Monocular Vision Measurement Method Based on Global Homography Matrix
A homography matrix and monocular vision technology, applied in image data processing, instrumentation, calculation, etc., can solve the problem of large average measurement error
Active Publication Date: 2017-07-11
NANKAI UNIV
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Problems solved by technology
Through the above analysis, we know that if we only calibrate the calibration plate at one position to obtain a homography matrix, the average measurement error in the entire field of view will be relatively large
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Embodiment 1
[0150] figure 1 and image 3 Demonstrated the visual measuring system used in the present invention, this system is made up of a Gigabit Ethernet black-and-white camera, and its visual sensor is 1 / 4-in (inch) CMOS sensor, has good dynamic performance, can gather 120 frames per second An image with a size of 640×480 pixels. In order to make the target easier to be detected, we chose an infrared emitter that can emit 850nm infrared waves, and put a reflective film on the target position, which can reflect the infrared light that irradiates back, and the infrared emitter is fixed next to the camera . At the same time, a filter is installed at the front end of the camera lens to ensure that only light with a wavelength of 850nm can pass through the camera. The whole installation is fixed on the top of a three-meter-high metal pole, such as image 3 shown.
[0151] First, the calibration of the global homography matrix
[0152] Section 1.1 Calibration of each local homography...
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The invention provides a monocular vision measurement method based on a global homography matrix, provides a method for calibrating a global homography matrix between an image plane and the observed ground, and aims at acquiring each mapping relationship between the image plane and the whole scene plane. The method comprises the steps of positioning calibrating plates at different positions on the ground; obtaining the direct local homography matrixes of a plurality of calibrating plates and the corresponding image plane; performing information fusion for the plurality of local homography matrixes to obtain the global mapping relationship, namely, the global homography matrix. According to the method, the homography matrix of height-related information is calibrated, so that any plane with known height and to be measured can be visually measured; parameters in a camera are saved, and the calibration precision is relatively high; the calibration result can be successfully applied to the measurement of posture of an indoor moving robot; the contrast experiment result shows that the method has the vision measurement precision superior to that of the local homography matrix based calibrating method within the whole view field of the camera.
Description
technical field [0001] The invention belongs to the technical field of monocular vision measurement and homography matrix calibration, and in particular relates to a monocular vision measurement method based on a global homography matrix. Background technique [0002] As a typical non-contact sensor, vision sensor has the advantages of rich information and high reliability, so it has been widely used. In order to measure the pose of an object, monocular vision and stereo vision are generally considered to be more effective measurement tools [1]. Generally speaking, the monocular vision measurement method uses the inherent geometric constraint relationship between the target points to solve the problem [2], while the binocular stereo vision measurement method uses the intersection triangulation calculation of the same target point in two cameras. , so as to obtain the three-dimensional coordinates of the target point in the measurement coordinate system [3,4]. Binocular vis...
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IPC IPC(8): G06T7/80
Inventor 方勇纯张雪波王聪媛路晗
Owner NANKAI UNIV