Microsphere-target-based objective image space telecentric microscopic vision system calibration method

Abstract

The invention provides a microsphere-target-based objective image space telecentric microscopic vision system calibration method. First, obtaining a camera model of a objective image space telecentric microscopic vision system on the basis of a telecentric imaging principle of an objective image space telecentric lens; second, obtaining an iteration calculation formula of the camera model of the objective image space telecentric microscopic vision system on the basis of a nonlinear damped least squares method; Finally, achieving objective image space telecentric microscopic vision system calibration by using a microsphere target performing relative motion in the telecentric depth range of the microscopic vision system for m times as well as the iterative calculation formula. The microsphere-target-based objective image space telecentric microscopic vision system calibration method has the advantages of being easy to operate and high accuracy in calibration and has good application prospect.

Description

technical field [0001] The invention belongs to the field of robot vision measurement and control, in particular to a method for calibrating an object space telecentric micro vision system based on a microsphere target. Background technique [0002] Micro-vision measurement and control is one of the key technologies in the field of micro-operation and micro-assembly technology, including micro-vision system calibration, micro-vision-based pose measurement, and micro-vision control technologies, which can be widely used in micro-electromechanical systems. system, precision optoelectronic engineering, bioengineering and other fields. Among them, the calibration of the microscopic vision system takes the calibration of the relationship between the 2D image coordinate system and the 3D world coordinate system as the research content, which is the basis for the unified expression and control of the subsequent micro-part poses. However, the microscope lens imaging system is comp...

AI Technical Summary

Problems solved by technology

However, the microscope lens imaging system is complex, especially for the commonly used object-space telecentric lens, due to its telecentric imaging characteristics, the small hole model commonly used in conventional vision system calibration is no longer applicable, so it is urgent to study a suitable for Calibration method of object space telecentric micro vision system

[0003] At present, there are few studies on the calibration method of object-space telecentric microscopic vision system at home and abroad. Among them, Li Dong et al. proposed a method of using a plane target to calibrate the telecentric lens under the consideration of lens distortion. This method requires a special planar target for calibration

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