilane structured light in three-dimensional measurement.

Description

technical field [0001] The invention relates to a multi-line laser optical plane calibration method based on binocular vision, which belongs to the field of image processing and visual measurement. Background technique [0002] Visual measurement is a technology that uses a camera to collect images of the surface of the object being measured and restores the three-dimensional shape of the object to be measured from it. Among many visual measurement methods, the line structured light measurement method with laser line as the realization method has been widely used because of its good measurement accuracy and good adaptability to the surface color of objects. The measurement method based on the single-line laser can only obtain the data of one section line on the surface of the object at a time, which has the defect of low measurement efficiency. One solution to overcome the above drawbacks is to use multi-line lasers for measurement. [0003] Accurate calibration of multi-l...

AI Technical Summary

Problems solved by technology

Since the calibration points are not feature points directly extracted from the image, its positioning accuracy is easily affected by camera distortion, etc., and the number of calibration points obtained is not large, especially the method of obtaining calibration points based on the principle of double cross-ratio invariance, the first The error caused by the constant cross ratio of the second time will also propagate to the second cross ratio, resulting in error accumulation, so it is not easy to obtain high calibration accuracy

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