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Global calibration method and device of rigid rod of multisensor vision measurement system

A visual measurement, multi-sensor technology, applied in measurement devices, closed-circuit television systems, optical devices, etc., can solve the problems of processing and use of super-large targets, which are difficult and unsuitable, and achieve high global calibration accuracy and a wide range of applications. Effect

Inactive Publication Date: 2011-02-16
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

Although this global calibration method does not require many times of coordinate transformation, the calibration accuracy is high, but this global calibration method needs to process large-sized targets. Due to the difficulty in processing and using super-large targets, this global calibration method is not suitable for super-large Global Calibration of Multi-Sensor Vision Measurement System in Workspace

Method used

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  • Global calibration method and device of rigid rod of multisensor vision measurement system
  • Global calibration method and device of rigid rod of multisensor vision measurement system
  • Global calibration method and device of rigid rod of multisensor vision measurement system

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Embodiment

[0105] In this embodiment, two Patriot digital video cameras equipped with 23mm industrial lenses are used in the test, which are called visual sensor 1 and visual sensor 2 respectively. The resolution of the two visual sensors is 1280 pixels × 1024 pixels, the working distance is about 750mm, and the field of view is 150mm × 120mm.

[0106] Using the method introduced by ZHANG Z Y. in the article "A flexible new technique for camera calibration[J].IEEE Trans.on Pattern Analysis and Machine Intelligence", the internal parameter calibration of visual sensor 1 and visual sensor 2 is completed. Visual sensor 1 , The internal calibration results of the visual sensor 2 are shown in Table 1.

[0107] Table 1

[0108]

[0109] Figure 5 is the image of the one-dimensional target 1 and the one-dimensional target 2 correspondingly captured by the visual sensor 1 and the visual sensor 2; wherein, Figure 5 (a) is the one-dimensional target 1 image taken by the visual sensor 1, F...

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Abstract

The invention discloses a global calibration method of the rigid rod of a multisensor vision measurement system, comprising the following step: putting a rigid rod fixed with two drones in front of two vision sensors for four times above; in each time, respectively shooting a corresponding drone image by each vision sensor; extracting a drone characteristic point image coordinate; respectively calculating the three-dimensional coordinate of each drone characteristic point under the corresponding vision sensor coordinate system; and then, by taking inconstant drone position relationships as a constraint, calculating a transfer matrix between the two vision sensors. The invention also discloses a global calibration device of the rigid rod of the multisensor vision measurement system. The device improves global calibration precision, is suitable for the global calibration of multisensor vision measurement system in oversized working space and has wide applicable scope.

Description

technical field [0001] The invention relates to a global calibration technology in a multi-sensor visual measurement system, in particular to a rigid rod global calibration method and device for a multi-sensor visual measurement system. Background technique [0002] Vision sensors are widely used due to the advantages of large range, non-contact, fast speed, good system flexibility and high measurement accuracy. However, the measurement range of a single vision sensor is limited. Therefore, when the measurement range is large, multiple vision sensors can be combined. Combined to form a multi-vision sensor, in order to obtain a larger measurement range, and to ensure a high enough measurement accuracy, this measurement system is usually called a multi-sensor vision measurement system. [0003] In a multi-sensor vision measurement system, the distance between each vision sensor is generally far away, and there is no common field of view. Therefore, when using multiple visual ...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01C25/00
CPCH04N7/18G06T7/0018G01C25/00G06T2207/10012G06T2207/30208G06T7/85
Inventor 张广军刘震魏振忠孙军华谢梦
Owner BEIHANG UNIV
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