Eureka AIR delivers breakthrough ideas for toughest innovation challenges, trusted by R&D personnel around the world.

A Visual Detection Method of Spatial Arc Pose

A space arc and visual detection technology, applied in photogrammetry/video metrology, measuring devices, surveying and navigation, etc., can solve the problem of increasing the complexity of the solution and the amount of calculation, the amount of calculation is large, and it is difficult to quickly obtain a single circle The exact position of the center point, etc.

Active Publication Date: 2020-05-01
HUBEI UNIV OF AUTOMOTIVE TECH
View PDF1 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the visual pose detection of spatial geometric circles, many scholars have proposed many effective methods, such as literature 1 [HEIKKIL AJ, SILVENO.A four-step camera calibration procedure with implicit image correction[C].IEEE Computer Society Conference on Computer Vision and Pattern Recognition,1997:1106-1112] proposed to solve the space circle pose information by setting a circle with multiple lattice distributions in space and coupling multiple camera parameters together. This method has a large amount of calculation and is difficult to quickly Obtain the exact position of the center point of a single circle; Document 2 [Zhou Fuqiang, Zhang Guangjun, Jiang Jie, etc. Non-contact high-precision measurement method of spatial circle geometric parameters [J]. Journal of Instrumentation, 2004, 25(5): 604-607 】Proposed a method to obtain the corresponding matching point of the space circle in the binocular stereo vision according to the epipolar constraints, and then project it into the three-dimensional space to obtain the actual coordinates of the edge
Although the stereo matching algorithm has been extensively studied by many scholars and many effective measures have been proposed, the stereo matching algorithm itself is an ill-conditioned algorithm. Generally, it needs to establish an energy function, minimize the energy sum function and some constraints, and adopt the optimization theory method to solve the equation, the calculation process is more complicated; literature 3 [KIM J S, GURDJOS P. Geometric and algebraic constraints of projected concentric circles and their applications to camera calibration [J]. IEEE Trans Pattern Analysis and Machine Intelligence, 2005, 27 (4) :637-642.] It is proposed to take concentric circles as the target, use concentric circles to solve the straight line at infinity, and then find the exact center position of the circle, but combining two disjoint quadratic curves to solve the straight line at infinity increases the complexity of the solution and the amount of calculation; Document 4 [Xing Dekui, Da Feipeng, Zhang Hu. Research and application of circular target precision positioning method [J]. Instrumentation Journal. 2009,30(12):2593-2598] for concentric circular targets, A method to quickly and accurately obtain the true projection point of the center of the circular target in the image is proposed by using the invariance of the cross ratio

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Visual Detection Method of Spatial Arc Pose
  • A Visual Detection Method of Spatial Arc Pose
  • A Visual Detection Method of Spatial Arc Pose

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0040] Such as figure 1 As shown, the visual detection method of the space arc pose of the present invention is to use the space arc A rc Mapped to the virtual camera coordinate system {C 1}’s virtual imaging plane Γ 1 , to build a space arc A rc The actual image I in the actual camera coordinate system {C} ma with the virtual camera coordinate system {C 1} The virtual image I' mapped in ma Mathematical conversion models between.

[0041] The established virtual camera coordinate system {C 1} coincides with the coordinate origin of the actual camera coordinate system {C}, and the coordinate system {C} 1}Pose transformation matrix relative to the coordinate system {C} Described by formula (1):

[0042]

[0043] In the above formula (1), Rot(x,α) represents the rotation matrix corresponding to the angle α rotated around the x-axis; Rot(y,β) represents the rotation matrix corresponding to the angle β rotated around the y-axis; α, β is the coordinate system {C 1} Po...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a visual inspection method for spatial arc positions and postures. A spatial arc is mapped to a virtual imaging plane gamma 1 of a virtual camera {C1} to build a mathematical conversion model between an actual image Ima of the spatial arc in an actual camera coordinate system {C} and a virtual image I'ma mapped in the virtual camera {C1}. The visual inspection method has high convergence, radial distortion correction can be performed before feature sampling points in the images are mapped, mapping transformation errors are decreased, detection precision is improved, three-dimensional matching links are omitted, the measuring method is simple and reasonable, and required hardware cost is low.

Description

technical field [0001] The invention relates to a method for detecting the pose of a space arc, in particular to a method for visually detecting the pose of the arc in space when the radius of the space arc is known. Background technique [0002] Holes and planes are the basic features of mechanical parts. Holes and planes are orthogonal to form a spatial geometric circle, and a spatial geometric circle is a shape with obvious characteristics and easy identification. It has incomparable advantages in image processing such as straight lines. advantage. Through the visual pose detection of the spatial geometric circle on a certain plane of mechanical parts, the spatial position and attitude of mechanical parts can be obtained indirectly, which has a wide range of applications in robot visual positioning, target tracking, and visual obstacle avoidance. For the visual pose detection of spatial geometric circles, many scholars have proposed many effective methods, such as litera...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01C21/00
CPCG01C11/00G01C21/00
Inventor 刘凌云罗敏吴岳敏李慧玲马彬徐金瑜
Owner HUBEI UNIV OF AUTOMOTIVE TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Eureka Blog
Learn More
PatSnap group products