Three-dimensional information acquisition method and device based on line laser and binocular vision

Abstract

The present invention provides a three-dimensional information acquisition method and device based on line laser and binocular vision. The method includes the following steps that: line laser emittedby a line laser is controlled to be projected onto a measurement object; the left camera and right camera of a binocular camera are utilized to measure the left image and right image of the measurement object respectively, the parameters of the left camera and the parameters of the right camera are identical, in the left image and right image, distances between the measurement object and the edgesof the images are smaller than a first set value; stereoscopic correction is performed on the left image and the right image, so that the corrected left image and the corrected right image are be inline alignment with each other, or the reprojection distortion of the left image and the right image is smaller than a second set value; the corrected left view and the corrected right view are matched with each other, so that line laser imaging matching point pairs can be obtained; and left and right view parallax is obtained according to the line laser matching point pairs, and the three-dimensional information of the measurement object is calculated according to the left and right view parallax.

Description

technical field [0001] This specification relates to the field of machine vision technology, in particular to a method and device for acquiring three-dimensional information based on line laser and binocular vision. Background technique [0002] The rapid development of robot technology has extended the application of robots from traditional fixed-target high-precision repetitive operations to flexible operations with variable operating objects and variable operating object positions. Robots urgently need the cooperation of machine vision to obtain three-dimensional information of operating objects. [0003] In deep machine vision, binocular stereo vision based on dual cameras imitates the binocular working mode of humans and can extract three-dimensional information of objects. However, the current binocular stereo vision cannot reliably and stably extract the 3D information of the target for objects with no texture or very weak texture and blurred boundaries. Contents of...

AI Technical Summary

Problems solved by technology

However, the current binocular stereo vision cannot reliably and stably extract the 3D information of the target for objects without texture or with weak texture and blurred boundaries.

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