Target coordinate measurement method and system based on linkage deflection type active visual system

Abstract

The invention relates to a target coordinate measurement method and system based on a linkage deflection type active visual system, and the target coordinate measurement method comprises the steps of: enabling a checkerboard to be vertically disposed in an image collection range of a visual system, and enabling the surface of the checkerboard to be perpendicular to the z-axis of a visual coordinate system of the visual system when the deflection angle of a camera is 0; collecting images of the checkerboard through a first camera and a second camera respectively to obtain a first image and a second image; acquiring calibration parameters based on internal parameters of the cameras according to the first image and the second image; and determining the three-dimensional coordinates of each angular point in the checkerboard according to the calibration parameters. According to the invention, the checkerboard is vertically arranged in the image collection range of the visual system, and the three-dimensional coordinate of any point in a public field of view of the visual system can be quickly and accurately determined through the calibration parameters of the visual system based on the internal parameters of the first camera and the second camera of the visual system and according to the acquired first image and second image.

Description

technical field [0001] The invention relates to the technical field of visual measurement and image processing, in particular to a target coordinate measurement method and system based on a linkage deflection active vision system. Background technique [0002] Binocular stereo vision can measure the three-dimensional position of the target in its common field of view, and its application is very extensive. Traditional binocular stereo vision is passive vision, which can only passively collect scene images. The relative relationship between the two cameras remains unchanged, and the target cannot be watched. In order to better measure targets at different depths, it is necessary to change the relative orientation of the two cameras to form a gaze on the target. The linkage deflection active vision system can deflect the camera, adjust the orientation of the two cameras synchronously, and keep an eye on the target. However, after the deflection of the two cameras, their rela...

AI Technical Summary

Problems solved by technology

[0005] However, the above two calibration methods require manual measurement of the distance from the target to the vision system, which is inconvenient and inaccurate

In addition, the first method requires two deflection movements to measure the three-dimensional coordinates of a point, which is very inefficient; the second method has low measurement accuracy

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