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Calculation method for center coordinates of linear structured light stripes based on vector traversal
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A fringe center and line structured light technology, applied in the direction of measuring devices, complex mathematical operations, optical devices, etc., can solve the problem of low real-time performance, and achieve high real-time acquisition, good application value, and high real-time effects
Pending Publication Date: 2021-10-22
HUANGHUAI UNIV
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[0009] The present invention provides a fast and high-precision calculation method for the center of line-structured light stripes based on vector traversal, which solves the problem of low real-time performance of existing calculation methods
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Embodiment 1
[0077] This embodiment provides a fast and high-precision calculation method for the center coordinates of line structured light stripes based on vector traversal, including the following steps:
[0078] 1) Define the coordinate system of the line structured light fringe image 1.
[0079] In a preferred embodiment, the upper left corner of the image is the origin of the coordinate system 10, the left direction is the x direction, and the downward direction is the y direction 9
[0080] 2) Determine the basic vector direction (x vector or y vector), to figure 1 As an example, including steps:
[0081] a) Determine the main direction of the fringe 2
[0082] b) Compute the fringe normal direction 3 of the fringe main direction 2
[0083] c) Analyze the angle a11 between the normal direction of the fringe and the x-direction of the image
[0084] d) Analyze the angle b12 between the normal direction of the fringe and the y-direction of the image
[0085] e) compare the size ...
Embodiment 2
[0117] This embodiment provides a method for calculating the center coordinates of line structured light stripes based on vector traversal, including the following steps:
[0118] 1) Define the coordinate system of line structured light stripe image 1
[0119] The coordinate system is that the upper left corner of the image is the origin 10 of the coordinate system, the x direction is to the right, and the y direction is downward.
[0120] 2) Determine the 4 directions of the basic vectors, including the following steps:
[0121] a) Determine the main direction of the fringe 2;
[0122] b) calculating the stripe normal direction 3 of the stripe main direction 2;
[0123] c) Analyzing the included angle a11 between the normal direction of the fringes and the x-direction of the image;
[0124] d) Analyzing the included angle b12 between the normal direction of the fringes and the y-direction 9 of the image;
[0125] e) Compare the size of a and b, if a≤b, then the direction ...
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Abstract
The invention discloses a calculation method for center coordinates of linear structured light stripes based on vector traversal. The calculation method comprises the following steps: defining a coordinate system of a linear structured light stripe image; calculating a stripe normal direction of the stripe main direction; analyzing an included angle a between the normal direction of the fringes and the x direction of the image; analyzing an included angle b between the normal direction of the fringes and the y direction of the image; comparing a and b, and if a is smaller than or equal to b, taking that the basic vector direction is the x direction; if a is greater than b, taking that the basic vector direction is y direction; traversing the basic vector sequence, and calculating a stripe center point coordinate of a basic vector in each basic vector; and obtaining the center coordinate Pi of the line structure light stripe. According to the invention, each basic vector is analyzed through quadratic linear regression, and the maximum value point is calculated as the center coordinate point of the line-structured light stripe, so that high-precision and high-real-time acquisition of the center of the line-structured light stripe is realized.
Description
technical field [0001] The invention relates to the technical field of two-dimensional or three-dimensional measurement of line-structured light vision, in particular to a calculation method based on vector traversal of the central coordinates of line-structured light stripes. Background technique [0002] Line structured light vision measurement technology is a two-dimensional or three-dimensional measurement technology of active vision. Based on the principle of lasertriangulation, it has the advantages of high precision, fast measurement speed, non-contact, low cost, small size, etc. It is widely used in robot intelligent guidance, intelligent welding, dimension detection, reverse engineering, heritage protection, etc. [0003] The measurement principle of the line structured light visual measurement technology is that the line structured light stripes are projected onto the measured object to generate the line structured light stripes reflecting the outline of the measu...
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