Method for continuously measuring three-dimensional coordinates of targets on basis of fixed-focus cameras

Abstract

The invention discloses a method for continuously measuring three-dimensional coordinates of targets on the basis of fixed-focus cameras, and belongs to the technical field of monocular vision. The method includes preliminarily arranging the dot array targets at target locations; reading real-time video stream by the aid of the fixed-focus cameras, adjusting the cameras, aligning the cameras withthe dot targets and allowing all dots in the targets to enter visual fields of the cameras; computing the dots in the visual fields of the cameras, detecting the dots and computing coordinates of thedots; computing external reference matrixes of the cameras according to the obtained coordinates of the dots; computing the three-dimensional coordinates according to internal and external reference matrixes of the cameras. The method has the advantages that imaging principles are applied, the targets are introduced into monocular vision to be used as coordinate restrictions, markers convenient toidentify are set, images of the markers are accurately extracted by the aid of computers, accurate required data can be acquired, and accordingly distances can be easily and effectively measured in ahigh-precision manner.

Description

technical field [0001] The invention belongs to the technical field of monocular vision, in particular to a method for continuously measuring three-dimensional coordinates of a target based on a fixed-focus camera. Background technique [0002] In the process of monocular 3D coordinate measurement, a certain constraint in the image sequence is usually used to convert the 3D coordinates in the target coordinate system into the coordinate sequence in the known coordinate system by means of coordinate system conversion. [0003] In the existing non-contact ranging technology, the most applied theories and methods are mainly multi-eye ranging and laser ranging. Multi-eye ranging is to use multiple cameras with the same structure and performance to shoot the same object, determine the constraint relationship by extracting the features of the target from multiple sets of images, and then calculate the object in the camera coordinate system by geometric methods. coordinates to det...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problems of large resource consumption and insufficient precision in multi-eye ranging, and the problems of too strong targeting and low divergence in laser ranging, the present invention provides a fixed-focus camera-based benchmarking Continuous measurement method of three-dimensional coordinates of target

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