Single-camera double-spherical-mirror image binocular vision measurement system and method

Abstract

The invention belongs to the technical field of measurement, and provides a single-camera double-spherical-mirror image binocular vision measurement system and method. The measurement system is composed of an industrial camera 2, an optical lens 3, a small spherical mirror 6, a large spherical mirror 7, a mechanical support 4, a data transmission line 5, a computer 8, a calibration target 11 and a power supply 12, wherein the industrial camera 2 is mirrored into a left virtual camera 13 and a right virtual camera 14 through the large spherical mirror 7 and the small spherical mirror 6, and the left virtual camera 13 and the right virtual camera 14 form a mirror binocular. According to the measurement method, the calibration target 11 is used for calibrating imaging model parameters of a virtual camera, structure parameters of the mirror binocular and an essential matrix, a measured object 10 is arranged in a view field range 9 of a mirror binocular sensor 1 and is received by the industrial camera 2 after being reflected by the small spherical mirror 6 and the large spherical mirror 7, the formed image is collected into a computer to be processed, the image coordinates of the measurement points are extracted, and the three-dimensional coordinates of the measurement points of the measured object are calculated according to the measurement model. The view field range of a single-camera mirror binocular system is expanded through spherical mirror reflection imaging, the contradiction between the view field range and the system size in binocular vision measurement is solved, the synchronous requirement of image acquisition of a traditional binocular measurement system composed of two cameras is avoided, the complexity of binocular vision measurement operation is reduced, the measurement precision is improved, and the application field of binocular vision measurement can be widened.

Description

[0001] (1) Technical field [0002] The invention belongs to the technical field of visual measurement and relates to a large field of view binocular vision measurement system composed of a single camera, and provides a single camera double spherical mirror image binocular vision measurement system and a measurement method. [0003] (2) Background technology [0004] With the rapid development of image processing technology and computer technology, the three-dimensional visual precision measurement technology based on machine vision has attracted extensive attention from researchers. As a classic measurement system of non-contact three-dimensional measurement, binocular stereo vision has been widely used in intelligent transportation, Industrial manufacturing, modern medicine, aerospace and other fields, such as railway train wheel set measurement, industrial processing parts measurement, drone navigation, robot positioning, etc. In recent years, the application requirements of...

AI Technical Summary

Problems solved by technology

This measurement method solves the problem that the field of view of the existing single-camera dual-plane mirrored binocular system is small, expands the field of view, solves the contradiction between the volume of the mirrored binocular and the range of the field of view, and reduces the size of the binocular system. The cost and operational complexity of

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