Multi-line laser scanning method and system based on binocular vision

A multi-line laser and binocular vision technology, applied in the field of 3D machine vision, can solve the problems of low efficiency and low precision of binocular matching, and achieve the effect of shortening the matching time.

Active Publication Date: 2022-07-08
杭州灵西机器人智能科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-line laser scanning method and system based on binocular vision to solve the problems of low efficiency and low precision of existing binocular matching

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  • Multi-line laser scanning method and system based on binocular vision
  • Multi-line laser scanning method and system based on binocular vision
  • Multi-line laser scanning method and system based on binocular vision

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Embodiment Construction

[0046] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0047] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have ...

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Abstract

The invention relates to a multi-line laser scanning method and system based on binocular vision, and the method comprises the steps: building a mapping relation under a coordinate system of a first camera module through a height measurement module, and laying a foundation for the projection of a pixel point of a first image to a corresponding projection coordinate of a second image in a subsequent step; and a two-dimensional matching container M is constructed on the image of the second camera module based on the image column and the epipolar slope, when the first camera module and the second camera module are matched, the first light strip center of the first camera module can be projected to the second image of the second camera module through the mapping relation, the epipolar slope of the projection coordinate is calculated, and the epipolar slope of the projection coordinate is calculated. And determining that the projection coordinate of the first light strip center falls into the corresponding interval which is the same as the second light strip center, thereby determining the first light strip center and the second light strip center which are matched with high precision, and shortening the high-precision matching time by using the idea of replacing time with space. And the high-precision matching process of the first camera module and the second camera module can be realized only by a small amount of calculation.

Description

technical field [0001] The invention relates to the technical field of 3D machine vision, in particular to a multi-line laser scanning method and system based on binocular vision. Background technique [0002] At present, in the field of 3D machine vision technology, 3D imaging systems based on LED structured light are widely used due to their high imaging accuracy and fast speed. The data quality is seriously degraded, and it is necessary to add mobile modules or parallel multiple systems to achieve large-scale scanning, which not only increases the system cost, but also reduces the scanning frame rate. Lasers are also used for structured light 3D imaging due to their high brightness and high contrast. Although the application of 3D imaging systems based on single-line lasers is very mature, they can only obtain data on one line, which requires the help of mobile modules or The rotation mechanism realizes the coverage of the imaging range, and the work efficiency is low. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/521
CPCG06T7/80G06T7/521G06T2207/10028G06T2207/30244
Inventor 王灿胡晓宇丁丁
Owner 杭州灵西机器人智能科技有限公司
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