Three-dimensional measurement method, device and system
A technology of three-dimensional measurement and vision system, applied in the field of three-dimensional measurement, can solve problems such as difficult to balance measurement accuracy and scanning speed
Active Publication Date: 2018-10-23
BEIJING LUSTER LIGHTTECH
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[0006] The embodiment of the present application provides a three-dimensional measurement method, device and system to solve the problem in the related art that it is difficult to balance measurement accuracy and scanning speed
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[0066] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, and to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and understandable, the following describes the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings For further detailed explanation.
[0067] Embodiments of the present application provide a three-dimensional measurement method, device and system to solve the problem in the related art that it is difficult to balance measurement accuracy and scanning speed.
[0068] The inventor found in the research process of this application that the structured light vision system and the binocular stereo vision system have their own advantages and disadvantages when performing three-dimensional measurement, so the embodiment of the application uses the above two vision syst...
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The invention discloses a three-dimensional measurement method, device and system. The method comprises the steps of determining coordinates of a measured object point P in a coordinate system of a structured light vision system via the structured light vision system; performing coordinate transformation according to a pre-calibrated coordinate transformation relation between two vision systems to obtain reference coordinates of the object point P in a first coordinate system of a binocular three-dimensional vision system; determining a first image point position and a second image point position corresponding to the least matching cost of the object point P in the binocular three-dimensional vision system by using the three-dimensional measurement principle of the binocular three-dimensional vision system and a preset three-dimensional matching algorithm; then determining actual parallax corresponding to the object point P according to the first image point position and the second image point position, and calculating actual coordinates of the object point P in the first coordinate system according to the actual parallax. The method, the device and the system fuse two vision systems, simultaneously overcome the defects of the both, and can meet the requirement for high-precision measurement in high-speed motion scenes.
Description
technical field [0001] The present application relates to the technical field of three-dimensional measurement, in particular to a three-dimensional measurement method, device and system. Background technique [0002] Three-dimensional measurement, as the name implies, is to measure and determine the three-dimensional coordinate data of the measured object. At present, three-dimensional measurement technology has been widely used in various fields such as railways, automobiles, aviation, and military industry. Commonly used three-dimensional measurement systems mainly include Structured Light Vision System and Binocular StereoVision System. [0003] Among them, the structured light vision system is based on the measurement principle of optical triangulation, and projects the structured light on the surface of the measured object through a dedicated optical projector (mainly including a laser), and passes through an image collector (such as a camera, video camera, etc.) ) t...
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IPC IPC(8): G01B11/00
CPCG01B11/005
Inventor 王振杰杨艺张勇
Owner BEIJING LUSTER LIGHTTECH