Method, system, electronic device and storage medium for calibrating target object position

Abstract

The application discloses a method, a system, an electronic device and a storage medium for calibrating the position of a target object. The method comprises the following steps: setting a target field of view range of a measuring device; obtaining structural light measurement image data of the target object based on a structural light generation device; and calibrating the position of the target object according to the target field of view range and the structural light measurement image data. The method comprises the following steps: first, setting the target field of view range of the measuring device; then, using the structural light to measure the image data of the target object; and finally, processing the obtained structural light measurement image data, determining the actual distance between the target object and the measuring device, and judging whether the calculated actual distance is within the target field of view range, thereby calibrating the position of the target object. That is, by setting the target object in the target field of view range, the measuring device can capture a high-precision image of the target object during the photographing process.

Description

Technical Field

[0001] This invention relates to the field of photogrammetry, and in particular to a method, system, electronic device, and storage medium for calibrating the position of a target object. Background Technology

[0002] In the field of photogrammetry, to obtain high-precision images, it is necessary to set the shooting distance and position of the target object, or to adjust the measuring equipment. Currently, there are numerous camera calibration methods, including traditional methods that derive camera model parameters based on specific experimental conditions, such as calibration reference objects with known shapes and sizes.

[0003] However, when the measuring equipment is difficult to move or its position cannot be easily adjusted, precise control of the target object's position is required to obtain high-precision image data. Currently, determining whether the measured object is within the optimal field of view distance is mainly done through visual estimation, which introduces a certain degree of error and cannot guarantee whether the target object is within the field of view distance, resulting in low image accuracy.

[0004] Therefore, in the existing technology, when performing photogrammetry, there is a problem of low image accuracy because the target object is not within the target field of view of the measuring equipment. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, system, electronic device and storage medium for calibrating the position of a target object, so as to solve the technical problem of low image accuracy caused by the target object not being within the target field of view of the measuring device when performing photogrammetry in the prior art.

[0006] To address the above problems, the present invention provides a method for calibrating the position of a target object, comprising:

[0007] Set the target field of view of the measuring equipment;

[0008] Structured light measurement image data of a target object is acquired based on a structured light generation device, wherein the structured light generation device includes at least two cameras and a projector;

[0009] The position of the target object is calibrated based on the target's field of view and structured light measurement image data.

[0010] Furthermore, the target field of view of the measuring equipment is set, including:

[0011] Acquire the measurement baseline, first boundary line, and second boundary line of the target object, wherein the first boundary line is the boundary line of the first camera away from the second camera and its extension, and the second boundary line is the boundary line of the second camera away from the first camera and its extension.

[0012] set the field of view width;

[0013] According to the measurement reference line, the field of view width, the first boundary line and the second boundary line, the target field of view range is determined.

[0014] Further, the projection of the target field of view range is a trapezoid.

[0015] Further, the structured light measurement image data of the target object is obtained based on the structured light generation device, comprising:

[0016] The picture group data of the target object is obtained based on at least two cameras and a projector;

[0017] According to the picture group data, the contour three-dimensional data of the target object is determined.

[0018] Further, according to the picture group data, the contour three-dimensional data of the target object is determined, comprising:

[0019] The picture group data is down-sampled to obtain the contour image of the picture group data;

[0020] According to the contour image, the contour three-dimensional data of the target object is determined.

[0021] Further, according to the target field of view range and the structured light measurement image data, the position of the target object is calibrated, comprising:

[0022] According to the structured light measurement image data, the measurement distance between the target object and the measurement device is determined;

[0023] It is judged whether the measurement distance is within the target field of view range, if yes, the position calibration is completed; if not, the position of the target object is adjusted until the measurement distance is adjusted to be within the target field of view range.

[0024] Further, according to the structured light measurement image data, the measurement distance between the target object and the measurement device is determined, comprising:

[0025] The distance average operation is performed on the partial region of the field of view center of the structured light measurement image data to obtain the partial distance average value between the target object and the measurement device;

[0026] The partial distance average value is determined as the measurement distance between the target object and the measurement device.

[0027] In order to solve the above problems, the present application also provides a system for calibrating the position of a target object, comprising:

[0028] A target field of view range setting module is configured to set the target field of view range of a measurement device;

[0029] The image data acquisition module is configured to acquire the structured light measurement image data of the target object based on a structured light generation device, wherein the structured light generation device comprises at least two cameras and a projector.

[0030] The position calibration module is configured to calibrate the position of the target object according to the target field of view range and the structured light measurement image data.

[0031] To solve the above problems, the present application further provides an electronic device comprising a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the method for calibrating the position of the target object as described above.

