CN100582651C - Dynamic target for calibration of 3-D colorful digitalized system - Google Patents
Dynamic target for calibration of 3-D colorful digitalized system Download PDFInfo
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- CN100582651C CN100582651C CN200810054313A CN200810054313A CN100582651C CN 100582651 C CN100582651 C CN 100582651C CN 200810054313 A CN200810054313 A CN 200810054313A CN 200810054313 A CN200810054313 A CN 200810054313A CN 100582651 C CN100582651 C CN 100582651C
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Abstract
The invention relates to a dynamic precise target which is used for the calibration of a three-dimensional color digital system and composed of a vertical plate target, a rotary stage and a two-dimensional translation stage. The use of the target can realize the precise positioning of the vertical plate target through the control of the two-dimensional translation stage and the rotary stage, thereby forming three-dimensional space coordinate points (Xw, Yw, Zw) for the calibration. Pixel coordinates (Xf, Yf) can be obtained after the treatment of a corresponding image which is obtained by a sensor, and the calibration of a camera can be completed by a certain number of calibration point pairs ((Xf, Yf) and (Xw, Yw, Zw)) through the calibration algorithm. The target can realize the precise movement with the arbitrary form in the horizontal plane and obtain sufficient number of three-dimensional calibration points on the different directions, the target can not only used for the local calibration of inner and outer parameters of the camera and the global calibration of a plurality of three-dimensional sensors, but can also used for the simultaneous calibration of a plurality of three-dimensional sensors and color sensors, thereby being the precise dynamic target which can rapidly and accurately realize the automatic calibration.
Description
[technical field]:
The present invention relates to a kind of pick-up unit, particularly a kind of dynamic precision target drone that is used for demarcating three-dimensional colourful digital system.
[background technology]:
At present, the general use of video camera is used to realize image Reconstruction and measurement in every field such as science, commercial production.Before rebuilding or measuring, (Xf is Yf) with object space coordinate (Xw, Yw need to determine the two dimensional image coordinate that video camera obtained by calibration process, Zw) relation between promptly realizes local (LocalCalibration) and the global calibration (Global Calibration) of demarcating.Except self-calibration technology, most of Camera calibration all will realize by making the known precision target drone of volume coordinate.The precision of target has determined the precision of video camera and transducer calibration, thereby also determines the precision of three-dimensional digital system reconstructing and measurement.
Typical three-dimensional colourful digital system is made up of the color sensor of three-dimension sensor that obtains three-dimensional information and acquisition colouring information.Each three-dimension sensor comprises a semiconductor line structure laser instrument and two Bs of placing at an angle, and each color sensor is exactly a colour TV camera.Many group three-dimension sensors and many group color sensors are distributed in around the testee, three-dimension sensor is synchronized with the movement from top to bottom and finishes scanning to object dimensional information, and color sensor obtains colouring information and appends to and obtain object dimensional colourful digital result on the three-dimensional object surface that reconstructs.In order to obtain correct three-dimensional colourful digital result, the space coordinates unanimity in the time of must guaranteeing all camera calibrations, this just requires to have the target that can realize simultaneously that three-dimension sensor and color sensor are demarcated.
[summary of the invention]:
The purpose of this invention is to provide a kind of dynamic precision target drone that can be used for demarcating three-dimensional colourful digital system.Wherein, the demarcation of three-dimension sensor can adopt the calibration point of space coplane to ((Xf, Yf) and (Xw, Yw)), and the BP neural net method that the color sensor demarcation is adopted usually not only needs the coordinate (Xw in the XOY plane, Yw), also need the information Zw of height Z direction, this demarcation target that just requires three-dimensional colourful digital system must be three-dimensional.The dynamic 3 D precision target drone can be according to the calibration point that uses needs to obtain abundant quantity to ((Xf Yf) and (Xw, Yw, Zw)), thereby finishes demarcation to system.
The dynamic precision target drone that is used for demarcating three-dimensional colourful digital system provided by the invention comprises:
Riser target: form by riser, base plate and bent plate, one group of adjacent side of bent plate is vertical mutually, use two blocks of bent plates that riser is connected with base plate, be processed with the equally distributed accurate geometric configuration (as regular figures such as circular hole or rectangles) that is used for Z direction location on the riser, guaranteeing to realize the accurate location of riser in the YOZ plane between riser and the base plate in the verticality;
Universal stage: be used to finish the different azimuth Camera calibration, the upper surface of universal stage is connected with the base plate of riser target, the base of universal stage is connected with the slide block of two-dimension translational platform, can guarantee that like this universal stage drives the riser target and follows the slide block of two-dimension translational platform do translation motion in two dimensional surface, can guarantee that again the riser target does rotatablely moving in the plane with universal stage;
The two-dimension translational platform: forms the two-dimension translational platform of quadrature in the plane by the accurate translation stages of two one dimensions, the slide block of two-dimension translational platform is connected with the base of universal stage, the interior accurate location of realization XOY plane.
Advantage of the present invention and good effect:
The present invention has designed the dynamic precision target drone that is used for demarcating three-dimensional colourful digital system.This target is made up of riser target, universal stage and two-dimension translational platform three parts.The two-dimension translational platform can be implemented in the accurate location in the XOY plane; The riser target is made up of bent plate, base plate and riser, can realize the location in the YOZ plane; Between two-dimension translational platform and riser target, increase plane rotating mechanism---universal stage, form the Three-Dimensional Dynamic precision target drone.Use this target can be by the accurate location that the control of two-dimension translational platform and universal stage is realized the riser target, be formed for system calibrating the three dimensional space coordinate point (Xw, Yw, Zw).Can obtain after the correspondence image that sensor is obtained is handled pixel coordinate (Xf, Yf), by the calibration point of some to ((Xf, Yf) and (Xw, Yw, Zw)) can finish Camera calibration by calibration algorithm.The precision that target of the present invention can be implemented in arbitrary form in the surface level moves, on different azimuth, obtain the abundant three-dimensional calibration point of quantity, not only can be used for the part demarcation of camera interior and exterior parameter and the global calibration of a plurality of three-dimension sensors, and demarcate when can be used for a plurality of three-dimension sensors and color sensor, be a kind of fast, accurately, can realize the accurate dynamic target of automatic demarcation.
[description of drawings]:
Fig. 1 is the synoptic diagram of dynamic precision target drone of the present invention;
Fig. 2 is the riser target part synoptic diagram of dynamic precision target drone of the present invention, and wherein Fig. 2 a is a left view, and Fig. 2 b is a front elevation, and Fig. 2 c is a vertical view;
Fig. 3 is the synoptic diagram of sensor distributing position in the three-dimensional colourful digital system;
Fig. 4 utilizes this target to realize the process flow diagram that dynamic precision is demarcated automatically;
Fig. 5 is the image of gathering at a certain position colour TV camera;
Fig. 6 is image process binaryzation shown in Figure 5 and extracts the image that obtains behind the profile;
Fig. 7 is the result after image shown in Figure 6 extracts feature contour and determines central point;
Fig. 8 is that the two-dimension translational platform is done the world coordinates that is obtained when concentric circles moves;
Fig. 9 is the centre coordinate of a feature contour in the image that obtains of corresponding with each position of Fig. 8 certain CCD.
Wherein, 1 riser target, 2 universal stages, 3 two-dimension translational platforms, 4 risers, 5 base plates, 6 bent plates.
[embodiment]:
Embodiment 1:
As shown in Figure 1, the present invention is used for the dynamic precision target drone of demarcating three-dimensional colourful digital system and is made up of three parts: riser target 1, universal stage 2 and two-dimension translational platform 3, introduce the implementation method and the effect of each part below respectively:
1. riser target: be used for being made up of riser 4, base plate 5 and bent plate 6 in the accurate location of height Z direction, as shown in Figure 2, one group of adjacent side of bent plate is vertical mutually, with two blocks of bent plates riser and base plate is connected and fixed.
The size of riser is decided apart from the distance of video camera according to the field angle and the object of video camera, looks the equally spaced equally distributed accurate geometric configuration (as regular figures such as circular hole or rectangles) that is used for Z direction location that is processed with of imaging size in short transverse.Be defined as shape 1, shape 2... from bottom to top successively, the parameters such as flatness tolerance, parallelism tolerance that are positioned at linearity tolerance, the riser surface at centre distance, the geometric configuration center of nethermost geometric configuration centre distance base distance, the size of geometric configuration, adjacent geometric configuration are determined (precision of demarcating target usually is than the resolution height of system requirements) according to the resolution of system requirements.As in the target of the present invention's design, riser is of a size of 100mm (length) * 10mm (wide) * 1475mm (height), at 29 manholes of the equally spaced processing of short transverse, is defined as circular hole 1, circular hole 2... circular hole 29 from bottom to top successively.Be positioned at nethermost circular hole centre distance base 50 ± 0.02mm, the diameter of circular hole is 30 ± 0.05mm, and the centre distance of adjacent circular holes is 50 ± 0.02mm, and the linearity tolerance at circular hole center is 0.05, the flatness tolerance on riser surface is 0.5, and parallelism tolerance is 0.04.Use mild carbon steel to do material, by the precision optical machinery processing assurance above-mentioned parameter of numerically-controlled machine.At riser both sides processing mounting holes, be used for the fixed installation of riser.
Base plate uses steel material, and two surfaces all polish.Top processing screw hole and through hole, screw are used for being connected of base plate and bent plate, and through hole is used for being connected of base plate and universal stage.
Utilize the characteristics of bent plate self, be used for connection board and base plate and can guarantee their verticality.Bent plate bottom surface and vertical plane are fastenedly connected with the base plate and the riser of riser target respectively, can finish the installation of riser target, realize the accurate location of riser in the YOZ plane.
2. universal stage: can be implemented in rotation at any angle in the XOY plane.The base of universal stage 2 is connected with the slide block of two-dimension translational platform 3, and upper surface is connected with base plate 5, can guarantee that universal stage drives the riser target and do translation motion in two dimensional surface, can guarantee that again the riser target follows universal stage and rotate.
3. two-dimension translational platform: form by two one dimension translation stages, the closed-loop control that the grating chi forms motion is housed.Connect by slide block between two translation stages, adjust separately flatness and the verticality between them, can form two-dimentional precision positioning mechanism.
Installation method: earlier riser 4 and base plate 5 are connected by bent plate 6, be fastenedly connected after adjusting verticality, finish the installation of riser target.The two-dimension translational platform is fixed on the platform in the system to be calibrated, universal stage is put on the two-dimension translational platform slide block again, and universal stage base and two-dimension translational platform slide block are fastening.The riser target is put on the universal stage, and the base plate of riser target and the upper surface of universal stage are fixed, and adjusts flatness, verticality can be finished dynamic precision demarcation target to the scope that needs installation.
Use this target can realize the demarcation of many group sensors in the three-dimensional colourful digital system.Three-dimensional colourful digital system with four groups of three-dimension sensors and four groups of color sensor compositions is an example below, sets forth and uses this target to realize the process of demarcation automatically.In the system position distribution of sensor as shown in Figure 3, wherein B1, B2, B3, B4 are three-dimension sensor, C1, C2, C3, C4 are color sensor, every group of three-dimension sensor and corresponding color sensor are certain angle.In native system, every group of three-dimension sensor and corresponding color sensor angle are 45 °.
Use target of the present invention to finish automatic demarcation respectively according to following steps to color sensor and three-dimension sensor, its process flow diagram as shown in Figure 4:
(1), to the automatic demarcation of color sensor:
1. adjustment position: adjust universal stage and make the Surface Vertical of riser target be positioned at the line of two sensors (as C1 and C3) at diagonal angle.
2. determine that calibration point is right:
1) pixel coordinate (Xf, determining Yf):
Set the initial point that a certain position is the two-dimension translational platform, make the two-dimension translational platform get back to initial point.Control two-dimension translational platform motion (can carry out any type of motions such as concentric circles, different length of side rectangles).Set each motion angle or move distance, the intact known angle of every motion or apart from stop motion, each has been gathered the follow-up reforwarding of piece image and has moved to wait for two color sensors (C1 and C3), thus repeatedly, up to all positions that traversal is set, obtain the image of a series of sensors at last.
At a time the image that obtains of color sensor (the riser target with the band circular hole is an example) as shown in Figure 5 uses the image processing algorithm binaryzation to this image, obtains the profile of difference, and the result after the processing as shown in Figure 6.Again by oval or circle are extracted center point coordinate, the result who obtains as shown in Figure 7, among the figure+be last definite center position.Image to all color sensors is handled as stated above, can obtain the pixel coordinate of one group of circular hole central point.
2) world coordinates (Xw, Yw, determining Zw):
Setting riser target base is the initial point of short transverse, by the known centre distance S that is positioned at nethermost geometric configuration centre distance base distance L, adjacent geometric configuration, the Z coordinate that just can obtain this circular hole center according to the sequence number K of geometric configuration on the riser target is Zw (K)=L+ (K-1) * S (mm).
Be in cornerwise two same timing signals of video camera, note under three-dimensional coordinate unification to a coordinate system with them.Be located at gather every width of cloth image constantly the riser target in XOY plane on the two-dimension translational platform reading of two grating chis for (Xw0, Yw0), riser target thickness is d.If the center line of geometric configuration and the intersection point of XOY plane are the initial point of XOY plane on the selected pairing target face of C1, when two translation stages are respectively X-axis and Y-axis, C1 video camera target when photographic images at the coordinate of XOY plane be exactly (Xw0, Yw0); And the real space coordinate of C3 video camera target correspondence when photographic images (Xw, Yw) with grating chi feedback coordinates (Xw0, Yw0) space length differs and is d, setting up plate target and X-axis forward angle is α, then can access Xw=Xw0-d * sin α, Yw=Yw0-d * cos α according to geometric relationship.Thus, just can obtain the three-dimensional world coordinate of each circular hole center correspondence in the image that two sensors takes.
For each width of cloth image, color sensor can obtain at least 2 calibration points to (look field angle size and apart from distance difference to some extent).Accurate as required mobile two-dimension translational platform, step-length or spacing that motion is set just can obtain the coordinate points of set of diagrams picture and a series of correspondences, thereby obtain abundant data point to ((Xf, Yf) and (Xw, Yw, Zw)).Utilize these points right, use calibration algorithm just can obtain the calibration result of colour TV camera.
3. finish the demarcation of other sensors in the system:
The adjustment universal stage rotates to an angle, and makes the riser target surface perpendicular to two other three-dimension sensor (C2 and C4) line, and repetitive process 1-2 finishes this direction Camera calibration.If universal stage dextrorotation gyration θ, then postrotational real space coordinate Xw=Xw0 * cos θ, Yw=Yw0 * sin θ, wherein Xw0, Yw0 are the coordinate of grating chi feedback.
(2), to the automatic demarcation of three-dimension sensor:
Calibration process for the demarcation of three-dimension sensor and color sensor is roughly the same, can finish according to above-mentioned steps.The difference be three-dimension sensor only need some planes in calibration point to ((Xf, Yf) with (Xw, Yw)).Therefore, step 2 1) in, can in the image that each position collects, select some circular holes, use same procedure only to extract the profile information of this circular hole, find out the pixel coordinate at this circular hole center of the every bit correspondence of moving at last on whole the plane in.For each width of cloth image, it is right that three-dimension sensor can obtain a calibration point.Fig. 8 be the two-dimension translational platform do the concentric circles world coordinates in when motion (Xw, Yw), Fig. 9 be the pixel coordinate that video camera obtains a certain circular hole in the image in the corresponding position three-dimension sensor (Xf, Yf).
