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Structure optical parameter demarcating method based on one-dimensional target drone

A structured light and target technology, applied in the field of measurement, can solve the problems of increased cost, limited processing size of high-precision two-dimensional and three-dimensional targets, and difficulty in guaranteeing the processing accuracy of two-dimensional and three-dimensional calibration targets, and achieves low cost and simple structure. , Reduce the effect of parameter calculation link

Inactive Publication Date: 2009-04-29
BEIHANG UNIV
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Problems solved by technology

[0006] From the above analysis, it can be seen that the existing structured light parameter calibration methods all require high-precision two-dimensional or three-dimensional targets. The processing size of high-precision two-dimensional and three-dimensional targets will be limited, so the existing structured light parameter calibration method is only suitable for structured light vision sensors for conventional size measurement

Method used

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  • Structure optical parameter demarcating method based on one-dimensional target drone
  • Structure optical parameter demarcating method based on one-dimensional target drone
  • Structure optical parameter demarcating method based on one-dimensional target drone

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Embodiment

[0071] The process of the structured light parameter calibration method based on the one-dimensional target is as follows: figure 2 shown. WAT-902HCCD camera and 12mm lens are used to form a lens and a structured light projector to form a structured light vision sensor, and the image resolution is 768pixels×576pixels. One-dimensional targets can be designed as image 3 As shown, the center point of the white circle in the figure is the target feature point. The distance between target feature points is 14mm, and 8 feature points are set.

[0072] In order to facilitate the comparison test, a printed two-dimensional checkerboard target is used. The feature points on the target are 6×8 grid points, and the distance between the grid points is 14mm. Figure 4 image for the experiment. According to the planar target calibration method with constant cross ratio, 6 control points can be obtained for each image. image 3 Each row of the shown two-dimensional target is equivalent...

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Abstract

The invention belongs to the technical field of measurement, and relates to an improvement to a calibration method of structured light parameters in 3D vision measurement of structured light. The invention provides a calibration method of the structured light parameters based on a one-dimensional target. After a sensor is arranged, a camera of the sensor takes a plurality of images of the one-dimensional target in free non-parallel motion; a vanishing point of a characteristic line on the target is obtained by one-dimensional projective transformation, and a direction vector of the characteristic line under a camera coordinate system is determined by the one-dimensional projective transformation and a camera projection center; camera ordinates of a reference point on the characteristic line is computed according to the length constraint among characteristic points and the direction constraint of the characteristic line to obtain an equation of the characteristic line under the camera coordinate system; the camera ordinates of a control point on a plurality of non-colinear optical strips are obtained by the projective transformation and the equation of the characteristic line, and then the control point is fitted to obtain parameters of the structured light. In the method, high-cost auxiliary adjustment equipment is unnecessary; the method has high calibration precision and simple process, and can meet the field calibration need for the 3D vision measurement of the large-sized structured light.

Description

technical field [0001] The invention belongs to the technical field of measurement, and relates to a structured light parameter calibration method based on a one-dimensional target. Background technique [0002] Structured light vision inspection has the advantages of non-contact measurement, fast speed and moderate accuracy, which well meet the requirements of modern industry for detection. Using structured light vision for monitoring and measurement of production process has become a solution to many online problems. most efficient way. The calibration of structured light vision sensors is the key to the successful application of structured light vision detection. The calibration mainly includes two parts: camera parameter calibration and structured light parameter calibration. Among them, the calibration method of camera parameters is relatively mature, and will not be introduced in detail here , for the calibration of structured light parameters, there are currently the...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01B11/00
Inventor 周富强
Owner BEIHANG UNIV
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