High-precision measurement method and system of stereo vision space circular pose based on optimal projection plane
A projection plane and stereoscopic vision technology, applied in the direction of measuring devices, instruments, optical devices, etc., can solve the problems affecting the measurement accuracy of the algorithm, so as to improve the measurement accuracy, reduce the influence of external parameter errors, and achieve high posture measurement accuracy Effect
Active Publication Date: 2020-01-07
SHANDONG UNIV
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However, when the outline of the space circle is partially occluded, due to the inevitable existence of camera extrinsic calibration errors, the error of the reconstructed edge points in the depth direction increases rapidly with the increase of the matching error, which greatly affects the performance of the algorithm. measurement accuracy
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[0052] In one or more embodiments, a method for high-precision measurement of stereoscopic space circular pose based on an optimal projection plane is disclosed, which specifically includes the following steps:
[0053] Edge detection and contour screening are performed on the acquired circular features in the left and right views, and two elliptical contours C and C′ from the same space circle mapping in the two views are obtained;
[0054] Filter the ellipse contours in the extracted image, and establish the corresponding matching relationship of points on the left and right image contours according to the filtered ellipse contours;
[0055] Perform three-dimensional reconstruction on the matching points obtained by stereo matching, and obtain the three-dimensional coordinates of the reconstruction points on the space circle;
[0056] Find the optimal projection plane of the reconstructed edge points;
[0057] The space circle is fitted by the projection of the reconstructe...
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The invention discloses a method and system for high-precision measurement of a stereo vision space circular pose based on an optimal projection plane; the method comprises the following steps: the influence of the stereo matching error of the point on the projection curve on the reconstruction precision of the point is analyzed and proved when the external parameter error of the binocular stereovision system exists; then, based on the error analysis conclusion, a new method for measuring the circular pose of stereo vision space is designed. The method comprises the following steps: screeningpoints on the projection curve by using a contour point screening algorithm to obtain points with small matching error for reconstruction, utilizing the reconstructed points to project an optimal projection plane obtained by nonlinear optimization in the depth direction, fitting a space circle, and obtaining the position posture of the space circle. The method effectively reduces the influence ofthe reconstruction error of the three-dimensional point on the fitting precision of the space circle, and improves the measuring precision of the circular feature under the condition of shielding. Alot of experiments have verified the effectiveness of the algorithm.
Description
technical field [0001] The invention belongs to the technical field of space circle pose measurement, and in particular relates to a high-precision measurement method and system for a stereo vision space circle pose based on an optimal projection plane. Background technique [0002] Circles in space exist in large quantities in industrial production environments, such as circular mounting holes, bolt holes, etc. on workpieces. In industrial sites, robots have a lot of assembly work to be done, such as installing bolts, automatic clamping of car tires. In addition to the above-mentioned applications in industrial environments, visual localization algorithms for circular features in space also have a large number of applications in the navigation and localization of unmanned systems. The measurement of the position and attitude of a space circle is an important problem in machine vision. [0003] Generally speaking, the measurement methods of space circle pose can be divided...
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IPC IPC(8): G01B11/24
CPCG01B11/24
Inventor 马昕李政源宋锐荣学文田新诚田国会李贻斌
Owner SHANDONG UNIV