Camera three-dimensional measurement device, system and method in combination of calibration and correction

A technology of three-dimensional measurement and camera, which is applied in the direction of measuring device, optical device, image enhancement, etc., and can solve the problem of not checking the technical means

Inactive Publication Date: 2017-10-20
HARBIN UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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  • Camera three-dimensional measurement device, system and method in combination of calibration and correction
  • Camera three-dimensional measurement device, system and method in combination of calibration and correction
  • Camera three-dimensional measurement device, system and method in combination of calibration and correction

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specific Embodiment 1

[0106] This embodiment is an embodiment of a camera three-dimensional measurement device that combines calibration and correction.

[0107] The structure diagram of the camera three-dimensional measurement device combined with calibration and correction in this embodiment is as follows figure 1 As shown, the device includes an object to be measured 1, a stereo calibration module 2 arranged above the object to be measured 1, a camera 3 for simultaneous imaging of the object to be measured 1 and the stereo calibration module 2, and a PC for receiving image data from the camera 3 machine 4; the stereo calibration module 2 is a regular hexahedron, each face is a 10×10 white and color grid matrix alternately, and the colors in the six faces are different; the camera 3 can simultaneously capture the stereo Calibrate the three faces of module 2.

specific Embodiment 2

[0108] This embodiment is an embodiment of a camera three-dimensional measurement device that combines calibration and correction.

[0109] The structure diagram of the camera three-dimensional measurement device combined with calibration and correction in this embodiment is as follows figure 1 As shown, the device includes an object to be measured 1, a stereo calibration module 2 arranged above the object to be measured 1, a camera 3 for simultaneous imaging of the object to be measured 1 and the stereo calibration module 2, and a PC for receiving image data from the camera 3 machine 4; the stereo calibration module 2 is a regular hexahedron, each surface has a 10×10 grid, and in the grid, there are 1×3 areas in the form of arrangement and combination of different color patterns, and other areas are in the form of different color patterns A grid matrix with alternate patterns; the camera 3 can capture three faces of the stereoscopic calibration module 2 at the same time.

specific Embodiment 3

[0110] This embodiment is an embodiment of a camera three-dimensional measurement system that combines calibration and correction.

[0111] The camera three-dimensional measurement system combined with calibration and correction in this embodiment, the module schematic diagram is as follows figure 2 As shown, the system includes a calibration module and a calibration module;

[0112] The calibration module is used to calculate the internal parameters and external parameters of the camera 3, including:

[0113] Information acquisition unit: used to acquire the world coordinate value of the calibration point on the stereo calibration module 2 (x w ,y w ,z w ); the camera 3 takes images of the stereo calibration module 2, and transmits the image data to the PC 4, and the PC 4 is used to obtain the calibration point image pixel coordinate measurement values ​​(u', v');

[0114] Parameter calculation unit: used to calculate the internal parameters and external parameters of the...

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Abstract

The invention discloses a camera three-dimensional measurement device, a system and a method in combination of calibration and correction, which belong to the field of three-dimensional structured light measurement. The device comprises a to-be-measured object, a three-dimensional calibration module arranged above the to-be-measured object, a camera for carrying out simultaneous imaging on the to-be-measured object and the three-dimensional calibration module and a PC for receiving image data of the camera. The system is composed of a calibration module and a correction module. In the method, through calibrating the three-dimensional calibration module and in combination of a correction algorithm, image pixel coordinates are obtained finally. Multiple calibration surfaces of a cube calibration object are made full use of, effects that the camera acquires data from multiple angles through one-time data acquisition can be achieved, the measurement times are effectively reduced and error accumulation is avoided; and besides, in combination of a distortion correction algorithm based on Newton iteration, the calibration parameter calculation value stability is further improved, and the purpose of improving the three-dimensional measurement precision is finally achieved.

Description

technical field [0001] The invention relates to a camera three-dimensional measurement device, system and method combining calibration and correction, belonging to the field of three-dimensional structured light measurement. Background technique [0002] The structured light 3D measurement technology needs to collect calibration model data from multiple angles, determine the camera calibration parameters, and complete the camera calibration work. In order to achieve the goal of multi-angle, it is necessary to move the calibration equipment continuously. Since there will be measurement errors in each movement, and the errors will be accumulated with the increase of the number of movements, which will affect the accuracy of the calculation of the calibration parameters, thereby affecting the final result. measurement accuracy. It can be seen that how to reduce the number of measurements is an effective technical means to avoid error accumulation and improve measurement accura...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06F17/11G01B11/24G01B11/00
CPCG01B11/002G01B11/2433G06F17/11G06T7/80G06T2207/30244
Inventor 于晓洋于博洋赵烟桥
Owner HARBIN UNIV OF SCI & TECH
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