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Monocular vision system, portable ball target used by monocular vision system and measuring method of monocular vision system

A technology of monocular vision and measurement method, applied in the field of vision measurement, which can solve the problems of unobservable and too large distortion of camera moving angle.

Active Publication Date: 2013-06-19
XI AN JIAOTONG UNIV
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Problems solved by technology

At present, the commonly used splicing targets are mainly planar targets, which have the disadvantage that the distortion is too large or even unobservable when the camera movement angle is too large.

Method used

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  • Monocular vision system, portable ball target used by monocular vision system and measuring method of monocular vision system
  • Monocular vision system, portable ball target used by monocular vision system and measuring method of monocular vision system
  • Monocular vision system, portable ball target used by monocular vision system and measuring method of monocular vision system

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Embodiment Construction

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] figure 1It is a schematic diagram of the ball target structure and camera perspective imaging model of the present invention. The labels therein represent respectively: 1. measuring head, 2. extension rod, 3. ball, 4. screw rod, 5. spherical connection block. o c x c Y c Z c is the camera coordinate system, O c is the optical center of the camera, Z c The axis coincides with the direction of the optical axis of the camera. o s1 , O s2 , O s3 are the centers of the three spheres used to establish the target coordinate system, O s x s Y s Z s is the target coordinate system. uv represents the image pixel coordinate system (that is, the image coordinate system in which the object is imaged in the camera), (u 0 ,v 0 ) represents the center of the image.

[0028] The present invention is specifically described by taking a ball target compo...

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Abstract

The invention provides a monocular vision system, a portable ball target used by the monocular vision system and a measuring method of the monocular vision system. The ball target is composed of ball bodies, a connecting block and a series of probes with different shapes and lengths. Each probe is composed of an extension bar and a measuring head. The connecting block is used for supporting each ball body and being connected with the probes. 14 even threaded holes are drilled in the surface of the ball-shaped connecting block which is connected with extension bars and balls in a threaded mode. Different connecting bars are designed to adapt to different measuring occasions. Each ball body part is composed of over three non-coplane balls, a single camera can shoot a picture so that intrinsic parameters of the camera can be fast calibrated and ball center positions can be determined so as to obtain a three-dimensional coordinate of a point to be detected, and a feasible approach is provided for obtaining depth information under a monocular measuring system. After the camera moves, external parameters of the camera can be fast calibrated according to a single image of each ball body part of the ball target, the spatial data splicing purpose is achieved, and the measuring range is effectively enlarged and the measuring speed are effectively accelerated.

Description

【Technical field】 [0001] The invention belongs to the technical field of visual measurement and relates to a portable ball target that can be used for rapid calibration, measurement and data splicing of a monocular visual measurement system. 【Background technique】 [0002] With the increasing demand for workpiece shape inspection, visual measurement technology has been applied more and more. Compared with a stereo vision system that requires multiple cameras, a single camera does not require a camera synchronization device and a mechanical device for maintaining the relative positions of the cameras, so it is easy to use, low in price, and easy to implement. However, the depth information of a three-dimensional object cannot be recovered simply by using a monocular vision system for measurement. It is often necessary to use additional conditions such as line lasers to form a triangle constraint, constrain the measurement object to be imaged at a specific position, or use mar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G01B11/24G01B11/22
Inventor 赵宏谷飞飞马跃洋卜鹏辉
Owner XI AN JIAOTONG UNIV
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