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A method and system for coordinate fusion of a point laser displacement sensor and a binocular camera

A technology of displacement sensor and binocular camera, applied in the field of coordinate fusion of point laser displacement sensor and binocular camera, can solve the problem of inconsistent coordinate system of point laser displacement sensor and binocular stereo vision, and achieve easy implementation and simple steps. , high precision effect

Active Publication Date: 2022-02-08
CHANGCHUN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to complete the fusion of the data collected by the one-dimensional point laser displacement sensor and the data collected after the calibration of the binocular camera, solve the problem that the point laser displacement sensor and the binocular stereo vision coordinate system are not unified, and realize the integration of the two Data points collected by different sensors are converted into the same coordinate system; a method for coordinate fusion of point laser displacement sensors and binocular cameras is provided

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  • A method and system for coordinate fusion of a point laser displacement sensor and a binocular camera
  • A method and system for coordinate fusion of a point laser displacement sensor and a binocular camera
  • A method and system for coordinate fusion of a point laser displacement sensor and a binocular camera

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Embodiment 1

[0103] An embodiment of the present invention provides a method for coordinate fusion of a point laser displacement sensor and a binocular camera, referring to figure 1 ,include:

[0104] S100. According to the multi-points on the calibration board calibrated by the calibration mechanism, the measurement mechanism is used to respectively obtain the three-dimensional coordinates in the point laser displacement sensor coordinate system, and the three-dimensional coordinates of the multi-points in the binocular stereo vision camera coordinate system;

[0105] S200, constructing the positional relationship between the point laser displacement sensor coordinate system and the transitional coordinate system, which is called the first positional relationship; the transitional coordinate system is constructed according to the multi-points on the calibration board;

[0106]S300. Construct a positional relationship between the transitional coordinate system and the binocular stereo visi...

Embodiment 2

[0204] The embodiment of the present invention also provides a coordinate fusion system of a point laser displacement sensor and a binocular camera, referring to Figure 4 , including: a calibration mechanism, a measurement mechanism and a computing terminal 10;

[0205] The calibration mechanism includes: X-Y workbench 1 and calibration plate 2, and n known points are distributed on the multi-point calibration plate: H 1 、H 2 、H 3 ......H n . The X-Y workbench moves left and right to complete the corresponding relationship between the calibration plate and the point laser displacement sensor, and obtain the positions of multiple points between the coordinate systems of the point laser displacement sensor.

[0206] The measuring mechanism includes: a left camera 3, a left camera fixing plate 4, a point laser displacement sensor 5, a right camera fixing plate 6, a right camera 7, and an overall fixing plate 8, wherein the left camera 3, the point laser displacement sensor 5...

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Abstract

The invention discloses a method and a system for coordinate fusion of a point laser displacement sensor and a binocular camera. The method includes: calibrating multiple points on a plate according to a calibration mechanism, and using a measuring mechanism to obtain three-dimensional coordinates in the coordinate system of the point laser displacement sensor respectively. coordinates, and the three-dimensional coordinates of the multiple points in the binocular stereo vision camera coordinate system; construct the first positional relationship between the point laser displacement sensor coordinate system and the transition coordinate system; the transition coordinate system is based on the calibration board multi-point construction; build the second positional relationship between the transition coordinate system and the binocular stereo vision camera coordinate system; calculate the rotation and translation matrix between the point laser displacement sensor coordinate system and the binocular stereo vision coordinate system; complete the point The coordinates obtained by the laser displacement sensor are converted into binocular stereo vision coordinates. The method solves the problem that the point laser displacement sensor and the binocular stereo vision coordinate system are not unified, the steps of the method are simple and convenient, and the calibration accuracy is high.

Description

technical field [0001] The invention relates to the field of multi-sensor fusion in machine vision technology, in particular to a method and system for coordinate fusion of a point laser displacement sensor and a binocular camera. Background technique [0002] At present, in the field of machine vision, the development of monocular cameras has led to the matching of binocular cameras to measure three-dimensional scenes, as well as the laser displacement sensor, a product of laser triangulation. In practical applications, a single laser Displacement sensors cannot meet the demand, so the simultaneous use of laser displacement sensors and cameras is required, and the application of multiple sensors makes more industrial equipment more reliable. [0003] Multi-sensor data fusion is an emerging research field, which has been widely used in industry, medical, military, agriculture, aviation and navigation and other fields. Using multi-sensor data fusion technology to solve probl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00G01B11/03G06K9/62G06T7/80G06V10/80
CPCG01B11/002G01B11/03G06T7/85G06F18/25
Inventor 张爽陈儒刘孝峰韩伟峰侯岱双王善刚王华
Owner CHANGCHUN INST OF TECH