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Stereo vision sensor integrates line array camera and area array camera and calibration method

A technology of line scan camera and area scan camera, applied in instruments, measuring devices, optical devices, etc., can solve problems such as identification errors

Active Publication Date: 2017-01-04
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] When using two-dimensional images for fault identification, fault identification errors are prone to occur due to the influence of sludge, oil stains, etc.

Method used

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  • Stereo vision sensor integrates line array camera and area array camera and calibration method
  • Stereo vision sensor integrates line array camera and area array camera and calibration method
  • Stereo vision sensor integrates line array camera and area array camera and calibration method

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Embodiment Construction

[0048] figure 1 It is a schematic structural diagram of the stereo vision sensor in the embodiment of the present invention. Such as figure 1 As shown, in the stereo vision sensor, the line laser 1 is installed on a three-degree-of-freedom adjustment mechanism 2, and the adjustment mechanism 2 is placed under the line array camera 3, and the light plane projected by the laser 1 is aligned with the line array camera through the adjustment mechanism 2. The optical center of 3 coincides with the plane formed by the line array CCD, ensuring that the line laser 1 provides good illumination for the line array camera 3 . The area camera 4 is placed on one side of the line camera 3 . The area camera 4 and the line camera 3 constitute a stereo vision sensor. The line scan camera 3 and the area scan camera 4 are connected to an image storage and processing unit 5 through an image acquisition device. The speed measurement and control unit 6 is used to measure the speed of the object,...

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Abstract

The invention discloses a stereo vision sensor integrates a line array camera and an area array camera and a calibration method. The vision sensor can synchronously acquire gray and depth information of an object image. The sensor mainly comprises the line array camera, the area array camera, a laser and other accessories. The line array camera acquires a clear image through line laser illumination, and forms the stereo vision sensor with the area array camera. The line laser is used as the feature of the area array camera image, matches an epipolar constraint to realize corresponding matching of the line array camera and the area array camera image. Three-dimensional coordinate reconstruction is realized through a stereo vision measurement model. The sensor can simultaneously acquire the image information of the object and the spatial depth information corresponding to each pixel in a push-scan manner. The stereo vision sensor provided by the invention can be widely applied to the fields of object recognition, fault diagnosis and the like.

Description

technical field [0001] The invention relates to a three-dimensional measurement sensor, a measurement method and a calibration method in the field of machine vision, in particular to a new stereo vision sensor, a measurement method and a calibration method that can realize synchronous measurement of object image grayscale and corresponding depth information. Background technique [0002] When an area array camera shoots a high-speed moving object, the brightness of the image captured by the area array camera is uneven due to the uneven light emission of the existing area array light source, or the image shadow is caused by the angle of the light source and the shape of the object. The line laser has the advantages of high brightness, good monochromaticity, and strong linearity. As the lighting source of the line array camera, it can ensure that the line array camera can obtain clear images of high-speed moving objects under the condition of extremely low exposure time, and th...

Claims

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Application Information

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IPC IPC(8): G01B11/245G01B11/00
CPCG01B11/002G01B11/245
Inventor 刘震尹扬武群
Owner BEIHANG UNIV
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