Laser-based amphibious three-dimensional visual detection device and detection method

Abstract

The invention relates to a laser-based amphibious three-dimensional visual detection device and a detection method, and belongs to the technical field of three-dimensional visual detection devices. The invention is an amphibious device capable of measuring a three-dimensional object and obtaining the position and attitude of the object by matching dot-line lasers to provide active features and combining land binocular stereo vision measurement with underwater multi-feature structured light measurement. According to the method, 25 pieces of line laser and 1 piece of dot laser are successfully taken as features, the technical problem of binocular stereo vision passive measurement can be solved, and meanwhile, the dot laser is taken as a marker to match the remaining light bars, the misidentification of the light bars caused by the underwater complex environment can be avoided, and the matching accuracy can be improved. Each picture can obtain 25 times more data than traditional structured light measurement, so that the underwater clear object feature data can be obtained, and the three-dimensional position and attitude under various complex conditions such as complexity, high occlusion, point cloud sparseness and the like can be solved with high accuracy.

Description

technical field [0001] The invention relates to a laser-based amphibious three-dimensional visual detection device and a detection method, belonging to the technical field of three-dimensional visual detection devices. Background technique [0002] As early as the 1980s, the American National Bureau of Standards predicted that 80% or even 90% of inspection tasks would be completed by visual measurement systems, and this prediction has basically become a reality. In recent years, with the rapid development of machine vision, the rapidity, accuracy and intelligence of machine vision technology have been widely used in various industries. [0003] At present, the known underwater three-dimensional detection devices have two methods: acoustic detection and optical detection. , but the light attenuates rapidly in water, the detection distance is short, and auxiliary lighting is required in deep sea conditions. At present, special photoelectric imaging detection methods are main...

AI Technical Summary

Problems solved by technology

[0005] However, due to the complexity of the measurement environment, especially the influence of light conditions, its application also faces more technical problems and inevitable defects.

First of all, higher requirements are put forward for the calibration of the camera, and the camera parameters obtained by the general on-land calibration method cannot be directly used.

Second, for underwater binocular stereo vision, the refraction of light makes the limit constraint no longer accurate

Thirdly, due to the attenuation and scattering of light propagating in water, and the influence of water conditions, the effective detection distance of binocular stereo vision is relatively low

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