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A large box measurement method based on monocular vision

A measurement method and monocular vision technology, applied in the direction of measuring devices, photo interpretation, instruments, etc., to achieve the effects of easy maintenance, high operability, and wide adaptability

Active Publication Date: 2021-11-30
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] For the above problems, the purpose of the present invention is to propose a large-scale box measurement method based on monocular vision, which solves the problem of realizing pose measurement of large-scale boxes in a large-scale space and assisting in the completion of box capture

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  • A large box measurement method based on monocular vision
  • A large box measurement method based on monocular vision
  • A large box measurement method based on monocular vision

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Embodiment Construction

[0034] Before the description of the present invention, it is necessary to declare the coordinate system used in the text:

[0035] The image pixel coordinate system takes the upper left corner of the plane where the image is collected as the origin, the u-axis goes horizontally to the right of the image, and the v-axis goes vertically down the image; the image physical coordinate system takes the center of the image plane collected by the camera as the origin, and the x-axis The y-axis is parallel to the u-axis and v-axis of the pixel coordinate system, which has actual physical meaning; the camera coordinate system takes the optical center of the camera as the origin, and X c , Y c The axis is parallel to the x-axis and y-axis of the image coordinate system; the world coordinate system takes the center point of the bottom of the measured box as the coordinate origin, and the vertical upward is Z w , along the positive direction of the camera optical axis is Y w ; The base ...

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Abstract

The invention relates to the field of machine vision, and proposes a large-scale box measurement method based on monocular vision, including: installing a cooperative identification target on the box to be measured, establishing a world coordinate system, and obtaining three-dimensional coordinates of target mark points; Two monocular cameras, perform camera calibration, obtain the coordinate system transformation relationship in the camera; collect images and execute the image processing unit to obtain the pixel coordinates of the target feature points in a unique order; use the P5P measurement principle to perform preliminary positioning to obtain the recognition target and monocular camera The relative pose of the measured box is obtained by secondary positioning; the precise pose of the measured box is obtained by secondary positioning; the pose of the secondary positioning is used to assist in the capture of the measured box. The invention uses two monocular cameras to complete the measurement task of the measured box, avoiding the cumbersome steps and complicated calculation of binocular vision, the overall realization structure is simple, easy to maintain, can be used in various large box structures, and has wide adaptability .

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a method for measuring a large box based on monocular vision. Background technique [0002] With the advancement and development of science and technology, unmanned and rapid industrialization has become a current research hotspot. At present, the measurement technology for small structures at a small working distance is relatively mature, but the measurement and positioning technology for large-scale structures and large working distances is relatively lacking. Among the traditional measurement methods, the laser measurement method is expensive and has high requirements for the working environment. The calculation of the binocular vision measurement method is complicated and the working field of view is small, which is difficult to meet the real-time requirements. The overall structure of the multi-eye vision is complex and flexible. poor. A single, traditional measurement method...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/02G01C11/04G01B11/00
CPCG01B11/002G01C11/02G01C11/04
Inventor 刘金国周宇琦张鑫
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI