Monocular camera realizes dynamic point three-dimensional measurement

Abstract

The invention discloses a method for realizing dynamic point three-dimensional measurement by a monocular camera including establishing a global coordinate system at the certain position of a space non-moving rigid body and pasting multiple control points with known coordinate on said global coordinate system, setting up global coordinate system at certain position of space non-moving rigid body and pasting control points with known coordinate on said global coordinate system; calibrating the internal and external parameters of the monocular camera; a plurality of laser beams being emitted byusing a plurality of laser emitters, and each laser beam striking a laser point on the plane where the dynamic measurement point is located; the monocular camera being used to collect the initial image of the plane where the control point and the dynamic measurement point are located, and to collect the sequence image of the plane where the dynamic measurement point is located in the process of spatial movement; according to the internal and external parameters of the monocular camera, the real-time spatial coordinates of each laser point being determined; according to the real-time spatial coordinates of each laser point, the plane equation of the dynamic measuring point being determined, and the real-time three-dimensional coordinates of the dynamic measuring point being determined. Theinvention can realize the three-dimensional coordinate measurement of the spatial target point, and provides a basis for mechanical system simulation, verification and test result identification.

Description

technical field [0001] The invention relates to a visual measurement method, in particular to a method for realizing dynamic point three-dimensional measurement by a monocular camera, which belongs to the field of visual measurement. Background technique [0002] Coordinate measurement technology is widely used in aerospace, machinery manufacturing, civil engineering, medicine and other fields. Coordinate measurement can be divided into static coordinate measurement and dynamic coordinate measurement. Static measurement methods generally include total station, three-coordinate measuring instrument, and 3D scanner. , multi-eye vision measurement, etc., dynamic measurement methods include multi-eye high-speed camera measurement method, laser tracker measurement method, etc. The laser tracker can only track and measure one point of motion parameters at a time, and visual measurement is an emerging measurement technology in the field of measurement in recent years. As a non-cont...

AI Technical Summary

Problems solved by technology

[0003] At present, binocular or even multi-eye high-speed visual measurement systems can realize three-dimensional coordinate measurement of target points, but stereo matching between visual sensors is difficult, and the measurement field of view is small and expensive. Parameter calibration and other aspects have advantages over binocular vision, but monocular vision measurement loses the depth information of the target point, and can only achieve two-dimensional planar target point motion parameter measurement

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