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Structural light vision sensor and rapid calibration method

A technology of visual sensor and calibration method, which is applied in the direction of instruments, optical devices, measuring devices, etc., can solve the problem of not being able to obtain multiple non-collinear light spots quickly and conveniently, and achieve the effect of reducing steps and making steps simple and convenient

Inactive Publication Date: 2018-10-26
TIANJIN UNIV
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Problems solved by technology

None of the above methods can obtain multiple non-collinear light points quickly and conveniently, so a new method needs to be proposed

Method used

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  • Structural light vision sensor and rapid calibration method
  • Structural light vision sensor and rapid calibration method
  • Structural light vision sensor and rapid calibration method

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] Structured light vision sensors such as figure 1 As shown, a structured light laser 1, a laser base 2, a fixed bracket 3, a camera 4, a camera base 5 and a lens 6 are composed. In this embodiment, the model of camera 4 is Baumer TXG50, the pixel resolution is 2448×2050, and the pixel size is 3.45 μm×3.45 μm; the model of lens 6 is Kowa LM25JC5M2; the model of structured light laser 1 with a power of 10 mW is STR-660- 10-CW-FL-L01-20-S-XX Laser. The camera 4 is fixed perpendicular to the horizontal plane, and the angle between the optical axis of the laser and the optical axis of the camera is between 25° and 30°, figure 2 A schematic diagram of the angle between the two.

[0031] The quick calibration method based on the above-mentioned structured light vision sensor is as follows:

[0032] 1. Calibration of internal and external parameters of the camera: T...

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Abstract

The invention discloses a structural light vision sensor and a rapid calibration method. Light spots in light bars are extracted at a time on two planes, and by use of a singular value decomposition (SVD) method, fitting is performed on the obtained light spots, so light plane parameters of structural light are obtained. According to the invention, the step of additionally introducing a precisionmeasurement instrument or carrying out fitting in multiple target positions to solve intersection points is removed; multiple rapidly acquired light points are used as fitting points to carry out fitting, so the whole process is simple and easy. By rapidly obtaining light plane parameters of structural light, the relation position of an application camera and a laser in the following vision measurement process is unchanged, i.e., the surface of unknown morphological feature is measured by use of a laser triangulation method; by use of the active vision method, contactless lossless measurementis achieved in an industrial place; and requirements on onsite online measurement are met.

Description

technical field [0001] The invention belongs to the field of machine vision measurement, and in particular relates to a structured light vision sensor and a fast calibration method thereof. Background technique [0002] For the detection of the spatial feature size of industrial site objects, a combination of monocular camera and line structured light is used to form a visual sensor, and the measurement principle of laser triangulation is used to increase Depth information provided by structured light. Since the single-line structured light is modulated by the surface topography of the object, the x and y coordinate values ​​of the light stripe point can be calculated from the image obtained by the camera, and the coordinate value of the z-axis direction can be obtained through the information of the structured light plane. [0003] Using the traditional wire drawing method or the sawtooth target method requires the introduction of a standard coordinate measuring instrument...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/00G01B11/002
Inventor 宋乐曾小婉宫虎郑叶龙赵美蓉
Owner TIANJIN UNIV
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