Double surface drone based flow type tri-dimensional visual measurement splicing method

A technology of three-dimensional vision and double-sided targets, which is applied in measurement devices, radio wave measurement systems, and acquisition of 3D object measurement, to achieve high measurement efficiency, high precision, and simple operation

Inactive Publication Date: 2010-01-13
BEIHANG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

It can improve the accuracy and efficiency of 3D visual measurement data splicing

Method used

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  • Double surface drone based flow type tri-dimensional visual measurement splicing method
  • Double surface drone based flow type tri-dimensional visual measurement splicing method
  • Double surface drone based flow type tri-dimensional visual measurement splicing method

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Embodiment Construction

[0026] The core idea of ​​the present invention is: using two high-resolution digital cameras and a double-sided target to realize splicing of local measurement data of the visual sensor, the operation is simple and the measurement efficiency is high.

[0027] The present invention will be described in more detail below in conjunction with the accompanying drawings.

[0028] The three-dimensional measurement data mosaic method of the present invention comprises the following steps:

[0029] Step 101: fix the measured object, install two high-resolution digital cameras, so that the two digital cameras can observe the whole picture of the measured object. Here, it is not required that all the details of the measured object can be observed through two digital cameras, but when the visual sensor measures the three-dimensional data of the measured object, the two digital cameras can capture the double-sided target placed near the measured object At least three feature points on . ...

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Abstract

The invention discloses a method for connecting flow-type 3D visual measurement based on two-sided target, including the steps of: A setting two digital cameras capable of observing the panorama of the measured object; B calibrating the coordinate conversion relations of the inner parameters of the two digital cameras and therebetween; C placing the two-sided target at the measuring area of the measured object, shooting at least three non-collinear feature points on the two-sided target separately by the two digital cameras and visual sensor; D moving the two-sided target, and performing 3D visual measurement to the measuring area by the visual sensor; E calculating the coordinate of the feature point in the global coordinate system and visual sensor coordinate system; F determining the conversion relation of visual sensor coordinate system to the global coordinate system based on at least three non-collinear feature points, thereby converting the 3D visual measurement data of the measuring area to the global coordinate system; G performing repeatly C, D, E and F, so as to realize the connection of the 3D visual measurement data. The invention improves the data connection precision and efficiency.

Description

technical field [0001] The invention relates to three-dimensional vision measurement technology, in particular to a flow-type three-dimensional vision measurement splicing method based on double-sided targets. Background technique [0002] The three-dimensional shape measurement of large objects is an advanced product inspection method, and it is also the basic supporting technology for modern reverse engineering and product digital design and manufacturing. It has a wide range of application backgrounds in the manufacturing field. As one of today's high-tech, visual inspection technology has developed by leaps and bounds on the basis of the continuous maturity and improvement of electronics, photoelectric detection, image processing and computer technology. More and more scholars are competing to carry out research work on related technologies. [0003] In actual engineering, in order to complete the measurement of the three-dimensional shape of the entire object, the surf...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/04G01C11/36G01B11/24G06V10/147
CPCG06T7/002G06T7/0075G06K2209/40G06T2207/10012G06K9/209G06T7/85G06T7/593G06V10/147G06V2201/12
Inventor 张广军孙军华魏振忠刘谦哲
Owner BEIHANG UNIV
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