Field calibration method of structural parameter of line structure light vision sensing system

A technology of visual sensing and line structured light, applied in the direction of using optical devices, measuring devices, instruments, etc., can solve the problems of cumbersome calibration process, high equipment cost, unsuitable for on-site calibration of visual sensing system, etc., and achieve simple calibration process , the effect of high measurement accuracy

Inactive Publication Date: 2009-09-09
BEIJING INFORMATION SCI & TECH UNIV
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Problems solved by technology

The above calibration methods generally have the disadvantages of requiring sophisticated calibration auxiliary equipment...

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  • Field calibration method of structural parameter of line structure light vision sensing system
  • Field calibration method of structural parameter of line structure light vision sensing system
  • Field calibration method of structural parameter of line structure light vision sensing system

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Embodiment Construction

[0015] Reference will now be made in detail to embodiments of the invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like parts throughout. The embodiments are described below in order to explain the present invention by referring to the figures.

[0016] The line structured light vision sensing system may include a line structured light projector and a camera. Since the structure of the line structured light vision sensing system is well known to those skilled in the art, a detailed description thereof is omitted here.

[0017] In the present invention, a freely movable planar target is introduced, and only three feature points (or multiple sets of feature points) that are collinear and known to each other are required on the target, and the planar target is placed on-line structured light vision sensor In the measured space of the system, the light plane projected by the line-structured light projector intersec...

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Abstract

The invention provides a field calibration method of the structural parameter of a line structure light vision sensing system, comprising the following steps: (a) a movable plane target is put in a measured space, a collinear and three characteristic points with known mutual distance are arranged on the plane target, and the light plane which is projected by a line structure light projector intersects with the straight line at which the three are positioned so as to form a fixed point; (b) the collinear three characteristic points are used for setting up a three-point perspective model, and according to the mutual distances of the three characteristic points, the picpointed coordinates which are imaged on the image surface of a television camera by the three characteristic points and the fixed point, and the internal parameter of the television camera, the coordinate of the fixed point in the coordinate system of the television camera is computed; (c) the plane target is moved to many different positions within measuring range so as to respectively form a plurality of additional fixed points, and the step (b) is repeatedly carried out so as to respectively compute the coordinates of the additional fixed points in the coordinate system of the television camera; and (d) the fixed points which are obtained at many times are fitted into a plane so as to obtain the plane equation of the light plane in the coordinate system of the television camera, thereby completing the field calibration.

Description

technical field [0001] The invention relates to a calibration method for a line structured light visual sensing system, belongs to the field of photoelectric measurement, and is particularly suitable for on-site calibration of structural parameters of a line structured light sensing system. Background technique [0002] Line-structured light active sensing technology has the advantages of low cost, small size, non-contact, fast measurement speed, convenience and flexibility, and easy extraction of light strip image information. It has important significance and broad application prospects in the fields of visual measurement and industrial inspection. In the online structured light vision sensing system, calibrating the structural parameters of the vision sensor (that is, the positional relationship between the camera and the optical projector) is a necessary prerequisite for the vision sensor to perform 3D measurement. Similarly, studying the on-site calibration method of vi...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 吕乃光韩建栋娄小平
Owner BEIJING INFORMATION SCI & TECH UNIV
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