Measuring method for spacing circle geometric parameter based on monocular vision technology

Abstract

The invention relates to a measurement method of geometric parameters of a spatial circle which is based on the monocular vision technology, which comprises the following steps: internal parameters of a camera and one order radial distortion parameters are firstly determined; an image containing an oval image of the spatial circle is obtained by utilizing the camera for shooting, and the distortion correction thereof is carried out; all the geometric parameters of the spatial circle can be directly linearly calculated by fitting the oval image of the image plane after the distortion correction, and the geometric parameters comprise a spatial coordinate of the circle center of the spatial circle and the spatial orientation of the plane which is located by the spatial circle. The measurement method of the invention can accurately measure all the geometric parameters of the spatial circle at one time, realize the full automatic detection and reduce the measurement errors caused by manual intervention, thereby being particularly applicable to non-contact industrial detection and vision-based autonomous navigation systems.

Description

technical field [0001] The invention relates to a method for measuring geometric parameters of a space circle based on monocular vision technology, which can accurately measure all geometric parameters of any circle in space, including the space coordinates of the center of the circle and the space orientation of the plane where the circle is located. The invention belongs to the field of advanced measurement technology, and is especially suitable for non-contact industrial detection and vision-based autonomous navigation system. Background technique [0002] A circle is a common element of the geometric shape of an object, and it is of great significance to accurately measure the geometric parameters of a space circle in industrial inspection. In addition, through the positioning of a specific circle on the surface of the space object, the space object can be positioned indirectly, thereby enabling visual navigation. [0003] Monocular vision and binocular stereopsis are t...

AI Technical Summary

Problems solved by technology

In terms of using monocular vision technology to measure the geometric parameters of circular objects in space, people have done a lot of work and achieved some results, but they have not solved this problem well.

Y.C.Shiu and Shaheen Ahmad proposed a method to calculate spatial circular geometric parameters using monocular vision (Y.C.Shiu and Shaheen Ahmad, "3D Location of Circular and Spherical Features by MonocularModel-Based Vision," In Proc. of International Conference on System, Man, Cybernetics, pages 576-571, 1989), but this method requires complex equations to represent the space circle, so the calculation process is cumbersome

R.Safaee-Rad et al. also proposed a method for determining spatial geometric parameters using monocular vision (R.Safaee-Rad, K.C.Smith, and B.Benhabib, "Three Dimensional Location Estimation of Circular Features for MachineVision," IEEE Transaction on Robotics and Automation, 8(5):624-640, 1992), but this method is based on analytical geometry, which also requires complex calculations and processing, and is quite inconvenient to use

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