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A 3D machine vision space detection and calibration method

A technology of machine vision and calibration method, which is applied in photogrammetry/video metrology, instruments, measuring devices, etc. It can solve the problems of relative positioning detection without public information, and achieve good accuracy.

Active Publication Date: 2018-12-28
SHANGHAI JIQING HUISHI TECH CO LTD
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Problems solved by technology

Relative positioning detection and calibration for dynamic space has not yet seen relevant public information

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  • A 3D machine vision space detection and calibration method
  • A 3D machine vision space detection and calibration method
  • A 3D machine vision space detection and calibration method

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[0023] A 3D machine vision space detection and calibration method uses nine spatial feature points for space calibration. Such as figure 1 As shown, the nine feature points are: the four vertices A, B, b, and a that constitute the surface ABba directly in front of the depth camera and passing through the camera axis; the intersection point O between the depth camera axis and the surface ABba; parallel to the surface ABba The four vertices D, C, c, and d of the surface DCcd of the depth camera; the angle between the axis of the depth camera and the surface ABba is α.

[0024] Such as figure 2 As shown, the mapping of the above nine feature points in the depth camera pixel coordinate OXY image is: A', B', C', D', O', a', b', c', d', where O ' is the center point of the image. The surface ABba is mapped to the surface A'B'b'a'; the surface DCcd is mapped to the D'C'c'd'; the line AD is mapped to the line A'D', the line BC is mapped to the line B'C', and the line ad is mapped ...

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Abstract

The invention discloses a 3D machine vision space detection calibration method based on depth vision. Since 9 characteristic points of an on-site standardized physical space are adopted for calibration, and depth information is acquired by using a depth camera, space conversion, coordinate conversion and virtual space generation can be directly completed, the calibration process of 3D machine vision in space detection can be rapidly completed, the calibration complexity can be degraded, and meanwhile the influence of environment variation factors can be effectively avoided on the basis of the actual on-site calibration process.

Description

technical field [0001] The invention relates to a 3D machine vision space detection and calibration method, which belongs to the field of industrial machine vision detection, especially the field of vision detection based on a depth camera. Background technique [0002] With the development of 3D imaging technology, the depth camera based on TOF technology has gradually matured and has begun to be applied in industrial machine vision inspection. At present, in terms of application technologies involving space detection, there are mainly laser radar, laser raster scanning, two-dimensional multi-eye stereo vision synthesis, etc. These technologies have the characteristics of high detection accuracy, complex system, expensive price, low spatial resolution, and complex calculation, while the depth camera based on TOF technology can have a large effective range and fast synchronous measurement at high pixel resolution. Advantages, it has huge advantages in space detection and wo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01C25/00
CPCG01C11/00G01C25/00
Inventor 王海宽戚谢鑫张金标
Owner SHANGHAI JIQING HUISHI TECH CO LTD
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