Camera and galvanometer combined variable sight line system three-dimensional imaging model and calibration method thereof

Abstract

The invention discloses a camera and galvanometer combined variable sight line system three-dimensional imaging model and a calibration method thereof. Hardware of a variable sight line imaging system comprises a computer, a two-dimensional galvanometer, a CCD or CMOS area-array camera and a group of optical lenses. The two-dimensional galvanometer comprises two optical total reflection mirrors, and the two optical total reflection mirrors can rapidly deflect around an axis under the control of a computer signal, so that the sight line direction and the corresponding imaging area of an image sensor composed of the camera and the lens are changed. According to the three-dimensional imaging model of the variable sight line imaging system, a mapping relation among pixel positions on an image plane, two angle control quantities of a two-dimensional galvanometer and spatial incident light is established. The invention further discloses a calibration method of the variable sight line imaging system three-dimensional imaging model. The model has the outstanding advantage that the camera and galvanometer combined variable sight line imaging systemcan meet the requirements of large-view-field three-dimensional vision application.

Description

technical field [0001] The invention belongs to the technical field of machine vision, and in particular relates to a three-dimensional imaging model of a variable line of sight system combined with a camera and a vibrating mirror and a calibration method thereof. Background technique [0002] The two-dimensional vibrating mirror is a vector scanning device that is driven by two special swing motors to quickly deflect two optical lenses around their respective rotation axes. With the continuous development of two-dimensional galvanometer manufacturing technology, the positioning accuracy, repeatability and scanning speed of the galvanometer have been greatly improved, and it has been widely used in many fields. For example, changing the outgoing direction of the incident laser beam through the high-speed axial deflection of two optical lenses has been widely used in laser marking, laser processing, laser marking, laser medical beauty and other work. In recent years, two-dim...

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Problems solved by technology

Therefore, the imaging position of the 3D scene on the imaging plane is not only related to the 3D scene and the imaging parameters of the camera itself including nonlinear distortion, but also has a complicated relationship with the two deflection angles of the galvanometer. These factors are combined to make The 3D imaging model

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