[0032] To solve the above problems, the present application further provides a computer readable storage medium, wherein the storage medium stores computer program instructions, and the computer program instructions are executed by a computer to make the computer execute the method for calibrating the position of the target object as described above.

[0033] The beneficial effects of the above technical solutions are as follows: the present application provides a method, system, electronic device and storage medium for calibrating the position of a target object, which comprises the following steps: setting a target field of view range of a measurement device; acquiring structured light measurement image data of the target object based on a structured light generation device; and calibrating the position of the target object according to the target field of view range and the structured light measurement image data. By setting the target field of view range of the measurement device first, then measuring the image data of the target object by using the structured light, and processing the obtained structured light measurement image data to determine the actual distance between the target object and the measurement device, and finally judging whether the measured actual distance is within the target field of view range, the position of the target object can be calibrated, that is, by setting the target object in the target field of view range, the measurement device can capture images of the target object with high precision during the photographing process. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 A flowchart of an embodiment of the method for calibrating the position of the target object provided by the present application;

[0035] Figure 2 A flowchart of an embodiment of the method for setting the target field of view range of the measurement device provided by the present application;

[0036] Figure 3 A result diagram of an embodiment of the measurement device and the target field of view range provided by the present application;

[0037] Figure 4 A structural diagram of an embodiment of the system for calibrating the position of the target object provided by the present application;

[0038] Figure 5A structural block diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0039] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0040] Before describing the embodiments, let's first explain structured light:

[0041] Structured light is a system consisting of a projector and a camera. Specific light information is projected onto the surface of an object and its background by the projector, and then captured by the camera. Based on the changes in the light signal caused by the object, information such as the object's position and depth is calculated, thus reconstructing the entire three-dimensional space.

[0042] Currently, due to the difficulty in moving the measuring equipment, the position of the target object needs to be adjusted in order to obtain high-precision images. However, the distance between the target object and the measuring equipment is currently mainly determined by visual estimation, which has a certain degree of error and cannot guarantee whether the target object is within the field of view, resulting in low image accuracy.

[0043] Therefore, in the existing technology, when performing photogrammetry, there is a problem of low image accuracy because the target object is not within the target field of view of the measuring equipment.

[0044] To address the aforementioned problems, this invention provides a method, system, electronic device, and storage medium for calibrating the location of a target object, which will be described in detail below.

[0045] like Figure 1 As shown, Figure 1 A flowchart illustrating an embodiment of the method for calibrating the position of a target object provided by the present invention includes:

[0046] Step S101: Set the target field of view of the measuring device.

[0047] Step S102: Acquire structured light measurement image data of the target object based on the structured light generation device, wherein the structured light generation device includes at least two cameras and a projector.

[0048] Step S103: Based on the target field of view and structured light measurement image data, calibrate the position of the target object.

[0049] In the embodiment, first, a target field of view range is set according to the attribute of the measuring device; then, a structured light measurement image data of the target object is acquired based on a structured light generating device, wherein the structured light generating device comprises at least two cameras and a projector; finally, the position of the target object is calibrated according to the target field of view range and the structured light measurement image data.

[0050] In the embodiment, the actual distance between the target object and the measuring device is determined by first setting the target field of view range of the measuring device, then measuring the image data of the target object by using the structured light generating device, and processing the obtained structured light measurement image data, and finally judging whether the calculated actual distance is within the target field of view range, so as to realize the calibration of the position of the target object, that is, by setting the target object in the target field of view range, it is realized that in the process of photography, the measuring device can shoot the image of the target object with high precision.

[0051] As a preferred embodiment, in step S101, in order to set the target field of view range of the measuring device, as shown in Figure 2 , Figure 2 the flowchart of an embodiment of setting the target field of view range of the measuring device provided by the present application comprises:

[0052] Step S111: acquiring a measurement reference line, a first boundary line and a second boundary line of the target object, wherein the first boundary line is a boundary line and its extension line of the first camera away from the second camera, and the second boundary line is a boundary line and its extension line of the second camera away from the first camera.

[0053] Step S112: setting a field of view width.

[0054] Step S113: determining the target field of view range according to the measurement reference line, the field of view width, the first boundary line and the second boundary line.

[0055] In the embodiment, first, the optimal distance between the target object and the measuring device is determined according to the attribute of the measuring device itself, that is, the measurement reference line of the target object, in addition, the width boundary line that can be shot by the measuring device is respectively determined according to the boundary lines of the two cameras, that is, the straight line where the boundary line of the first camera away from the second camera is the first boundary line, and the straight line where the boundary line of the second camera away from the first camera is the second boundary line; then, the field of view width is determined according to the attribute of the measuring device itself and the size of the target object and other elements; finally, the target field of view range is determined according to the measurement reference line, the field of view width, the first boundary line and the second boundary line.

