Variable boresight monocular stereo vision measurement method

Abstract

The invention relates to a variable visual axis monocular stereo vision measuring method; first a rotating double-prism system is removed, a monocular vision measuring system is calibrated, internal parameters of a camera 1 are obtained and recorded; the rotating double-prism system is installed before the monocular vision measuring system, the rotating double-prism system and the monocular visionmeasuring system are calibrated as a whole, the relative positional relationship between the camera and the rotating double-prism system is obtained, after the calibration is finished, an imaging visual axis is divided according to theoretical geometric features of a to-be-measured object, prism turning angles corresponding to rotating double prisms with respect to each visual axis pointing anglecan be calculated by an iterative method in an upper computer respectively; the rotating double prism system controls the imaging visual axis to turn to the corresponding visual axis pointing angle sequentially, the camera sequentially collects corresponding images to realize sequential imaging of the geometric features of the to-be-measured object; by image processing and feature matching of twoimages imaged by two adjacent visual axis pointing angles, three-dimensional feature reconstruction of common regions can be realize; and the actual geometric characteristics of the to-be-measured object can be obtained by integration of all common regions of the three-dimensional feature reconstruction.

Description

technical field [0001] The invention belongs to the field of vision measurement, and in particular relates to a monocular stereo vision measurement method with a variable visual axis. Background technique [0002] With the maturity of machine vision theory and the great strides towards high-speed, high-precision, and high-sensitivity of visual sensors, people have applied the rapidity and high intelligence of machine vision technology to many important industrial and military fields, such as Biomedicine, Environmental Science, Textile, Aerospace, etc. The application of monocular vision measurement technology is becoming more and more extensive, and it has become a new hotspot in the fields of aerospace and remote sensing measurement, industrial automation, artificial intelligence and product inspection. As a typical beam deflection and viewing axis switching device, the rotating double prism provides a powerful tool for large-angle imaging viewing axis adjustment due to it...

AI Technical Summary

Problems solved by technology

The above two methods are to change the camera position to achieve single-camera stereo vision measurement, and its structure is not compact enough

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