Binocular camera coordinate system registration method based on measurement adjustment
A binocular camera and measurement adjustment technology, which is applied in the field of visual measurement, can solve the problem of low registration accuracy of the binocular camera coordinate system, and achieve the effects of improving fusion accuracy, measurement accuracy, and registration accuracy
Active Publication Date: 2021-02-02
ARMOR ACADEMY OF CHINESE PEOPLES LIBERATION ARMY
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[0004] The purpose of the present invention is to provide a binocular camera coordinate system registration method based on measurement adjustment to solve the problem of low registration accuracy of the binocular camera coordinate system
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[0021] S1. Place binocular camera A1 and binocular camera B2 firmly so that the measurement fields of binocular camera A1 and binocular camera B2 partially overlap;
[0022] S2. See figure 1 , place the registration block 3 directly in front of the binocular camera A1 so that it fills the measurement field of view of the binocular camera A1, and mark it as the calibration position. The registration block 3 is a cube, and four reference points 4 are pasted on one of its surfaces, which are called measurement surfaces; the reference points 4 are circular marking points commonly used in the field of visual measurement.
[0023] S3. Use the binocular camera A1 to measure the center coordinates of the four reference points 4 on the registration block 3 (x i ,y i ,z i ), i=1,2,3,4, calculate the distance between the centers of 4 reference points 4
[0024] S4. See figure 2 , place the registration block 3 in the overlapping part of the measurement field of view of the bino...
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The invention discloses a binocular camera coordinate system registration method based on measurement adjustment. The method comprises the following steps: S1, fixing a binocular camera A and a binocular camera B; S2, placing the registration block in front of the binocular camera A, filling the measurement visual field of the binocular camera A, measuring the coordinates of the reference points on the registration block by using the binocular camera A, and calculating the distance value Lij between every two reference points; S3, placing the registration block at a first registration position, and obtaining the binocular camera A and the binocular camera B measure coordinates of a reference point, measured values MAk and MBk, wherein k = 1, 2, 3, 4; S4, performing measurement adjustment optimization on the distance value Lij and the measurement values MAk and MBk to obtain optimized values L1ij, NAk and NBk, and k = 1, 2, 3, 4; S5, placing the registration block at a second registration position, repeating measurement and measurement adjustment in the steps S3 and S4, obtaining optimized values L1ij, NAk and NBk, wherein k is equal to 5, 6, 7 and 8; and S7, performing least squareregistration on the matrixes NA and NB to obtain a rotation matrix R and a translation vector T between the coordinate system A of the binocular camera and the coordinate system B of the binocular camera, thereby improving the registration precision of the coordinate system of the binocular camera.
Description
technical field [0001] The invention relates to the field of visual measurement, in particular to a method for registering a binocular camera coordinate system. Background technique [0002] Binocular camera is a kind of visual measurement instrument, which is widely used in the field of visual measurement. When using a binocular camera to measure an object, due to the occlusion of the surface of the object, a binocular camera cannot complete the task of measuring multiple surfaces of the same object at one time. The measurements are fused together to form measurements of the object. For this reason, it is necessary to obtain the transformation relationship between the coordinate systems of multiple binocular cameras, that is, to perform registration of the coordinate systems of binocular cameras. [0003] The registration of the binocular camera coordinate system generally adopts the method of fiducial point registration. That is to fix several reference points, let two ...
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CPCG01B11/002
Inventor 万安赵越李转霞魏述燕张少亮马智萌董和媛刘昶陈颖鞠丽梅
Owner ARMOR ACADEMY OF CHINESE PEOPLES LIBERATION ARMY