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Single-camera multi-angle spatial point coordinate measuring method

A technology of spatial point coordinates and measurement methods, applied in the field of visual measurement, can solve the problems of small public field of view and high price, and achieve the effect of cost saving and convenience for scientific researchers

Inactive Publication Date: 2019-01-04
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Multi-eye visual measurement technology uses two or more cameras as visual sensors. Although it can complete the measurement of the coordinates of any spatial point in the field of view, the measurement accuracy is high, but due to the use of multiple cameras, the public field of view is small and the price is expensive.

Method used

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Embodiment 1

[0045] like figure 1 As shown, this embodiment provides a single-camera multi-angle space point coordinate measurement method, the method includes the following steps:

[0046] S101. Define a world coordinate system on an object, paste N mark points with known coordinates on the surface of the object, and paste mark points on interest points on the surface of the target body; wherein, N≧6.

[0047] In this step, the N mark points are BMW mark points, which are used to realize accurate extraction of image plane projection points in image processing, and among the N mark points, at least four points are not on the same plane.

[0048] S102. Using a single camera to collect images of marked points with known coordinates and of interest at M angles, and measure pixel coordinates of the marked points at various angles; wherein, M≧2.

[0049] In this step, the pixel coordinates of the marked points at various angles are measured by using TEMA software.

[0050] S103. According to ...

Embodiment 2

[0087] like image 3 As shown, it is the on-site layout diagram of the spatial point coordinate measurement of the present embodiment. The test ground 8 is covered with floor tiles whose side length is 50cm×50cm. The sides coincide with the two right-angle sides of the floor tiles; then paste two black and white calibration papers on the two vertical planes of the tin box 1, the two calibration papers are the first calibration paper 2 and the second calibration paper 3 respectively, ensuring that the two One edge of the calibration paper coincides with one edge of the tin box, and the upper right-angle sides of the two calibration papers intersect at one point; among them, the grid side length of the first calibration paper 2 is 30mm×30mm, and the grid of the second calibration paper 3 The length of the grid side is 25mm×25mm, and the world coordinate system as shown in the figure is established, then the coordinates of any corner point (calibration point) on the two calibrati...

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Abstract

The invention discloses a single-camera multi-angle spatial point coordinate measuring method. The method comprises: a world coordinate system is defined at a certain object, N marked points with known coordinates are pasted on the surface of the object, and a marking point is pasted on an interest point on the surface of a target object; interested marking point images with known coordinates arecollected at M angles and pixel coordinates of marking points at all angles are measured; a linearity transformation relationship between a world coordinate system and a pixel coordinate system is established, 2N linear equations established by the N marked points are calculated, and calibration is carried out to obtain internal and external parameters of the camera at various angles; and according the corresponding pixel coordinates of the same interest points at the M angles as well as the internal and external parameters of the camera, M spatial straight lines are determined, a solution ofusing a midpoint of every two straight line common perpendicular segments as an interest point is calculated, M*(M-1) / 2 solutions of the interest point are obtained among the M spatial straight lines,and an optimal solution of the interest point is determined. Therefore, the foundation is provided for 3D modeling, simulation and verification of a multi-body mechanical system.

Description

technical field [0001] The invention relates to a visual measurement method, in particular to a single-camera multi-angle spatial point coordinate measurement method, which belongs to the field of visual measurement. Background technique [0002] At present, three-coordinate measurement and visual coordinate measurement are commonly used in coordinate measurement. The three-coordinate measuring machine used in industry can complete the precise measurement of complex parts, but the contact measurement is not only time-consuming, but also easy to scratch the measured part. The scope is also limited, the measuring equipment is bulky, and has high requirements for the working environment; visual measurement is developing rapidly in various fields due to non-contact and good environmental adaptability. The existing spatial point coordinate visual measurement technology is divided into monocular visual measurement technology and multi-eye vision measurement technology. [0003] M...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 赵祚喜冯荣谈婷宋俊文黎源鸿杨贻勇马昆鹏蒙劭洋
Owner SOUTH CHINA AGRI UNIV