Panoramic structured light vision measurement system and universal distortion model parameter calibration method

Abstract

The invention discloses a panoramic structured light vision measurement system and a universal distortion model parameter calibration method. The panoramic structured light vision measurement system is composed of a camera, a structured light projector, a glass tube and a computer. A panoramic structured light vision measurement model is established by using light bar points located on both an imaging light path and a structured light. According to the refraction distortion of glass tube, a universal distortion model is established, and spatial coordinates of target feature points are reconstructed based on the model, the spatial coordinates are represented by X<r>; meanwhile, an auxiliary camera is placed outside the glass tube to reconstruct the corresponding spatial coordinates of the target feature points, the corresponding spatial coordinates are represented by X<c>; and based on the X<r>and X<c> which are in one-to-one correspondence, the objective function is established and optimized to obtain universal distortion model parameters. When the parameters of the structured light vision model are calibrated, the spatial coordinates of the light bar points are obtained based on the universal distortion model, and the structured light equation is fitted. The panoramic structured light vision measurement system and the universal distortion model parameter calibration method caneffectively correct distortion and have that characteristic of good stability and higher precision.

Description

technical field [0001] The invention relates to the field of visual measurement, in particular to a panoramic structured light visual measurement system and a universal distortion model parameter calibration method. Background technique [0002] Panoramic structured light vision measurement technology is to project a specific pattern of structured light onto the scene to be measured to realize the measurement of the panorama of the scene to be measured. This measurement technology not only has the advantages of traditional structured light vision measurement, such as large range, non-contact, good flexibility, etc., but also has significant advantages in the field of three-dimensional shape detection of inner walls such as industrial pipelines. [0003] When realizing panoramic measurement based on structured light vision, the sensors are mainly divided into two types: combined sensors with multiple line structured light vision sensors and circular structured light vision se...

AI Technical Summary

Problems solved by technology

The existing method does not take this problem into consideration. The present invention provides a panoramic structured light vision measurement system and a general distortion model parameter calibration method, which establishes a general distortion model in space, can realize distortion correction and perform panoramic measurement of the measured scene, And has the characteristics of good stability and high precision

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