Stereoscopic vision measurement method, system and equipment for large-size moving object and storage medium

Abstract

The invention discloses a stereoscopic vision measurement method, system and equipment for a large-size moving object and a storage medium, and belongs to the field of optical measurement. The method comprises: calibration is performed to obtain internal parameters, external parameters and distortion factors of the camera; synchronous light debugging is carried out to realize time reference unification of the measurement subsystem; the calibration unification of the space reference of the measurement subsystem is realized, and a reference coordinate system and a conversion relation from the measurement subsystem to the reference coordinate system are determined; synchronous triggering of the measurement subsystems is realized; a pair of images obtained by the left camera and the right camera at the same moment are processed to obtain a plurality of pairs of corresponding images with only coding targets; and the measurement of the three-dimensional coordinates of the corresponding target points in the corresponding measurement subsystems is completed, the three-dimensional coordinates are converted into the reference coordinate system and transmitted to the reference coordinate system, and the stereoscopic vision measurement of the large-size moving object is completed. The problems that an existing binocular stereoscopic vision measurement system is limited by the size of a camera view field, the measurement speed is low, and only static images can be measured are solved.

Description

technical field [0001] The invention belongs to the field of optical measurement, and relates to a stereoscopic vision measurement method, system, equipment and storage medium of a large-scale moving object. Background technique [0002] Binocular stereo vision measurement is a non-contact measurement method commonly used at present. It obtains the feature points of the measured object and coordinates in an established world coordinate system through various non-contact methods. Digital photogrammetry can ensure high accuracy while realizing non-contact measurement, and can also reduce the complexity and cost of equipment brought by sensors. [0003] The stereo vision measurement method is to use two or more area array cameras to capture images of the measured object, and after image feature calculation and tracking, 3D reconstruction, etc., the 3D information of the surface of the measured object can be obtained. With the rapid development of digital camera, camera model a...

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Problems solved by technology

[0005] In order to overcome the above-mentioned shortcoming of the prior art, the object of the present invention is to provide a kind of stereoscopic vision measurement method, system, equipment and storage medium of large-scale moving object, solve the existing binocular stereoscopic vision measurement system limited by the size of the camera field of view Limitations, slow measurement speed, and only static objects can be measured

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