Multi-view vision calibration method, device and system based on workpiece hole center, and medium

Abstract

The invention discloses a multi-view vision calibration method, device and system based on a workpiece hole center, and a medium. The multi-view vision calibration method based on the workpiece hole center comprises the following steps: acquiring image data of a calibration plate under the visual angles of multiple cameras; obtaining camera initial parameters according to the image data of the calibration board, wherein the camera initial parameters comprise camera internal parameters, camera external parameters and camera distortion coefficients; acquiring sample image data of the calibration workpiece under the visual angles of the plurality of cameras; based on the sample image data of the calibration workpiece, converting a world coordinate system where the camera initial parameters are located into a workpiece coordinate system, and obtaining camera external parameters after the coordinate system is converted; and optimizing initial parameters of the camera based on the calibrated workpiece hole center. The camera initial parameters obtained by adopting the multi-view vision calibration method based on the workpiece hole center are high in generalization, the workpiece circular hole measurement precision is high, a measurement result can be directly expressed on a workpiece coordinate system, and measurement is convenient.

Description

technical field [0001] The present invention relates to the technical field of multi-objective vision calibration, in particular to a method, device, medium and system for multi-objective vision calibration based on workpiece hole center. Background technique [0002] In the detection and measurement industry, based on the industrial high-precision measurement requirements, three-coordinate measuring machines are usually used for measurement. However, for a workpiece that needs to measure multiple feature points, when using a three-coordinate measuring machine for measurement, it is necessary to control the three-coordinate measuring machine to measure each point of the workpiece to be measured, which requires a huge time cost and cannot meet the needs of rapid measurement. Therefore, the use of multi-eye vision measurement technology can realize the rapid measurement of workpieces with multiple feature points. [0003] In the prior art, industrial measurement technology ba...

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Problems solved by technology

[0003] In the prior art, industrial measurement technology based on multi-eye vision usually uses a calibration board to complete multi-camera calibration, but the obtained initial parameters of the camera can not be directly used in industrial measurement to achieve high measurement accuracy, so the measurement of the workpiece is generalizable. It is not high, and the world coordinate system of the calibrated camera is usually the plane coordinate system of the calibration board or the camera coordinate system of a certain camera, which is inconvenient to measure

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