Method for measuring spherical object geometric parameters by use of laser and monocular camera

Abstract

The invention discloses a method for measuring spherical object geometric parameters by use of lasers and a monocular camera. The method comprises the following steps: arranging the camera and the more than three lasers, enabling laser beams emitted by the lasers to irradiate on an object, wherein the laser beams are not coplanar and the orientation of the camera is the same as the directions of the lasers; defining a world coordinate system Ow and a camera coordinate system Oc, and determining an internal parameter matrix of the camera and a conversion relation between the camera coordinate system and the world coordinate system; defining an image two-dimensional coordinate system, enabling the camera to acquire points formed when the laser beams are irradiated on the object, and obtaining coordinates of the laser points under an the image coordinate system and circle center coordinates of the object on an image; and calculating geometric parameters of the object through a geometric relation and a camera-image conversion relation. Compared to a conventional monocular measurement method, the method provided by the invention has the following advantages: object information does not have to be obtained in advance, and the method is applied to measurement of non-texture non-cooperative object. Compared to a conventional binocular measurement method, the method provided by the invention has the advantages of higher efficiency and stability and better fault tolerance and robustness.

Description

technical field [0001] The invention relates to the fields of computer vision and image processing, in particular to a method for measuring geometric parameters of a spherical target by using a laser and a monocular camera. Background technique [0002] Spherical targets or spherical-like targets in three-dimensional space are common targets in real-world environments. Using machine vision to accurately measure the size and position of spherical targets has important applications in engineering. The current method to solve this problem is to reconstruct the 3D object through binocular vision or directly observe it with a monocular camera. These two methods have their own disadvantages: due to the limitation of the field of view, the binocular vision method cannot measure the spherical target with a large radius at close range; while the monocular camera can observe the spherical target in a large range. But when the size of the spherical target is unknown, accurate measurem...

AI Technical Summary

Problems solved by technology

These two methods have their own disadvantages: due to the limitation of the field of view, the binocular vision method cannot measure the spherical target with a large radius at close range;

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