Unit attitude three-dimensional structure cursor calibration system and method based on spherical inverse perspective projection

Abstract

The invention provides a unit attitude three-dimensional structure cursor calibration system and method based on spherical inverse perspective projection. The system comprises a feature body calibration object, an image acquisition device, a projection device and an image processing module. Optical axes of the image acquisition device and the projection device form a certain included angle, and optical centers of the image acquisition device and the projection device are at the same height; and the image acquisition device and the projection device form a three-dimensional structured light measurement system, the feature body calibration object and the three-dimensional structured light measurement system are correspondingly arranged, and the image acquisition device and the projection device are respectively connected with the image processing module. The ball is used as the calibration object, the ball is simple and easy to obtain, only the calibration object image of a unit attitude needs to be collected, the calibration efficiency is greatly improved, compared with an existing calibration method, higher precision is obtained, feature point extraction is simple, the method can be flexibly applied to three-dimensional structured light systems in various view field ranges and various complex calibration environments, and flexible and accurate three-dimensional structured light system calibration is realized.

Description

technical field [0001] The present invention relates to the technical field of three-dimensional structured light system calibration, in particular to a unit-pose three-dimensional structured light calibration system and method based on spherical inverse perspective projection. Background technique [0002] In the field of 3D reconstruction and robot vision, due to its advantages of high precision, high speed and flexible measurement, 3D structured light measurement technology is widely used. The 3D institutional light system uses a camera to collect the structured light coded image projected by the projector on the measurement target, decodes it to obtain the projector pixels corresponding to the image pixels, and obtains the 3D information of the measurement target through the mathematical model of the structured light system. The model parameter calibration of the 3D structured light system is an important prerequisite for realizing its high-precision measurement. It is v...

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Problems solved by technology

[0005] In view of the prior art mentioned above, the inventor believes that the existing calibration method has the following deficiencies: the calibration process requires manual assistance, and it is necessary to collect images of calibration objects in multiple poses , the calibration efficiency is low; the feature point extraction algorithm is complex, which reduces the data processing speed; the size of the calibration object is limited, and the accuracy is limited by the processing technology, which affects the calibration accuracy

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