Self-positioning method of binocular stereo measuring system in multiple-visual angle measurement

Abstract

The invention relates to a method for automatically determining relative positions and postures of a binocular stereo measuring system in measurement at different visual angles. The method comprises the following steps of: when a binocular stereo measuring system is utilized for measuring at each visual angle, remaining the internal constraint condition that the relative positions and postures of a left camera and a right camera are known constant, combining matched point pairs respectively generated by the left camera and the right camera in different measurement processes, constructing a multi-visual angle geometric constraint relation and automatically resolving initial values of relative positions and postures of the stereo sensor in twice measurement; then reconstructing three-dimensional feature points and a constraint relation among image points in all images and the relative positions and postures of the stereo sensor by multi-visual angle measurement, and optimizing and determining the relative positions and postures at all measurement visual angles. According to the method, the self positioning of the stereo sensor and the accuracy and the reliability of data combination are improved and the combinable conditions of multi-visual angle measured data are reduced.

Description

technical field [0001] The invention belongs to the field of three-dimensional measurement, in particular to a self-positioning method of a binocular stereoscopic measurement system during multi-angle measurement. Background technique [0002] The measurement of three-dimensional profile data has a wide range of application requirements in the fields of aerospace, vehicles and ships, machinery manufacturing, biomedicine, textiles and clothing, and industrial design. Various measurement methods based on mechanical, optical, acoustic, and electromagnetic principles have made great progress, especially optical non-contact measurement methods represented by laser scanning methods, interferometry and structured light methods have achieved commercial applications in many fields . However, various three-dimensional measurement methods can only obtain surface data of a limited area in one measurement, and the measurement of large objects or omnidirectional contours requires multipl...

AI Technical Summary

Problems solved by technology

This method increases the preparation work before measurement, and the measurement data of the model itself will be missing where the markers are pasted, especially for small and detailed objects.

The second method is to control the relative motion between the three-dimensional sensor and the measured object in different measurements through a mechanical mechanism, and directly calculate the coordinate transformation relationship between the measurement point sets from the motion parameters. At present, the commonly used mechanical mechanisms include a rotary table, a five-axis Linkage devices, etc., the increase of these devices makes the flexibility of the measurement system and the adaptability to the size of the measured object significantly reduced

This method of extracting features from three-dimensional measurement data and stitching together requires at least three points to be positioned and recognized in all four images at the same time for the two measurement perspectives of the binocular stereo measurement system, and the data can be stitched together. Relatively high conditions and heavily influenced by the surface geometry of the different measured objects

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