A two-line array structured light three-dimensional measurement system and its measurement method
A technology of three-dimensional measurement and measurement method, which is applied in the direction of measuring devices, optical devices, instruments, etc., and can solve problems such as ineffective matching, measurement accuracy matching accuracy limitations, etc.
Active Publication Date: 2021-04-20
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
However, if only two line-scan cameras are used to obtain images of the measured object, and three-dimensional information is obtained through stereo matching, the measurement accuracy is limited by the matching accuracy.
And when the surface to be tested lacks texture or features, it generally cannot be effectively matched
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[0028] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0029] Such as figure 1 As shown, a two-line array structured light three-dimensional measurement system measures the surface 5 of the object to be measured through a line array camera A, a line array camera B, a line laser 3, and an optical filter 4, and determines the coordinates of the line array camera A of the measured surface The three-dimensional point coordinate information under the sy...
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The invention belongs to the technical field of robot vision three-dimensional measurement, and discloses a two-line array structured light three-dimensional measurement system and a measurement method thereof. The method includes the following steps: (a) laser light forms a straight line with different brightness on the surface of the object to be measured; (b) two line array cameras photograph the straight line of the object to be measured, so as to obtain two straight line images, and determine the The image coordinates of points P1 and P2 corresponding to point P on the two straight line images; (c) Connect points P1 and P2 to the optical centers of their corresponding line array cameras to form two intersecting straight lines, and calculate the intersection coordinates to obtain point P (d) Repeat step (c) until the coordinates of all points on the line are obtained, change the position of the object to be measured, thereby changing the position of the line on the surface of the object to be measured, return to step (a) until the surface of the object to be measured is obtained 3D coordinates of all points. Through the invention, the three-dimensional coordinates of the measured object can be accurately measured without being affected by the surface quality of the measured object.
Description
technical field [0001] The invention belongs to the technical field of three-dimensional measurement of robot vision, and more specifically relates to a two-line array structured light three-dimensional measurement system and a measurement method thereof. Background technique [0002] In recent years, with the development of industrial technology, the demand for the measurement of real-world three-dimensional structures has become more and more extensive. Among them, in terms of structured light, point structured light technology, line structured light technology and surface structured light technology have been mainly developed. The line structured light sensor is mainly composed of an area array camera and a line laser, and the pose relationship of the line laser plane in the camera coordinate system is determined through calibration, so as to realize three-dimensional measurement by triangulation. However, due to the limited shooting speed of the area array camera, the t...
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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 李晨张旭赵欢丁汉
Owner HUAZHONG UNIV OF SCI & TECH