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Photogrammetric system based on speckle projection

A photogrammetry and speckle technology, applied in measurement devices, image data processing, instruments, etc., can solve the problem of inability to accurately match and detect, and achieve the effect of reducing the amount of calculation, improving the measurement efficiency, and improving the measurement accuracy.

Pending Publication Date: 2019-07-23
易思维(杭州)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the requirements of image matching, the use of photogrammetry technology can only detect parts with obvious features such as holes and corner points on the workpiece, and it is impossible to accurately match and detect surfaces without obvious textures (such as smooth front hoods).

Method used

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  • Photogrammetric system based on speckle projection
  • Photogrammetric system based on speckle projection
  • Photogrammetric system based on speckle projection

Examples

Experimental program
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Effect test

Embodiment 1

[0048] A photogrammetry system based on speckle projection, comprising a processor, a fixed frame, a speckle projector 2 fixedly installed on the fixed frame, and a plurality of cameras 1;

[0049] The speckle projector 2 can project speckle to the area to be tested; its number is 1, 2 or more, and the projection points can cover all the areas to be tested;

[0050] A plurality of cameras 1 respectively collect images in their field of view from multiple angles, and send the images to the processor;

[0051] The processor performs the following processing on the received image data to obtain the three-dimensional information of the features in the area to be tested:

[0052] 1) The conversion relationship between the multi-camera coordinate system and the workpiece coordinate system respectively established based on the camera external parameters;

[0053] 2) Based on the workpiece 3 digital model, the position of each feature point in the workpiece coordinate system is conve...

Embodiment 2

[0066] A photogrammetry system based on speckle projection, comprising a processor, a fixed frame, a speckle projector 2 fixedly installed on the fixed frame, and a plurality of cameras 1;

[0067] The speckle projector 2 can project speckle to the area to be tested; its number is 1, 2 or more, and the projection points can cover all the areas to be tested;

[0068] A plurality of cameras 1 respectively collect images in their field of view from multiple angles, and send the images to the processor;

[0069] The processor performs the following processing on the received image data to obtain the three-dimensional information of each feature to be tested in the area to be tested, and the feature to be tested is an obvious feature or an inconspicuous feature:

[0070] 1) Call the conversion relationship between the multi-camera coordinate system and the workpiece coordinate system respectively established based on the camera external parameters;

[0071] 2) Based on the workpie...

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Abstract

The invention discloses a photogrammetric system based on speckle projection. The photogrammetric system comprises a processor, a fixed mount, a speckle projector and a plurality of cameras, wherein the speckle projector is fixedly arranged on the fixed mount; the speckle projector can project speckles to an area to be measured; the plurality of cameras acquire images in fields of view from multiple angles, and send the images to the processor; and the processor performs the following processing on image data to obtain three-dimensional information of the speckles in the area to be measured: 1) calling the transformation relationship between a camera coordinate system and a workpiece coordinate system; 2) determining the theoretical image coordinates of each feature point in each camera coordinate system; 3) determining the visual feature points of each camera; 4) performing image matching; and 5) acquiring three-dimensional information of features. The photogrammetric system is not only suitable for a workpiece to be measured with obvious characteristics, but also for a workpiece to be measured with a smooth surface and no special points. Compared with an existing global splicingmethod, the photogrammetric system has the advantage that the actual measurement speed is increased by at least one order of magnitude.

Description

technical field [0001] The invention relates to the field of precision measurement, in particular to a photogrammetry system based on speckle projection. Background technique [0002] With the rapid development of high-end advanced manufacturing technology, the production and engineering of aviation, aerospace, automobile and shipbuilding industries have put forward higher requirements for geometric precision measurement technology. Three-dimensional scanning technology and photogrammetry technology are commonly used processing quality inspection technologies. The 3D scanning technology obtains the 3D point cloud data of the workpiece by projecting laser light, structured light or fixed images, and then using triangulation, binocular stereo vision and other principles. Combining 3D scanning technology with robotic automation platform can realize automatic and precise measurement of high-density point clouds on large free-form surfaces. Photogrammetry technology obtains two...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01B11/24G06T7/00G06T7/33G06T7/80
CPCG01B11/002G01B11/24G06T7/33G06T7/80G06T7/97Y02P90/30
Inventor 邹剑张楠楠
Owner 易思维(杭州)科技有限公司
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