Active vision three-dimensional calibration method, system and device based on galvanometer camera

Abstract

The invention belongs to the field of three-dimensional measurement and image processing, and specifically relates to an active vision three-dimensional calibration method, system and equipment based on a galvanometer camera, aiming to solve the problem of large errors in the existing galvanometer camera calibration method. The invention includes: setting calibration boards with different poses in space; establishing a galvanometer camera model, determining the initial expression of the mapping relationship between a three-dimensional space point and a galvanometer control voltage; randomly selecting a spatial calibration point, and recording the galvanometer control calibration voltage; Based on the galvanometer control calibration voltage, the homography matrix and the mapping relationship between the three-dimensional space point and the galvanometer control voltage are obtained; the internal reference matrix and the external reference matrix are obtained through the SVD decomposition method; and then the error of the control voltage of the two mirrors is calculated to minimize the error Complete the active calibration of the galvo camera. The present invention establishes the nonlinear mapping relationship between the spatial point and the vibrating mirror control voltage, and obtains the accurate vibrating mirror relationship by means of linear approximation and nonlinear optimization, thereby reducing the calibration error of the vibrating mirror.

Description

technical field [0001] The invention belongs to the field of three-dimensional measurement and image processing, and in particular relates to an active vision three-dimensional calibration method, system and equipment based on a galvanometer camera. Background technique [0002] Due to the need to directly contact the surface of the object, the traditional contact measurement method has many defects such as slow detection speed, aging and wear of the sensing element. Compared with the non-contact measurement method, because of its fast measurement speed and many advantages such as long-distance measurement, it has been greatly developed in recent years. [0003] In the non-contact measurement method, the three-dimensional measurement technology based on laser galvanometer is widely used in laser radar, line laser measurement and other fields due to its advantages of fast scanning speed, high precision, wide measurement range and high repeatability. [0004] However, the las...

AI Technical Summary

Problems solved by technology

However, in practical application scenarios, due to device response characteristics and D / A control accuracy, the relationship between the deflection angle of the galvanometer and the digital voltage is difficult to measure by non-contact means

In addition, the distance between the two mirrors of the galvanometer will also affect the deflection of the optical axis of the camera, resulting in measurement errors

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