[0056] As a preferred embodiment, as shown in Figure 3 , Figure 3A result schematic view of an embodiment of the measuring device and the target visual field range provided by the application, wherein the measuring device 300 comprises a first camera 301, a second camera 302 and a projector 303, and a target visual field range 310 is correspondingly arranged.

[0057] The first camera 301 and the second camera 302 are oppositely arranged at a certain angle, and the projector 303 is arranged between the first camera 301 and the second camera 302; a straight line where a first boundary line 311 of the first camera 301 away from the second camera 302 is connected to one vertex of the target visual field range 310, and a straight line where a second boundary line 312 of the second camera 302 away from the first camera 301 is connected to another vertex of the target visual field range 310; a measuring reference line 313 is an optimal distance of the projector 303 focusing, which can not only better capture the information of the target object, but also does not affect the work of other devices.

[0058] In a specific embodiment, the included angle of the straight lines where the first camera 301 and the second camera 302 are located is 34 degrees, the optimal distance of the measuring device 300 is 210 meters, and the visual field width is 110 millimeters, so as to determine the target visual field range in a trapezoidal shape.

[0059] When the target object is in the target visual field range, the measuring device 300 can better capture the characteristics of the target object and obtain image data with high precision; when the target object is out of the target visual field range, the measuring device 300 cannot better obtain image data with high precision of the target object.

[0060] As a preferred embodiment, in step S102, since the cameras in the structured light generation device are arranged in pairs, the image of the target object directly obtained is a pair of images, that is, a picture group data of the target object is directly obtained; the picture group data also needs to be processed to determine the contour three-dimensional data of the target object.

[0061] As a preferred embodiment, in order to simplify the complexity of data processing and also to retain the required data, first, the picture group data is down-sampled to obtain a contour image of the picture group data; then, the contour three-dimensional data of the target object is determined according to the contour image.

[0062] As a preferred embodiment, the active structure information emitted by the projector in the structured light generation device to the target object can be in various forms, including laser stripes, Gray codes, sinusoidal stripes, etc.

[0063] As a preferred embodiment, the two cameras capture the information of the target object surface to obtain a structured light image, and based on the principle of triangulation, the three-dimensional analysis calculation is performed to realize the three-dimensional reconstruction of the target object.

[0064] In a specific embodiment, first, a sinusoidal fringe is generated by computer programming and projected onto the target object by a projector, then the camera is used to capture the curved degree of the fringe modulated by the object, the phase is obtained by demodulating the curved fringe, and finally the phase is converted into the height of the whole field to obtain the height of the target object.

[0065] As a preferred embodiment, in step S103, after the profile three-dimensional data of the target object is determined, in order to calibrate the position of the target object, first, the measurement distance between the target object and the measuring device is determined according to the structured light measurement image data; then, it is judged whether the measurement distance is within the target field of view range, if yes, the position calibration is completed; if not, the position of the target object is adjusted until the measurement distance is adjusted to the target field of view range.

[0066] In a specific embodiment, since the target object is uneven, in order to quickly determine the distance between the target object and the measuring device, the profile three-dimensional data of the partial area corresponding to the central part of the field of view of the target object is captured, and the distance is averaged to obtain the partial distance average value between the target object and the measuring device; finally, the partial distance average value is taken as the measurement distance between the target object and the measuring device for subsequent analysis and calculation.

[0067] In a specific embodiment, 1 / 16 of the field of view cross-sectional area of the target object is captured as the partial area of the central part of the field of view for data calculation and analysis.

[0068] As a preferred embodiment, a detection system can also be provided to realize that when the target object is within the target field of view range, the detection system turns on a green light; when the target object is outside the target field of view range, the detection system turns on a red light, so as to realize the reminding of the user to timely regulate the position of the target object and ensure the accuracy of the finally obtained image.

[0069] In the above manner, by first setting the target field of view range of the measuring device, then using the structured light generation device to measure the image data of the target object, and performing data processing on the obtained structured light measurement image data to determine the actual distance between the target object and the measuring device, finally judging whether the measured actual distance is within the target field of view range, the position of the target object is calibrated, that is, by setting the target object in the target field of view range, the measuring device can capture the image of the target object with high accuracy in the photography process.

[0070] In order to solve the above problems, the present application also provides a system for calibrating the position of a target object, as shown in Figure 4 Figure 4 The structural schematic diagram of an embodiment of the system for calibrating the position of a target object provided by the present application, the system for calibrating the position of a target object 400 comprises:

[0071] ​The target field of view range setting module 401 is configured to set a target field of view range of the measuring device.

[0072] The image data acquisition module 402 is configured to acquire structural light measurement image data of the target object based on a structural light generation device, wherein the structural light generation device comprises at least two cameras and a projector.

