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A stereoscopic vision sensor and calibration method combining a line array camera and an area array camera

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: 2017-12-12
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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  • A stereoscopic vision sensor and calibration method combining a line array camera and an area array camera
  • A stereoscopic vision sensor and calibration method combining a line array camera and an area array camera
  • A stereoscopic vision sensor and calibration method combining a line array camera and an area array camera

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Embodiment Construction

[0048] figure 1 It is a schematic diagram of the structure of a stereo vision sensor in an 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. The adjustment mechanism 2 is placed under the line scan camera 3, and the light plane projected by the laser 1 is the same as the line scan camera through the adjustment mechanism 2. The optical center of 3 coincides with the plane formed by the line array CCD to ensure that the line laser 1 provides good illumination for the line array camera 3. The area scan camera 4 is placed on the side of the line scan camera 3. The area scan camera 4 and the line scan camera 3 constitute a stereo vision sensor. The line scan camera 3 and the area scan camera 4 are connected to the image storage and processing unit 5 through an image acquisition device. The speed measurement and control unit 6 is used to measure the speed ...

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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 the simultaneous measurement of the gray level of an object image and corresponding depth information. Background technique [0002] When the area scan camera shoots high-speed moving objects, the brightness of the image taken by the area scan camera is uneven due to the uneven light emission of the existing area scan 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 illumination source of the line array camera, it can ensure that the line array camera can obtain clear images of high-speed moving objects under extremely low exposure time conditions, and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/245G01B11/00
CPCG01B11/002G01B11/245
Inventor 刘震潘晓尹扬武群
Owner BEIHANG UNIV
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