3D four-wheel positioning detection method based on homography matrix optimization

A homography matrix and four-wheel alignment technology, which is applied in measuring devices, instruments, optical devices, etc., can solve the problems of insufficient development of 3D four-wheel alignment technology, and achieve the goal of being conducive to solving four-wheel alignment parameters, accurate Calibration parameters and the effect of reducing errors

Active Publication Date: 2020-04-17
ANHUI UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0006] Based on the problem that the existing 3D four-wheel alignment technology is not fully developed, the present invention provides a 3D four-wheel alignment detection method based on homography matrix optimization

Method used

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  • 3D four-wheel positioning detection method based on homography matrix optimization
  • 3D four-wheel positioning detection method based on homography matrix optimization
  • 3D four-wheel positioning detection method based on homography matrix optimization

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Embodiment 1

[0029] A 3D four-wheel alignment detection method based on homography matrix optimization in this embodiment, the detection process includes establishing the relationship between coordinate systems, camera calibration, solution of homography matrix and registration optimization, solution of rotation matrix and optimization, the direction cosine solution of the rotating shaft and the solution of the four-wheel alignment parameters, the specific steps are as follows (see figure 1 ):

[0030] Step 1. Establish the relationship between coordinate systems

[0031] The relationship between the various coordinate systems is established firstly from the image physical coordinate system to the image pixel coordinate system, then from the camera coordinate system to the image physical coordinate system, and finally from the world coordinate system to the camera coordinate system to obtain the coordinate system from the world coordinate system To the transformation relationship of the i...

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Abstract

The invention discloses a 3D four-wheel positioning detection method based on homography matrix optimization, and relates to the technical field of vehicle maintenance. The method comprises the following steps: building the relation between coordinate systems, and finally obtaining the relation between a world coordinate system and an image pixel coordinate system; calibrating a monocular camera to obtain a relationship between a homography matrix and internal and external parameters of the camera; solving and optimizing the homography matrix to obtain internal parameters of the camera, then obtaining a rotation matrix, and optimizing the rotation matrix; calibrating a binocular camera to obtain a relative position relationship between the two cameras; optimizing the internal parameters, the external parameters and the relative position relationship between the two cameras; and carrying out direction cosine solution on the optimized rotation matrix so as to obtain four-wheel positioning parameters. According to the method, a monocular and binocular calibration mode is adopted, the solving process is optimized on the basis of two basic principles of a perspective mode and a spatialvector, and all parameters of a wheel positioning system are accurately measured.

Description

technical field [0001] The invention relates to the technical field of vehicle maintenance, and more specifically, to a 3D four-wheel alignment detection method based on homography matrix optimization. Background technique [0002] The four-wheel aligner device is a precision calibrator that can perform complex calculations. It is specially used to detect the four-wheel alignment parameters of the car. By judging the positioning angle, it can find problems, so as to ensure the normal performance of the car. The conventional four-wheel aligner uses traditional electronic sensors in the process of solving the four-wheel alignment parameters, which makes the operation more complicated and slow, and may cause certain damage to the outside world. [0003] The relatively advanced 3D four-wheel aligner has been widely used abroad, but it has not been in China for a long time. The technology is not really understood by the manufacturer and is not stable, so it cannot be obtained in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/275G01B11/00
CPCG01B11/275G01B11/002G01B2210/14G01B2210/12
Inventor 朱志峰汪丹鲍李俊
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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