Single-image self-calibration for relative parameter of light structural three-dimensional system

A structured light, single-image technology, applied in the direction of using optical devices, measuring devices, instruments, etc., can solve the problems of slow data acquisition, low efficiency, and inability to achieve automatic recalibration.

Active Publication Date: 2006-03-15
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0009] In order to overcome the deficiencies of the existing calibration methods for structured light three-dimensional system parameters, such as slow data acquisition speed, inability to realize automatic recalibration, and low efficiency, the present invention provides a non-contact optical scanning method, which has fast data acquisition speed and can realize Single-image self-calibration method for automatic recalibration and relative parameters of high-efficiency structured light 3D system

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  • Single-image self-calibration for relative parameter of light structural three-dimensional system
  • Single-image self-calibration for relative parameter of light structural three-dimensional system
  • Single-image self-calibration for relative parameter of light structural three-dimensional system

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[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] refer to figure 1 , a single-image self-calibration method for relative parameters of a structured light three-dimensional system, the method comprising the following steps:

[0038] (1), in the color structured light three-dimensional vision system, obtain an image through the camera 2, and extract the calibration data (x c ,y c ) and (x p ,y p ), establish calibration data matrix A;

[0039] (2), if the rank of the calculation matrix A is not 6, return to (1), if the rank of the matrix A is 6, enter the next step;

[0040] (3) Singular value decomposition is performed on the matrix A, and three vectors g corresponding to the minimum eigenvalues ​​in the left orthogonal matrix after the decomposition are obtained 1 , g 2 and g 3 ;

[0041] (4), establish the general solution form of the relative parameter vector of the three-dimensional system, such as...

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Abstract

A single image self ¿C calibration method of relative parameter for structural light 3D system confirms all solutions of normalized relative translation positions [ TxTyTz]T as well as obtains unique correct solution and its rotary matrix R by obtaining a scene image to pick up calibration data ( Xc.Yc ) and ( Xp.Yp ) , to set up calibration data matrix A and to obtain three unknown coefficients of form solution e through reprojection method of structural light visual system with known internal parameters of video camera or projector and with five unset parameters to describe component relative relation .

Description

(1) Technical field [0001] The invention relates to a measurement theory and calibration method based on three-dimensional computer vision, in particular to a single-image self-calibration method for relative parameters of a structured light three-dimensional system. (2) Background technology [0002] Typical applications of 3D measurement technology based on computer vision include workpiece detection in the manufacturing industry, scene depth perception, object recognition and reverse engineering, anthropometry, quality control, restoration and protection of cultural relics and artworks, etc. [0003] The 3D measurement technology based on computer vision, due to the use of non-contact optical scanning, in addition to covering the scope of application of contact scanning, can be used for scanning soft and fragile objects and occasions where contact scanning is difficult or not allowed, so It will be widely used in related fields. When implemented, binocular stereo vision ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/03G01B21/04
Inventor 陈胜勇李友福王万良杨旭华徐新黎
Owner ZHEJIANG UNIV OF TECH
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