Vision measurement system structure parameter calibration and affine coordinate system construction method and system

Abstract

The invention relates to the technical field of digital photogrammetry and provides a vision measurement system structure parameter calibration and affine coordinate system construction method and system. The method comprises the following steps: S1) for the same image, carrying out bundle adjustment through front points and corresponding image points to obtain a rear intersection point coordinate; S2) obtaining a front principal point coordinate corresponding to an intersection point; S3) repeating the steps S1) and S2) for a plurality of different labeling images to obtain a plurality of point pairs; S4) carrying out tangent co-sphere secondary intersection adjustment by utilizing the intersection point and front projection corresponding points to obtain a vision measurement system structure parameter and pan-tilt rotation center coordinate; and S5) establishing an affine space coordinate system. Through a cospherical secondary intersection iteration calibration method, the method can accurately calibrate structure parameters of a vision measurement system ( that is, a cloud lens camera system and a hand-eye system), establish an accurate affine coordinate system, and realizes unlabelled accurate measurement of the vision measurement system.

Description

technical field [0001] The invention relates to the technical field of digital photogrammetry, and more specifically, to a method and system for calibrating structural parameters of a visual measurement system and constructing an affine coordinate system. Background technique [0002] The rapid development of modern system integration technology and agricultural information acquisition technology in the field of precision agriculture has enabled agriculture and other social industries to put forward higher requirements for related phenotypic measurement, operational mechanical measurement, geometric measurement and structural testing, such as High-throughput, non-standard, non-contact, cheap, high-precision and networked, etc. [0003] Because the visual measurement system can meet the above requirements to a certain extent, digital photogrammetry combined with digital image analysis method has been widely used in 3D measurement. Among them, the two-axis turntable-lens-came...

AI Technical Summary

Problems solved by technology

However, the unsatisfactory correction of control points, structured light and laser-assisted methods will lead to the inability to accurately calibrate the affine relationship of the hand-eye coordinate system, affecting the accuracy of visual measurement

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