Three-dimensional in-situs vision measuring-value delivering method and device
A field measurement and three-dimensional vision technology, which is applied to measurement devices, optical devices, instruments, etc., can solve the problems of low calibration accuracy, limited applicable space, cumbersome calibration process, etc., and achieves simple operation process and is suitable for on-site application. , the effect of high calibration accuracy
Inactive Publication Date: 2007-12-26
BEIHANG UNIV
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Problems solved by technology
The main disadvantages of the three-dimensional target method are: ① It is difficult to directly process a high-precision three-dimensional target, and the cost is high, and the applicable space is limited; It is difficult to ensure that the target plane is strictly perpendicular to the moving direction, which will bring errors to the calibration results
The disadvantage of setting feature point method is that the calibration process is cumbersome, greatly affected by human factors, and the calibration accuracy is not high
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[0063] 1. Example of binocular system calibration
[0064] For the binocular system, the main calibration is the internal and external parameters of the camera. Figure 5 is a planar target image designed for binocular system calibration. There are 35×19 X-shaped calibration points on the target surface, and the distance between two adjacent points in the vertical and horizontal directions is 1.5mm. The specific calibration steps are as follows:
[0065] (1) Arbitrarily place the target plane in the calibration space, turn on the power of each camera to shoot, and store the image in the computer;
[0066] (2) Utilize the double theodolite system to measure the spatial coordinates of any three non-collinear calibration points on the target surface, and combine their coordinates in the target coordinate system to obtain the spatial conversion relationship from the target coordinate system to the theodolite coordinate system;
[0067] (3) For each eye camera, extract the image c...
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The invention relates to the modification to transfer the measured value by the three-dimensional vision. If it is the vidicon or the binocular system, the drone plane can be moved arbitrarily. It can measure the space coordinates of the three characteristic points which are not in the same line arbitrarily for the drone plane in every position to resolve the conversion relation between the drone planes coordinates and the theodolite coordinates, so it can get a series of the space three-dimensional coordinates of the index point. The invention has the small difficulty and low cost comparing to the solid drone; It has the high precision comparing to the movable plane drone; the process is simple and has little workload comparing to the setting characteristic points, so it is proper to be used in the locale.
Description
technical field [0001] The invention belongs to the three-dimensional vision detection technology, and relates to the improvement of the transmission method of the three-dimensional vision on-site measurement value. Background technique [0002] Among many detection methods, three-dimensional vision detection is widely used in the measurement of workpiece integrity and surface flatness, automatic detection of microelectronic devices (IC chips, PC boards, BGA, etc.), detection of soft and fragile parts , detection of three-dimensional shapes of various molds, and visual guidance of robots, etc. Due to the characteristics of large range, large field of view, non-contact, fast measurement speed and high measurement accuracy, 3D visual inspection technology has been more and more widely used in industrial environments. [0003] Before the actual use of the 3D visual inspection system, it is necessary to determine the value transfer method of the sensor according to the mathemat...
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IPC IPC(8): G01B11/00
Inventor 张广军陈大志王颖魏振忠
Owner BEIHANG UNIV