Non-calibration handheld profile detection method and device based on imaging plane conversion

Abstract

The invention discloses a non-calibration hand-held profile detection method and device based on imaging plane transformation, belonging to the field of image processing. Initialize first, through the conversion relationship between the world coordinate system and the camera coordinate system and the camera coordinate system and the imaging plane, transform from the imaging plane to the calibration plate plane, and obtain the three-dimensional position of the points covered by the laser plane on the calibration plate in the camera coordinate system Coordinates to determine the equation of the laser plane in the camera coordinate system; then, transform from the imaging plane to the laser plane, use the camera to capture the intersection line between the object surface and the laser plane, convert from the imaging plane to the laser plane according to the laser plane equation, and obtain the outline The three-dimensional coordinates of the points on the line in the camera coordinate system are projected onto the laser plane, and the front view of the object silhouette is obtained. The invention has less calculation amount and better real-time performance. With the device, it can be used without calibration, and the device is small in size and suitable for hand-held, without fixing, and flexible in operation.

Description

technical field [0001] The invention belongs to the field of image processing, and more specifically relates to a non-calibration handheld profile detection method and device based on imaging plane conversion. Background technique [0002] With the popularization of big data and artificial intelligence, massive amounts of data are gradually pouring into all aspects of production and life, and the basic role of data acquisition is becoming more prominent. As an important device for data acquisition, sensors are like a pair of "eyes" on the assembly line, continuously collecting various data and providing indispensable information for subsequent processing and processing. In the production process, the surface profile information of the object is an important parameter, which can be used to guide the robot to work, and can also be used to monitor the product quality. [0003] At present, the measurement methods of object surface profile information can be divided into two cat...

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Problems solved by technology

[0005] In view of the above defects or improvement needs of the prior art, the present invention proposes a non-calibration handheld profile detection method and device based on imaging plane conversion, thus solving the problem of the need for each movement of the existing non-contact profile detection method. Recalibration, causing technical problems of cumbersome operation, can improve processing speed, accuracy and flexibility of use

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