Joint calibration method and device for structured light 3D vision system and line array camera

Abstract

The invention discloses a joint calibration method and apparatus for a structured light 3D visual system and a linear array camera. The structured light 3D visual system comprises an area array camera and a laser device. The method comprises the steps of obtaining a conversion relationship between a light planar coordinate system and a target coordinate system in the structured light 3D visual system, and taking the conversion relationship as a first conversion relationship; establishing a conversion relationship between the target coordinate system and a linear array camera image coordinate system according to coordinates of selected characteristic points in the target coordinate system and coordinates of the characteristic points in the linear array camera image coordinate system, and taking the conversion relationship as a second conversion relationship; establishing a conversion relationship between the light planar coordinate system and the linear array camera image coordinate system according to the first conversion relationship and the second conversion relationship, and taking the conversion relationship as a third conversion relationship; and obtaining linear array camera image coordinates corresponding to each coordinate point on the light planar coordinate system according to the third conversion relationship, thereby realizing joint calibration of the structured light 3D visual system and the linear array camera.

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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