Stereo vision three-dimensional displacement measurement method based on synchronous sub-region search

A technology of stereo vision and displacement measurement, applied in the direction of measuring devices, image data processing, instruments, etc., can solve the problems of no synchronous sub-area search, low calculation efficiency in the measurement process, etc., and achieve the effect of improving calculation efficiency

Active Publication Date: 2019-02-19
HARBIN INST OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of low calculation efficiency in the measurement process due to the lack of synchronous sub-region search in the timing matching process, and propose a stereoscopic three-dimensional displacement measurement method for synchronous sub-region search

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  • Stereo vision three-dimensional displacement measurement method based on synchronous sub-region search
  • Stereo vision three-dimensional displacement measurement method based on synchronous sub-region search
  • Stereo vision three-dimensional displacement measurement method based on synchronous sub-region search

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specific Embodiment approach 1

[0027] Specific implementation mode 1: The specific process of the stereo vision three-dimensional displacement measurement method based on synchronous sub-region search is as follows:

[0028] Step 1, adopt the camera calibration method to calibrate the stereo vision system, obtain the internal parameter matrix and the external parameter matrix of the stereo vision system, collect images for each measuring point, and obtain the left and right image sequences of each measuring point; the internal parameter matrix is ​​the left camera The internal parameter matrix A of l and the internal parameter matrix A of the right camera r The left camera is the left camera of the stereo vision system, and the right camera is the right camera of the stereo vision system; the external parameter matrix is ​​the rotation matrix R and the translation vector T from the left camera coordinate system to the right camera coordinate system; The measuring point is the center of the circular target ...

specific Embodiment approach 2

[0034] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in the step 1, the camera calibration method is used to calibrate the stereo vision system, and the internal parameter matrix and the external parameter matrix of the stereo vision system are obtained. Collect images to obtain the left and right image sequences of each measuring point; the internal parameter matrix is ​​the internal parameter matrix A of the left camera l and the internal parameter matrix A of the right camera r The left camera is the left camera of the three-dimensional displacement measurement system, and the right camera is the right camera of the three-dimensional displacement measurement system; the external parameter matrix is ​​a rotation matrix R and a translation vector T from the left camera to the right camera coordinate system; The specific process of measuring the point as the center of the circular target is as follows:

[0035] In the whole pr...

specific Embodiment approach 3

[0039]Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that: in the step two, the image coordinates of each measuring point on the left image at the initial moment are extracted, the DIC matching template of each measuring point is automatically generated, and each measuring point is calculated. The DIC search sub-region size of measuring point; Described left image is the image that left camera collects; Described DIC method is that the concrete process of digital image correlation method is:

[0040] Step 21, roughly locate the DIC matching template area of ​​each measuring point on the left image:

[0041] On the left camera image at the initial moment, the SUSAN filtering method is first used to filter and denoise the image. The beneficial effect is to better maintain the original structure and characteristics of the image, and at the same time sharpen the boundaries and corners of the image to improve the image quality...

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Abstract

The invention relates to a stereo vision three-dimensional displacement measuring method based on synchronous sub-region searching, which aims at solving the problem that the sub-region searching is not synchronously carried out in the time sequence matching process and the measuring calculation efficiency is low. The concrete processes are as follows: 1., calibrating stereo vision system, obtaining internal and external parameter matrix, collecting images and obtaining image sequence; 2, extractting that image coordinates of each measure point on the left image, automatically generating a DICmatching template, and calculating the size of the search sub-region; 3, obtaining image coordinates of correspond measuring points on that right image; 4, judging whether that DIC match result of each measuring point on the right image satisfies the polar constraint relation or not, and correcting the DIC matching result if the DIC match result is not satisfied; 5, synchronously carrying out DICsub-region searching on each measure point on that left and right image sequences to obtain matching results correspond to each measuring point of the left and right image sequences; 6, obtaining thethree-dimensional coordinates and the three-dimensional displacement of each measuring point at each time. The invention is used in the field of structural three-dimensional displacement measurement.

Description

technical field [0001] The invention relates to a structure measurement method, in particular to a three-dimensional displacement measurement method. Background technique [0002] In the field of civil engineering, Digital Image Correlation (DIC) is an area matching algorithm. It was proposed by Japanese scholar Yamaguchi and American professors Peters and Sutton in the 1980s. In recent years, with the continuous development of DIC method , the advantages of the DIC method in stereo matching become more and more obvious. [0003] In 1983, Sutton used DIC to study the motion of simple rigid bodies. In 1989, H.A.Bruck used the Newton-Raphson method to solve the sub-pixel search problem and provided a solution to the displacement measurement problem of deformable bodies. In 1998, Vendroux and Smith summarized the factors affecting the accuracy of speckle correlation, and then proposed to reduce the amount of calculation by approximately solving the Hessian matrix. In 2009, Q...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/231G01B11/03G01B11/00
CPCG01B11/002G01B11/03G06T7/231G06T7/85
Inventor 单宝华吕大刚薛志林白志霖王皓于晓辉乔雨蒙
Owner HARBIN INST OF TECH
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