Method and device for three-dimensional vision measurement data registration based on planar circle target

A technology of 3D vision and measurement data, applied in measurement devices, optical devices, instruments, etc., can solve problems such as failure of 3D data splicing, and achieve the effect of improving accuracy, improving accuracy, and ensuring accuracy

Active Publication Date: 2015-06-10
BEIHANG UNIV
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Problems solved by technology

[0008] In view of this, the main purpose of the present invention is to provide a method and device for splicing three-dimensional visual measurement data based on a plane circular target, which solves the problem of failure of three-dimensional data splicing in the prior art when the plane target is partially blocked, and ensures three-dimensional The accuracy of measurement data stitching improves the reliability of 3D measurement data stitching

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  • Method and device for three-dimensional vision measurement data registration based on planar circle target
  • Method and device for three-dimensional vision measurement data registration based on planar circle target
  • Method and device for three-dimensional vision measurement data registration based on planar circle target

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[0038] In order to better understand the present invention, first introduce the basic principle of three-dimensional visual measurement data splicing, figure 1 The schematic diagram of the splicing model for the 3D visual measurement data based on the plane circular target, such as figure 1 As shown, the camera coordinate system O is respectively established at the local measurement position k and position k+1 ck x ck the y ck z ck and O ck+1 x ck+1 the y ck+1 z ck+1 , establish the global coordinate system at the camera coordinate system O at position 1 c1 x c1 the y c1 z c1 Next; during the camera movement of two local measurements before and after, the plane circular target 11 remains still, that is: the circle feature on the plane circle target 11 is unchanged in the global coordinate system; here, the circle feature includes the center coordinates and The normal vector of the circle plane;

[0039] Suppose the circle features In the camera coordinate system ...

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Abstract

The invention discloses a method for three-dimensional vision measurement data registration based on a planar circle target. The method includes fixing and placing an object to be tested to a reasonable position capable of being observed by a marked binocular vision system, and building a global coordinate system; placing the planar circle target before the object to be tested, moving the marked binocular vision system, shooting elliptic images formed by measurement positions before and after the movement; extracting ellipses from the shot planar circle target images, fitting elliptic equations, and rebuilding circle characteristics of the circle target under the two local measurement coordinates; and constructing and optimizing objective functions according to the circle characteristics and solving a registration matrix. The invention further discloses a device for the three-dimensional vision measurement data registration based on the planar circle target. According to the method and the device, the problem of failure of three-dimensional data registration under the condition that a target portion is shielded in the prior art can be solved, the accuracy of three-dimensional measurement data registration is guaranteed, and reliability of the three-dimensional measurement data registration is improved.

Description

technical field [0001] The invention relates to a three-dimensional visual measurement splicing technology, in particular to a three-dimensional visual measurement data splicing method and device based on a plane circular target. Background technique [0002] In order to realize the measurement of the three-dimensional shape of the large-scale measured object, the surface of the large-sized measured object is generally divided into multiple sub-regions, and each sub-region is measured from multiple perspectives, and the local measurement data are spliced ​​into the global coordinate system Down. The accuracy of 3D data stitching determines the accuracy of 3D shape visual measurement of large-scale objects. Therefore, the research on 3D data stitching methods has important practical significance. [0003] Currently, there are three main methods for 3D data stitching: [0004] The first is to expand the measurement range through large-scale devices such as precision platform...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/24
Inventor 魏新国张广军刘震孙军华刘涛
Owner BEIHANG UNIV
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