A Calibration Method for Object Space Telecentric Microvision System Based on Microsphere Target
A technology of microscopic vision and object-space telecentricity, applied in image data processing, instruments, calculations, etc., can solve problems such as inapplicable small hole models and complex microscopic lens imaging systems
Active Publication Date: 2017-09-22
LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS
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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telecentric imaging characteristics, the small hole model commonly used in conventional vision system calibration is no longer applicable, so it is urgent to study a suitable for Calibration method of object space telecentric micro vision system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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[0042] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
[0043] figure 1 It is a schematic diagram of the hardware system in the object space telecentric micro vision system calibration method based on the microsphere target of the present invention. Such as figure 1 As shown, the hardware system adopted in the present invention includes: object space telecentric micro vision system 1, microsphere target 2, gripper 3, motion platform 4, motion platform 5, computer 6, wherein:
[0044] The object-space telecentric micro vision system 1 is installed on the motion platform 4 and moves together with the motion platform to realize focusing. The microsphere target 2 is installed on the motion platform 5 through the holder 3, and moves together with the motion platform.
[0045] ...
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The invention provides a method for calibrating an object-space telecentric microscopic vision system based on a microsphere target. Firstly, the camera model of the object-space telecentric microscopic vision system is obtained based on the telecentric imaging principle of the object-space telecentric lens; then, the iterative calculation formula of the camera model of the object-space telecentric microscopic vision system is obtained based on the nonlinear damped least square method; Finally, the microsphere target is used to perform m relative movements within the telecentric depth range of the microscopic vision system, and the iterative calculation formula is used to realize the calibration of the object-space telecentric microscopic vision system. The method of the invention has the characteristics of convenient operation and high calibration precision, and has good application prospects.
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 compl...
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IPC IPC(8): G06T7/80
Inventor 沈飞吴文荣余大海杜凯徐德张娟张正涛李波唐永建
Owner LASER FUSION RES CENT CHINA ACAD OF ENG PHYSICS