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A laser scanning type global calibration device and method for a vision measurement system

A technology of laser scanning and global calibration, applied in the field of visual measurement, can solve problems such as difficult on-site operation, and achieve the effect of wide application range and high global calibration accuracy

Active Publication Date: 2020-03-31
BEIHANG UNIV
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Problems solved by technology

This method is flexible and can calibrate visual sensors with various on-site angles, but it is not easy to operate on-site when global calibration of multiple visual sensors with complex layout

Method used

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  • A laser scanning type global calibration device and method for a vision measurement system
  • A laser scanning type global calibration device and method for a vision measurement system
  • A laser scanning type global calibration device and method for a vision measurement system

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Embodiment

[0115] Based on the above-mentioned laser scanning type global calibration device, the present invention is combined with specific embodiments, taking two cameras to be calibrated, one auxiliary camera, one turntable, two line lasers, and one plane target as examples, and further details the present invention illustrate.

[0116] One auxiliary camera and two cameras to be calibrated are from Allied Vision Technologies. The auxiliary camera is equipped with a Schneifer optical lens with a focal length of 23mm, and the image resolution is 1600×1200 pixels. The two cameras to be calibrated are equipped with Schneifer optical lenses with a focal length of 17mm, the image resolution is 1600×1200 pixels, the field of view of the visual sensor is about 400mm×300mm, and the measurement distance is 1000mm. The laser is a single-line red laser with a wavelength of 635nm and a power of 50mw. , The machining accuracy of the plane target is 0.02mm.

[0117] The internal parameters of the...

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Abstract

The invention discloses a laser scanning type global calibration device and method for a vision measurement system. The laser scanning type global calibration method comprises the steps of fixedly installing two line lasers on a multi-degree-of-freedom turntable, controlling the turntable to rotate, projecting a laser plane to the field of view of a camera to be calibrated, calibrating a laser plane equation under a camera coordinate system with the help of a plane feature point target, rotating the turntable for multiple times to enable the laser plane to be changed in position in the field of view of the camera, and continuing to calibrate the laser plane; rotating the turntable to enable the laser plane to be projected to the field of view of another camera to be calibrated so as to calibrate the laser plane; and solving position parameters, namely, a rotation matrix and a translation vector, between the two cameras to be calibrated by taking the laser plane as a medium according torotation data outputted by the turntable in real time and laser plane equations of the calibrated laser plane respectively under the camera coordinate system and a turntable coordinate system. The laser scanning type global calibration method can be applicable to global calibration for a multi-sensor vision measurement system with a large field of view, and is wide in application range and high in calibration precision.

Description

technical field [0001] The invention relates to the technical field of visual measurement, in particular to a laser scanning global calibration method and device for a visual measurement system. Background technique [0002] The 3D visual measurement system has the advantages of non-contact, fast speed and high measurement accuracy, and is widely used in industries and other fields. In order to complete the visual measurement tasks of large space and large size, for a single visual sensor, the measurement space range is limited, and multiple visual sensors need to work together to form a large-scale multi-sensor distributed visual measurement system. In a multi-sensor distributed visual measurement system, the measurement data of each sensor is based on the relative measurement of the local module sensor, and there is no public field of view. In order to unify the measurement data of each visual sensor, it is necessary to unify the measurement data of each visual sensor To ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00
CPCG01B11/00
Inventor 魏振忠邹伟赵凯柴斌虎
Owner BEIHANG UNIV
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