CN102175211B - Barrier position determining method based on lattice structured light - Google Patents
Barrier position determining method based on lattice structured light Download PDFInfo
- Publication number
- CN102175211B CN102175211B CN2010106212104A CN201010621210A CN102175211B CN 102175211 B CN102175211 B CN 102175211B CN 2010106212104 A CN2010106212104 A CN 2010106212104A CN 201010621210 A CN201010621210 A CN 201010621210A CN 102175211 B CN102175211 B CN 102175211B
- Authority
- CN
- China
- Prior art keywords
- laser
- camera
- reference mirror
- coordinate system
- barrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a barrier position determining method based on lattice structured light, which comprises the steps of: 1, selecting a fisheye camera adopting an f-theta imaging module as a barrier-avoiding camera and calibrating the fisheye camera; 2, calibrating a laser dot matrix instrument; 3, projecting laser beams of the laser dot matrix instrument to a barrier to form laser points, imaging the laser points by the barrier-avoiding camera to obtain positions of the laser points under a laser dot matrix instrument reference mirror coordinate system; 4, establishing correspondence of a barrier-avoiding camera reference mirror coordinate system and the laser dot matrix instrument reference mirror coordinate system; 5, converting the positions of the laser points under the laser dot matrix instrument reference mirror coordinate system to the barrier-avoiding camera reference mirror coordinate system; and 6, obtaining three-dimensional coordinate initial values of the laser points in the barrier-avoiding camera reference mirror coordinate system through space forward intersection by using image points of the laser points, formed in the barrier-avoiding camera, and positions of the image points in the barrier-avoiding camera reference mirror coordinate system, and obtaining position information of barrier points through spatial triangulation.
Description
Technical field
The invention belongs to the vision measurement field, relate to a kind of obstacle location and confirm method.
Background technology
Obstacle location is confirmed and identification is an important branch of vision measurement area research.Traditional 3 D visual recovery algorithms mainly adopts double camera to carry out confirming of obstacle location, exists data volume big, and computing velocity is slow, the deficiency of wrong identification and erroneous calculations.
The research of structured light vision method for measuring is shown in the seventies in 20th century the earliest; Structured light three-dimensional vision measure with its wide range, big visual field, degree of precision, structure light image information be easy to extract, real-time and initiatively controlled etc. specific; Obtain widespread use in recent years, but do not found to be used for the bibliographical information that obstacle location is confirmed the aspect.
Summary of the invention
Technology of the present invention is dealt with problems and is: the deficiency that overcomes prior art; Provide a kind of obstacle location to confirm method based on lattice structure light; Cooperate laser dot matrix instrument that the object that blocks in camera the place ahead is carried out 3-d recovery through keeping away the barrier camera, thereby judge the size and the position of blocking object accurately at a high speed.
Technical solution of the present invention is: confirm method based on lattice structure light obstacle location, step is following:
(1) chooses the fisheye camera conduct of adopting f-θ imaging model and keep away the barrier camera, said fisheye camera is demarcated, obtain the intrinsic parameter and outer parameter of fisheye camera;
(2) laser dot matrix instrument is demarcated, scaling method is:
(21) laser beam of laser dot matrix instrument is incident upon and forms laser point on the ground, to laser point is taken pictures, after Flame Image Process, obtains the picpointed coordinate of laser point with photogrammetric camera;
(22) utilize the intrinsic parameter of photogrammetric camera to carry out triangulation, obtain the three-dimensional coordinate of laser point under photogrammetric camera measuring system;
(23) set up the transit survey system, confirm the transformational relation of transit survey coordinate system and photogrammetric camera measuring system;
(24), confirm the transformational relation of transit survey system and laser dot matrix instrument reference mirror coordinate system through the reference mirror on the transit survey laser dot matrix instrument;
(25) coordinate of laser point under the transit survey system that obtains through step (22) and step (23), and utilize the coordinate transformation relation of step (24) to obtain the position of laser point under laser dot matrix instrument reference mirror coordinate system, accomplish the demarcation of laser dot matrix instrument;
(3) laser beam of laser dot matrix instrument is incident upon and forms laser point on the barrier, keeps away the barrier camera laser point is formed images, and obtains the position of laser point under laser dot matrix instrument reference mirror coordinate system according to the laser dot matrix instrument calibration result;
(4) through transit simultaneously to keeping away measurements that collimate of barrier camera reference mirror and laser dot matrix instrument reference mirror, foundation keeps away the corresponding relation that hinders camera reference mirror coordinate system and laser dot matrix instrument reference mirror coordinate system;
(5) utilize the result of step (4), laser point is transformed in the position under the laser dot matrix instrument reference mirror coordinate system keeps away under the barrier camera reference mirror coordinate system;
(6) laser point that the laser point of utilizing step (3) to obtain obtains in keeping away barrier camera imaging point and step (5) is being kept away the position under the barrier camera reference mirror coordinate system; Obtain laser point at the three-dimensional coordinate initial value of keeping away under the barrier camera reference mirror coordinate system through space intersection; Obtain laser point through spatial trangulation then and keeping away accurate three-dimensional coordinate under the barrier camera reference mirror coordinate system, thus the positional information of acquired disturbance point.