[0073] The position calibration module 403 is configured to calibrate the position of the target object according to the target field of view range and the structural light measurement image data.

[0074] The present application also provides an electronic device, such as Figure 5 As shown in the figure, Figure 5 The figure is a structural block diagram of an embodiment of the electronic device provided by the present application. The electronic device 500 can be a mobile terminal, a desktop computer, a notebook computer, a palm computer, a server, or other computing device. The electronic device 500 comprises a processor 501 and a memory 502, wherein the memory 502 stores a target object position calibration program 503.

[0075] The memory 502 can be an internal storage unit of the computer device in some embodiments, such as a hard disk or a memory of the computer device. The memory 502 can also be an external storage device of the computer device in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, or the like. Further, the memory 502 can include both the internal storage unit and the external storage device of the computer device. The memory 502 is configured to store application software and various data installed in the computer device, such as program codes of the computer device. The memory 502 can also be configured to temporarily store data that has been output or will be output. In an embodiment, the target object position calibration program 503 can be executed by the processor 501, thereby implementing the target object position calibration method of the embodiments of the present application.

[0076] The processor 501 can be a central processing unit (CPU), a microprocessor, or other data processing chip in some embodiments, configured to run program codes or process data stored in the memory 502, such as executing the target object position calibration program.

[0077] The embodiment also provides a computer readable storage medium having the target object position calibration program stored thereon, and the program is executed by the processor to implement the target object position calibration method according to any of the above technical solutions.

[0078] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database, or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0079] The above descriptions are only the preferred embodiments of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A method of calibrating a target object position, characterized by, The method comprises the following steps: Setting a target field of view range of a measuring device, comprising: acquiring a measurement reference line, a first boundary line and a second boundary line of a target object, wherein the first boundary line is a boundary line and its extension line of a first camera away from a second camera, and the second boundary line is a boundary line and its extension line of the second camera away from the first camera; setting a field of view width; determining the target field of view range according to the measurement reference line, the field of view width, the first boundary line and the second boundary line, and the projection of the target field of view range is a trapezoid; Acquiring structural light measurement image data of the target object based on a structural light generation device, wherein the structural light generation device comprises at least two cameras and a projector; Calibrating the position of the target object according to the target field of view range and the structural light measurement image data, comprising: determining a measurement distance between the target object and the measuring device according to the structural light measurement image data; judging whether the measurement distance is within the target field of view range, if yes, completing the position calibration; if not, adjusting the position of the target object until the measurement distance is adjusted to be within the target field of view range.

2. The method of claim 1, wherein, The method of acquiring structural light measurement image data of the target object based on the structural light generation device comprises: Acquiring picture group data of the target object based on the at least two cameras and the projector; Determining contour three-dimensional data of the target object according to the picture group data.

3. The method of claim 2, wherein, The method of determining contour three-dimensional data of the target object according to the picture group data comprises: Down-sampling the picture group data to obtain a contour image of the picture group data; Determining contour three-dimensional data of the target object according to the contour image.

4. The method of claim 1, wherein The method of determining a measurement distance between the target object and the measuring device according to the structural light measurement image data comprises: Performing distance averaging operation on a partial region of a field of view center of the structural light measurement image data to obtain a partial distance average value between the target object and the measuring device; Determining the partial distance average value as the measurement distance between the target object and the measuring device.

5. A system for calibrating the position of a target object, characterized by The method comprises the following steps: A target field of view range setting module is configured to set a target field of view range of a measuring device, comprising: acquiring a measurement reference line, a first boundary line and a second boundary line of a target object, wherein the first boundary line is a boundary line and its extension line of a first camera away from a second camera, and the second boundary line is a boundary line and its extension line of the second camera away from the first camera; setting a field of view width; determining the target field of view range according to the measurement reference line, the field of view width, the first boundary line and the second boundary line, and the projection of the target field of view range is a trapezoid; An image data acquisition module is configured to acquire structural light measurement image data of the target object based on a structural light generation device, wherein the structural light generation device comprises at least two cameras and a projector; A position calibration module is configured to calibrate the position of the target object according to the target field of view range and the structured light measurement image data, and includes: determining a measurement distance between the target object and a measurement device according to the structured light measurement image data; judging whether the measurement distance is within the target field of view range, and if yes, completing the position calibration; and if no, adjusting the position of the target object until the measurement distance is adjusted to be within the target field of view range.

6. An electronic device, comprising: A device includes a processor and a memory having a computer program stored thereon, wherein the computer program, when executed by the processor, implements the method for calibrating the position of the target object according to any one of claims 1-4.

7. A storage medium, characterized by The storage medium stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the method for calibrating the position of the target object according to any one of claims 1-4.

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