Joint calibration method and apparatus for structured light 3D visual system and linear array camera

Abstract

A method and device for joint calibration of a structured light 3D vision system and a line array camera. The structured light 3D vision system includes an area array camera and a laser. The method includes: acquiring a light plane coordinate system and a target coordinate in the structured light 3D vision system The conversion relationship of the system, and as the first conversion relationship; according to the coordinates of the selected feature points in the target coordinate system, and the coordinates of the feature points in the line camera image coordinate system, the target coordinates are established System and the transformation relationship of the line scan camera image coordinate system, and as the second transformation relationship; according to the first transformation relationship and the second transformation relationship, establish the light plane coordinate system and the line scan camera image The conversion relationship of the coordinate system is used as the third conversion relationship; according to the third conversion relationship, the line camera image coordinates corresponding to each coordinate point on the light plane coordinate system are obtained, so as to realize the structured light 3D vision system Joint calibration with line scan cameras.

Description

technical field [0001] The technical field of three-dimensional measurement based on structured light, in particular, relates to a joint calibration method and device for a structured light 3D vision system and a line array camera. Background technique [0002] 3D vision technology mainly includes binocular stereo vision and structured light 3D vision. According to the lighting conditions of the scene, 3D vision technology can be divided into two categories: passive and active. The lighting of the scene in the former is provided by the lighting conditions around the object, while the latter A dedicated light source device is used to provide illumination around the target object. According to this classification, structured light 3D vision is an active approach. [0003] The structured light 3D vision system is mainly composed of a laser, an area array camera, such as a CCD camera, and a computer. Structured light 3D vision is based on the measurement principle of optical t...

AI Technical Summary

Problems solved by technology

However, since the structured light 3D system measurement technology can only obtain the three-dimensional contour structure of the measured image, it cannot obtain the 2D image of the measured object, such as color, gray value, etc., so that the image measured by the structured light 3D system cannot express the object Therefore, it is impossible to restore the actual scene shot by the railroad track, and it cannot meet the requirements for rail traffic measurement

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