Monocular spatial structure optical system structure calibration method and device

Abstract

The embodiment of the invention provides a monocular spatial structure optical system structure calibration method and device. The monocular spatial structure optical system structure calibration method comprises the following steps: firstly, obtaining a first speckle pattern corresponding to a scene pattern containing a plane area and a second speckle pattern containing a reference surface; determining a position relationship between matched homonymous point pairs in the first speckle pattern and the second speckle pattern based on the position change information of the speckles after the structure change and a pinhole imaging model; and finally, based on the position relationship, generating a reference image aligned with the scene image row, and completing structure calibration of the monocular spatial structure optical system so as to perform three-dimensional depth information recovery according to the generated reference image. By using the acquired first speckle pattern and depth information of the plane area of any posture, the reference image under the current structure is generated from the original reference image, so that the monocular spatial structure optical system can still be used normally under the condition of structural change, the service life of the monocular spatial structure optical system is prolonged, and the durability and the stability of the monocular spatial structure light system are enhanced.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a structure calibration method and device for a monocular spatial structured light system. Background technique [0002] Three-dimensional depth information restoration technology is an important part of the field of machine vision, and three-dimensional depth information restoration technology of monocular spatial structured light is one of the more popular directions. The monocular spatial structured light system is mainly composed of an optical sensor and a speckle projector. Its main principle is to project pseudo-random patterns to the scene to enhance scene features, collect them through optical sensors, and then match the scene map with the reference map stored in advance. According to the principle of triangulation, finally obtain the three-dimensional depth information of the scene. [0003] Although the three-dimensional depth information recovery technology of ...

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Problems solved by technology

However, after the optical sensor leaves the factory, the structure of the assembled monocular spatial structured light system will change due to knocking, shaking, collision, etc., resulting in misalignment of the optical axis. In this case, it needs to be returned to the factory for re-marking, which greatly improves production. Operating cost and time cost

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