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Four-eye stereoscopic vision system global calibration method based on one-dimensional target rotating motion

A technology of binocular stereo vision and rotational movement, applied in the field of stereo vision, which can solve the problems of large measurement field of view limitations and cumbersome operations

Pending Publication Date: 2020-06-12
NANCHANG HANGKONG UNIVERSITY
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Problems solved by technology

[0008] The problem to be solved by the present invention is to provide a global calibration method for a four-eye stereo vision system based on one-dimensional target rotation movement, aiming to solve the problems of cumbersome operation and large measurement field of view limitations existing in the existing global calibration technology

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  • Four-eye stereoscopic vision system global calibration method based on one-dimensional target rotating motion
  • Four-eye stereoscopic vision system global calibration method based on one-dimensional target rotating motion
  • Four-eye stereoscopic vision system global calibration method based on one-dimensional target rotating motion

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[0029] The implementation of the present invention will be described in detail below with reference to the drawings and examples, so as to fully understand and implement the implementation process of how to use technical means to solve technical problems and achieve technical effects in the present invention.

[0030] In this example, the experimental environment is provided by a helicopter research institute, and one of the rigid blades of the helicopter is selected as a one-dimensional target. The specific implementation plan is as follows:

[0031] (1) Acquire the three-dimensional coordinates of the marked points on the one-dimensional target in the field of view of the two binocular stereo vision systems respectively, and use the angle sensor to obtain the angular interval when the specific target image is taken, specifically including the following steps:

[0032] (1.1) Install the angle sensor, determine the measurement field of view, and arrange a binocular stereo visio...

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Abstract

The invention discloses a four-eye stereoscopic vision system global calibration method based on one-dimensional target rotation motion, and the method comprises the steps: firstly, respectively obtaining the three-dimensional coordinates of mark points on a one-dimensional target in two binocular stereoscopic vision system view fields, and measuring the angle interval of a specific target image during photographing through an angle sensor; secondly, performing cone fitting on the mark points acquired by the two binocular stereoscopic vision systems according to cone characteristics formed byrotational motion of the one-dimensional target, and calculating cone axis direction and vertex coordinates; secondly, calculating the angle deviation of the two binocular stereoscopic vision systemsin the direction perpendicular to the axis of the cone by utilizing the measured angle interval; and finally, according to the relationship that the two conical surfaces physically belong to the sameconical surface, calculating the rotation and translation relationship between the coordinate systems of the two binocular stereoscopic vision systems to complete global calibration. According to theinvention, there is no need to have a common field of view between stereoscopic vision systems, and the method is convenient to operate, high in calibration speed, high in precision and high in practicality.

Description

technical field [0001] The invention relates to the technical field of stereo vision, in particular to a global calibration method for a four-eye stereo vision system based on a one-dimensional target rotation motion. Background technique [0002] When using cameras for stereo vision calibration, there is often a limitation of the field of view, and there is no or only a small overlapping field of view between cameras, especially for industrial measurement with high precision and large field of view, usually requiring multiple Cameras form a measurement system with a larger field of view. How to perform high-precision global calibration of cameras with non-overlapping fields of view becomes the key to a multi-camera measurement system. [0003] Currently, the most commonly used global calibration methods are: [0004] (1) With the help of three-dimensional measurement equipment such as high-precision theodolite or laser tracker, the spatial position of each camera is direct...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/85
Inventor 欧巧凤杨茜熊邦书陈垚锋
Owner NANCHANG HANGKONG UNIVERSITY
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