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Quick calibrating method for line structure optical sensor based on coplanar calibrated reference

A calibration method and a technology of reference objects, which are applied in the field of optical vision measurement, can solve the problems that the number of calibration points cannot be too large, the planes block each other, and it is difficult to obtain high-quality calibration images, so as to improve calibration efficiency, reduce calibration intensity, and reduce cost effect

Inactive Publication Date: 2005-08-24
TIANJIN UNIV
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Problems solved by technology

However, this method requires at least two mutually perpendicular planes to form a high-precision three-dimensional calibration reference object, resulting in mutual occlusion between the planes, making it difficult to obtain high-quality calibration images, and the number of calibration points acquired at the same time cannot be too large

Method used

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  • Quick calibrating method for line structure optical sensor based on coplanar calibrated reference
  • Quick calibrating method for line structure optical sensor based on coplanar calibrated reference
  • Quick calibrating method for line structure optical sensor based on coplanar calibrated reference

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[0021] like figure 1 As shown, the standard coplanar calibration reference object consists of a plane with good flatness and a plurality of circular holes on the plane, and the spatial relationship between the circular holes is known.

[0022] like figure 2 Shown: A standard coplanar calibration reference object containing multiple circular holes is placed in the measurement space of the online structured light sensor. When calibrating, first place the reference object at position i, get the projections of multiple circular holes on the image plane of camera C, and determine the coplanar reference object according to the image coordinates of the circular holes on the camera and the known spatial relationship. The plane equation of the surface reference object in the camera coordinate system (position i). At the same time, the light projector P produces a projection on the coplanar reference object ( figure 2 The solid line shown in the middle position i), and thus the ima...

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Abstract

The invention discloses a fast marking technique with a liner structure light sensor based on coplanar reference. By displacing the coplanar reference freely, determine a plane with the light bar information acquired on the image surface and by penetrating the projecting center with a camera. Determine the position of light plane relates to the camera, according to the intersection of above determined plane and the plane of the reference, and the intersection acquired by freely displacing the coplanar reference. There is no position requirement to the reference plane and no blackout between the different plane while marking the reference which ensures that the measuring status is completely the same as the marked status so to acquire considerable marking accuracy.

Description

technical field [0001] The invention belongs to optical vision measurement technology, in particular to a fast calibration method for a line-structured light sensor based on a coplanar calibration reference object. Background technique [0002] Line structured light vision measurement technology is a non-contact measurement technology, which has the characteristics of simple structure, good flexibility, fast speed, moderate precision, strong anti-interference, etc. It has a wide range of applications in high-speed online detection, quality control, reverse engineering, etc. application. However, the light plane of the line structured light sensor is an imaginary plane determined by the beam distribution projected by the light projector and the light bar software algorithm. The positional relationship between cameras is very difficult. Under the condition of satisfying the accuracy, how to conveniently and quickly determine the position of the light plane relative to the ca...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G01C11/00G06T7/00
Inventor 邾继贵李艳军
Owner TIANJIN UNIV
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