Unlock instant, AI-driven research and patent intelligence for your innovation.
A Rotation Axis Calibration Method Based on Binocular Vision
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
A calibration method and binocular vision technology, applied in instruments, measuring devices, optical devices, etc., can solve the problems of missing point cloud data, affecting the implementation of reverse engineering, limiting the effect of measurement and reconstructing topography, etc., to ensure the calibration The effect of precision
Active Publication Date: 2022-05-17
NANCHANG HANGKONG UNIVERSITY
View PDF9 Cites 0 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
If a camera is used to complete the measurement, the camera must not only calibrate the parameters of the rotation axis with high precision, but also collect a large number of photos required for the three-dimensional contour reconstruction of the object. The setting angle and pose of the camera greatly limit the measurement of the rotation axis parameters and the reconstruction of the shape. For example, it may cause the loss of point cloud data on the top of the object and the depression, which will affect the implementation of reverse engineering and the analysis of measurement results
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 1
[0074] In the step S2, when the checkerboard calibration board rotates with the turntable, the calibration camera captures an image of the checkerboard calibration board at every angle of 17.143°, and the rotation table rotates once to collect images of the checkerboard calibration board. 21 images.
Embodiment 2
[0076] The step S4 uses the following formula to calculate the three-dimensional coordinates of the feature points in the calibration camera coordinate system:
[0077]
[0078] Among them, R C is the rotation parameter matrix inside the camera, T C is the internal translation parameter matrix of the camera, (X C , Y C ,Z C ) is the coordinate of the feature point in the camera coordinate system, (X W , Y W ) are the coordinates of feature points in the checkerboard calibration board.
Embodiment 3
[0080] Utilize the coordinates of the same feature point under each rotation angle, described step S5 adopts following formula to obtain the circle center coordinates of circumscribed circle (x 0 ,y 0 ,z 0 ):
[0081]
[0082] in,
[0083] A 1 =y 1 z 2 -y 1 z 3 -z 1 the y 2 +z 1 the y 3 +y 2 z 3 -y 3 z 2 ;
[0084] B 1 =-x 1 z 2 +x 1 z 3 +z 1 x 2 -z 1 x 3 -x 2 z 3 +x 3 z 2 ;
[0085] C 1 =x 1 the y 2 -x 1 the y 3 -y 1 x 2 +y 1 x 3 +x 2 the y 3 -x 3 the y 2 ;
[0086] D. 1 =-x 1 the y 2 z 3 +x 1 the y 3 z 2 +x 2 the y 1 z 3 -x 3 the y 1 z 2 -x 2 the y 3 z 1 +x 3 the y 2 z 1 ;
[0087] A 2 =y 2 z 3 -y 2 z 1 -z 2 the y 3 +z 2 the y 1 +y 3 z 1 -y 1 z 3 ;
[0088] B 2 =-x 2 z 3 +x 2 z 1 +z 2 x 3 -z 2 x 1 -x 3 z 1 +x 1 z 3 ;
[0089] C 2 =x 2 the y 3 -x 2 the y 1 -y 2 x 3 +y 2 x 1 +x 3 the y 1 -x 1 the y 3 ;
[0090] D. 2 =-x 2 the y 3 z 1 +x 2 the y 1 z 3 +x 3 the y ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More
PUM
Login to View More
Abstract
The invention discloses a method for calibrating a rotation axis based on binocular vision, and relates to the technical field of rotation measurement. A calibration camera is used to calibrate high-precision rotation axis parameters directly above the turntable. According to the external parameter matrix of the binocular camera, the coordinate system of the camera is calibrated. The rotation axis parameters below are converted to the measurement camera coordinate system, and the measurement camera can reconstruct the three-dimensional shape of the object according to the rotation axis parameters in any pose.
Description
technical field [0001] The invention relates to the technical field of rotation measurement, in particular to a method for calibrating a rotation axis based on binocular vision. Background technique [0002] In recent years, structured light 3D imaging technology has developed rapidly. Rotation measurement technology has been widely used in military, industrial, medical diagnosis and other fields, and the rotation axis parameters need to be calibrated during the rotation measurement process. [0003] The structured lightsystem can only measure one side of the object at a time. In order to obtain the complete spatial geometry and surface texture information of the object, it is usually necessary to measure from different angles of the object, resulting in a rotational scanning method. For the measurement of rotating parts, complete surface information can be obtained by using an additional high-precision rotating platform to rotate the part. The coordinate systems are diff...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to View More 
Login to View More