Binocular vision measuring system having variable structure and parameter determining method

Abstract

The invention relates to a binocular vision measuring system having a variable structure and a parameter determining method; real-time correction of external camera parameters is completed by actively changing the optical axis pointing direction of a binocular camera, enlarging the observation range of a measurement camera, increasing an auxiliary optical path, introducing a reference mark in left and right main camera optical paths, forming an embedded reference mark and calculating a posture transformation matrix of the camera according to change of the embedded reference mark on an image surface; and finally, binocular vision is measured by utilizing off-line calibrated internal parameters, distortion parameters and online obtained external parameters. According to the invention, calibration of the external parameters is integrated in measurement every time; the external parameters need to be calibrated again while being measured every time, therefore, binocular vision measurement having the variable structure is realized; the flexibility and the measurement range of a stereo camera are increased; the measurement cost is greatly reduced; simultaneously, a measurement target can be ensured to be in the centre of a view field, and thus, the measurement precision can be effectively increased.

Description

technical field [0001] The invention belongs to the technical field of visual measurement, in particular to a variable-structure binocular visual measurement system and a parameter determination method. Background technique [0002] Based on the theory of computer vision, visual measurement technology integrates modern science and technology such as modern optics, computer technology, image processing and analysis technology to form a comprehensive measurement system of optical, mechanical and electrical integration. In principle, it has the advantages of non-contact, strong real-time performance, high precision, and rich information. With the rapid development of related hardware and software performance and the continuous reduction of costs, the principle advantages of visual measurement have been fully utilized. It is widely used in military, industrial, Agriculture and forestry, medicine, aerospace and other fields. Vision measurement technology includes monocular visio...

AI Technical Summary

Problems solved by technology

However, the biggest problem in the variable structure binocular vision measurement method is that after the configuration of the binocular camera is changed, the external parameters of the binocular camera need to be calibrated again, which greatly limits the application and promotion of the variable structure binocular vision

These methods are related to specific application occasions, and the scope of application is small, which cannot solve the problem of real-time calibration of extrinsic parameters of variable-structure binocular cameras

Images