A tracker-based calibration method for LED markers in 3D measurement of large objects

Abstract

The invention discloses a method for calibrating LED markers in three-dimensional measurement of large objects based on trackers, which comprises the following steps: (1) Matching LED markers with a track-based LED marker matching method: the stereo tracker observatory The trajectory of the LED marker described above in the field of view of the stereo tracker; the trajectories of the LED markers observed in the two cameras of the stereo tracker are matched; according to the matching results, the three-dimensional coordinates of the LED marker in the stereo tracker coordinate system are measured (2) Carry out the calibration of the LED mark with the LED mark calibration method based on the checkerboard grid: the three-dimensional coordinates of the LED mark in the three-dimensional tracker coordinate system are converted into the coordinate system of the three-dimensional scanner, and the LED mark is realized. calibration. The method has high matching accuracy of LED marks, can accurately find point features of spatial calibration objects, has high calibration accuracy and robustness, and can conveniently and accurately calibrate LED marks in three-dimensional measurement.

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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