Thus, can finish automatic demarcation to all three-dimension sensors and color sensor in the system.
As the angle of same group of three-dimension sensor and color sensor less (as B1 and C1), to such an extent as to when target during over against three-dimension sensor color sensor also can collect the target image, at this moment can demarcate this group three-dimension sensor and color sensor simultaneously.
Claims (1)
1, a kind of dynamic precision target drone that is used for demarcating three-dimensional colourful digital system is characterized in that this dynamic precision target drone comprises:
Riser target: form by riser, base plate and bent plate, one group of adjacent side of bent plate is vertical mutually, use two blocks of bent plates that riser is connected with base plate, be processed with the equally distributed accurate geometric configuration that is used for Z direction location on the riser, guaranteeing to realize the accurate location of riser in the YOZ plane between riser and the base plate in the verticality;
Universal stage: be used to finish the different azimuth Camera calibration, the upper surface of universal stage is connected with the base plate of riser target, the base of universal stage is connected with the slide block of two-dimension translational platform, can guarantee that like this universal stage drives the riser target and follows the slide block of two-dimension translational platform do translation motion in two dimensional surface, can guarantee that again the riser target does rotatablely moving in the plane with universal stage;
The two-dimension translational platform: forms the two-dimension translational platform of quadrature in the plane by the accurate translation stages of two one dimensions, the slide block of two-dimension translational platform is connected with the base of universal stage, the interior accurate location of realization XOY plane.
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| CN101750014B (en) * | 2009-12-31 | 2011-08-31 | 重庆大学 | Method for calibrating a camera in an orthogonal three-coordinate measuring machine |
| CN102980528B (en) * | 2012-11-21 | 2015-07-08 | 上海交通大学 | Calibration method of pose position-free constraint line laser monocular vision three-dimensional measurement sensor parameters |
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| CN105232069B (en) * | 2014-06-23 | 2018-02-02 | 上海理工大学 | Adjustable CBCT system calibratings model |
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| CN105043258A (en) * | 2015-08-25 | 2015-11-11 | 吉林大学 | Autorotation calibration target of automobile-morphology active vision measuring laser plane |
| CN105371765A (en) * | 2015-12-24 | 2016-03-02 | 吉林大学 | Spherical pair centering and one-dimensional calibration target for automobile topography visual detection system |
| CN105371764A (en) * | 2015-12-24 | 2016-03-02 | 吉林大学 | Universal type centering one-dimensional calibration target of automobile-morphology visual detection system |
| US9928595B2 (en) | 2016-02-01 | 2018-03-27 | Canon Kabushiki Kaisha | Devices, systems, and methods for high-resolution multi-view camera calibration |
| CN105953748B (en) * | 2016-06-15 | 2018-06-22 | 吉林大学 | Automobile characteristic point reconstructing system based on color background 1-dimension drone and structure light |
| US10559085B2 (en) | 2016-12-12 | 2020-02-11 | Canon Kabushiki Kaisha | Devices, systems, and methods for reconstructing the three-dimensional shapes of objects |
| CN108054126B (en) * | 2017-12-21 | 2020-04-17 | 中国电子科技集团公司第四十八研究所 | Increment positioning method of XXY positioning platform |
| CN108882586B (en) * | 2018-07-13 | 2020-06-05 | Oppo（重庆）智能科技有限公司 | Method for manufacturing housing assembly |
| CN109724531B (en) * | 2018-10-18 | 2021-05-28 | 苏州光图智能科技有限公司 | 360-degree profile measuring method |
| CN110000188B (en) * | 2019-03-28 | 2021-07-23 | 北京理工大学 | Automatic recovery method and system for detector suitable for nuclear reactor |
| CN110764246A (en) * | 2019-10-31 | 2020-02-07 | 天津大学 | Equipment for shooting large-area sample on microscope and using method thereof |
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