Variable-visual-axis stereoscopic vision measurement system and method based on active visual distance

A technology of stereo vision measurement and measurement method, applied in radio wave measurement system, measurement device, photo interpretation and other directions, can solve the problems of limited adaptability, not considering the influence of imaging area, etc., to achieve flexible imaging mode and improve rapidity and reliability, the effect of compact system structure

Active Publication Date: 2021-09-28
TONGJI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This type of method is only for objects with fixed shape and size, and does not consider the influence of the target pose on the imaging area, so the adaptability in practical applications is relatively limited

Method used

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  • Variable-visual-axis stereoscopic vision measurement system and method based on active visual distance
  • Variable-visual-axis stereoscopic vision measurement system and method based on active visual distance
  • Variable-visual-axis stereoscopic vision measurement system and method based on active visual distance

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Effect test

Embodiment 1

[0063] like figure 1 and figure 2 As shown, in this embodiment, a variable boresight stereo vision measurement system based on active viewing distance is proposed, which includes a camera 1, a yaw flat panel device 2 and a laser distance measuring device.

[0064] Camera 1 includes an image sensor and an optical lens. The target surface size and pixel resolution of the image sensor, the focal length of the lens, and the depth of field and other parameters are determined by the size and distance of the target to be measured. The detection band of the image sensor is determined by the physical properties of the target to be measured. , is the visible light band or the infrared light band.

[0065] The yaw plate device 2 includes a transparent plane plate 21 and a yaw drive mechanism. The plane plate 21 is made of transparent glass material and can perform reciprocating yaw motion around the X-axis direction. The parameters such as its size, thickness, and refractive index are ...

Embodiment 2

[0069] like Figure 3 ~ Figure 6 As shown, the present embodiment proposes a measurement method based on the active sight distance variable viewing axis stereo vision measurement system in the first embodiment, which specifically includes the following steps:

[0070] Step S1: System parameter matching and coordinate system establishment.

[0071] According to the measurement range and resolution requirements of the variable boresight stereo vision measurement system, determine the optical parameters and structural parameters of the camera 1, the yaw plate device 2, the first laser range finder 31 and the second laser range finder 32, according to Its relative pose relationship constructs a variable boresight stereo vision measurement system based on active sight distance, as well as the working coordinate system, camera coordinate system and laser rangefinder coordinate system of the measurement system.

[0072] The working coordinate system O-XYZ of the measurement system i...

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Abstract

The invention relates to a variable-visual-axis stereoscopic vision measurement system and method based on an active visual distance, and the system comprises: a camera which is used for collecting scattered light from a target, and obtaining a multi-visual-angle image sequence; a deflection flat plate device which is used for changing the imaging visual axis direction of the camera and generating effective parallax information required by stereoscopic vision measurement; and a laser ranging device which is used for actively acquiring sight distance information of a specific position and providing a basis for correcting a stereoscopic vision measurement result. Compared with the prior art, accurate and stable visual axis adjustment is achieved through deflection motion of the optical flat plate, the accuracy and reliability of the variable-visual-axis vision measurement method are improved in combination with laser active distance measurement, full-view-field, high-resolution and multi-view-angle image collection can be achieved through simple and compact system composition, and high-efficiency, high-precision and high-adaptability three-dimensional measurement can be ensured through a flexible and reliable online correction method.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to an active sight-distance-based variable visual axis stereo vision measurement system and method. Background technique [0002] Stereo vision measurement is an important technical way to obtain the three-dimensional pose of the target. It has the advantages of non-contact, wide spectrum, and high efficiency. It has been continuously applied in the fields of industrial automation, unmanned autonomous navigation, and space rendezvous and docking. Traditional stereo vision measurement methods rely on two or more cameras to collect multi-view image information of the target, and then calculate the three-dimensional position coordinates and attitude angles of the target. However, such methods will increase the physical size and installation space of the measurement system, and their fixed configuration will also reduce the flexibility and adaptability of the measurement method. Moreover,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G01C11/30G01S17/08
CPCG01B11/002G01C11/30G01S17/08
Inventor 李安虎刘兴盛
Owner TONGJI UNIV
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