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Complete calibration method of line structured light vision sensor based on single cylinder target

A visual sensor and line structured light technology, applied in the field of visual inspection, can solve problems such as relying on sensor motion information, and achieve the effects of short calibration time, easy processing, and high processing accuracy

Pending Publication Date: 2021-10-26
EAST CHINA JIAOTONG UNIVERSITY
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Problems solved by technology

Can be calibrated without the use of additional targets, but relies on sensor motion information

Method used

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  • Complete calibration method of line structured light vision sensor based on single cylinder target
  • Complete calibration method of line structured light vision sensor based on single cylinder target
  • Complete calibration method of line structured light vision sensor based on single cylinder target

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Embodiment Construction

[0070] The concrete implementation of the present invention is described in detail in conjunction with accompanying drawing

[0071] Such as figure 1 As shown, a calibration system of a line structured light vision sensor based on a single cylindrical 3D target includes the following four parts: a cylindrical 3D target 1 with a diameter of 100 mm and an accuracy of 0.02 mm. A single-line laser projector2, a CCD camera3 with a BFS-U3-23S3C-C (resolution 1920 pixels x 1200 pixels) and a measuring distance of approx. 1200 mm. A tripod4. The cylindrical target is in front of the laser emitter, the three-dimensional cylindrical target is within the field of view of the camera, and the camera is fixed on a tripod. Such as figure 2 As shown, the intersection line of the line-structured light emitted by the laser emitter and the cross-section of the single cylindrical target is a standard circle when projected axially and an ellipse when projected radially. Calibration methods f...

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Abstract

The invention provides a line structured light system complete calibration method based on a single cylinder target. The calibration process is as follows: the cylindrical target is placed at least once and illuminated with the light band of a laser projector; a visual sensor collects a target image and extracts a laser stripe and a contour image of the cylindrical target; and internal parameters of the camera are solved by using the extracted contour image according to the contour features of the cylindrical target and the definition of a collinear vector. As the intersecting line of a line structured light plane and the cylindrical target in the cylindrical diameter projection direction is a standard circle, a light plane equation is established on a camera coordinate system. In a complex industrial environment, a traditional Zhang's calibration method is not suitable for shooting a plurality of chessboard images at different positions, and camera calibration and line structure calibration can be carried out at the same time due to the contour characteristics of the cylindrical target. The method provided by the invention does not need to depend on the constraint of multiple images, is simple to operate, and meets the requirements of an industrial three-dimensional measurement technology.

Description

technical field [0001] The invention belongs to the technical field of camera three-dimensional imaging and detection, and in particular relates to a visual detection method for performing real-time detection in complex industrial environments by simultaneously performing camera calibration and line structured light plane calibration through a 3D cylindrical target. Background technique [0002] At present, there are many calibration methods for visual measurement systems, but most of them are carried out in the laboratory. With the advancement of science and technology, industrial production has gradually transformed from manual assembly line production to fully automated production, and the field of industrial testing has also put forward higher requirements for measurement speed and measurement accuracy. More and more practical measurement occasions require non-contact measurement, which has promoted the research of vision measurement technology from the laboratory to the...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/70
CPCG06T7/80G06T7/70
Inventor 祝振敏王心韵孙翔
Owner EAST CHINA JIAOTONG UNIVERSITY
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