Large-object three-dimensional measurement LED label calibration method based on tracker

Abstract

The invention discloses a large-object three-dimensional measurement LED label calibration method based on a tracker. The method includes the following steps of (1) matching the LED labels by means of a trajectory-based LED label matching method: a stereoscopic tracker observes the motion trajectory of the LED labels in the view field of the stereoscopic tracker; matching the trajectories of the LED labels observed in the two cameras of the stereoscopic tracker; and measuring the three-dimensional coordinates of the LED labels in the stereoscopic tracker coordinate system according to the matching result; and (2) calibrating the LED labels with an LED label calibration method based on a checkerboard: the three-dimensional coordinates of the LED labels in the stereoscopic tracker coordinate system are converted into the coordinate system of a three-dimensional scanner to realize the calibration of the LED labels. According to the method, the LED label matching accuracy is high, the point characteristics of the spatial calibration objects can be accurately found, the calibration precision and robustness are high, and the calibration of the LED labels in the three-dimensional measurement can be conveniently and accurately carried out.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional measurement, and relates to a method for calibrating an LED mark in the three-dimensional measurement technology, in particular to a method for calibrating an LED mark in the three-dimensional measurement of a large object based on a stereo tracker. [0002] technical background [0003] The 3D measurement method of large objects based on tracker is a new 3D measurement technology. In this technology, it is necessary to use equipment such as a 3D scanner and a stereo tracker to realize 3D measurement. The 3D scanner consists of two industrial cameras and a projector, and the stereo tracker consists of two industrial cameras. Several LED reflective markers need to be installed on the 3D scanner. By moving the 3D scanner, measure the local 3D data of large objects. In the process of moving the 3D scanner to measure the local data of a large object, the stereo tracker needs to track the L...

AI Technical Summary

Problems solved by technology

Since the local features of the image area where all LED markers are located are very similar, it is impossible to use traditional point feature matching technology to achieve accurate matching

Therefore, we can only use the plane geometric relationship to find the corresponding relationship of points, but this method will produce a large matching error

Moreover, in the prior art, the calibration method of circular pattern is usually used for the calibration of LED markers. This method cannot accurately find the spatial calibration object, and the calibration accuracy and robustness are low.

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