The present invention's advantage compared with prior art is: the inventive method is kept away the barrier camera through use and is realized that large-scale obstacle location is definite; In conjunction with the dot matrix structured light; The straight-line equation and the laser point of laser beam are being kept away the three-dimensional coordinate that the imaging picture point that hinders camera is recovered laser point jointly down through keeping away barrier camera coordinates system; Judge that the place ahead blocks the size of object and keep away the position under the barrier camera coordinates system with it; And then size and the successful realization automatic obstacle-avoiding function of positional information guiding lunar rover through blocking object; Solve the visual imaging system in field of view edge because the deficiency of the 3-d recovery low precision that lens distortion is drawn, realize at a high speed, high precision accurately location and identification.
Description of drawings
Fig. 1 is the schematic diagram of the inventive method;
Fig. 2 is the FB(flow block) of the inventive method;
Fig. 3 keeps away barrier camera calibration process flow diagram for the present invention.
Embodiment
The obstacle location that the present invention is based on lattice structure light confirms that method dependence keeps away the barrier camera and laser dot matrix instrument is accomplished jointly; Its core concept is that the straight-line equation and the laser point of laser beam are being kept away the three-dimensional coordinate that the imaging picture point that hinders on the camera is recovered laser point jointly down through keeping away barrier camera coordinates system; And then judgement the place ahead is blocked the size of object and is blocked object in the position of keeping away under the barrier camera coordinates system; Guide the successful realization automatic obstacle-avoiding function of lunar rover with this information, its principle is as shown in Figure 1.
The inventive method relates generally to keeps away barrier camera, laser dot matrix instrument and transit industrial measuring system; Wherein keep away the big visual field fisheye camera that the barrier camera is based on f-θ imaging model; Laser dot matrix instrument can be launched 18 laser beam to barrier; Through keeping away the barrier camera laser point of laser dot matrix instrument is carried out to picture, obtains incident point, obstacle location place and keeping away barrier camera coordinates system three-dimensional information down, thus definite obstacle location.The transit industrial measuring system is used for to the reference mirror of keeping away barrier camera and laser dot matrix instrument measurements that collimate, and through the coordinate system conversion method, laser point is concerned in the position under the laser dot matrix instrument reference mirror coordinate system to be transformed into to keep away hinder under the camera reference mirror coordinate system.The transit industrial measuring system comprises the NET05 total powerstation that the Japanese Suo Jia of two two TM5001 electronic theodolites being produced by Switzerland come card company, company produces, one through demarcation, length is 1007.8 millimeters one of station meter.
As shown in Figure 2, be the process flow diagram of the inventive method.The obstacle location that the present invention is based on lattice structure light confirms that method mainly comprises following step: the demarcation that keeps away the barrier camera; The demarcation of laser dot matrix instrument; Keeping away the barrier camera forms images to laser point; Laser dot matrix instrument hinders confirming of camera relation with keeping away; Obtain laser point through space intersection and triangulation method and keeping away accurate three-dimensional coordinate under the barrier camera reference mirror coordinate system, thus the positional information of acquired disturbance point.Be elaborated in the face of key step down.
(1) chooses the fisheye camera conduct of adopting f-θ imaging model and keep away the barrier camera, said fisheye camera is demarcated, obtain the intrinsic parameter and outer parameter of fisheye camera.It is as shown in Figure 3 to keep away barrier camera calibration flow process.
Intrinsic parameter is demarcated: utilize high-acruracy survey equipment to set up and demarcate the field; Utilization keeps away the barrier camera and is taken pictures in the demarcation field of measuring completion; The image known point interior with demarcating the field that use is taken pictures and obtained utilizes the light beam method of adjustment to calculate and keeps away the intrinsic parameter that hinders camera.
Outer parameter calibration: utilize the transit survey system to set up the transit survey system coordinate system, under the transit survey coordinate system, collimate, obtain keeping away the parameter of barrier camera reference mirror coordinate system under the transit survey system to keeping away barrier camera reference mirror.Utilize the transit survey system to measure, obtain demarcating the three-dimensional coordinate of field mark under the transit survey system coordinate system demarcating the field.Utilize the common point conversion, obtain demarcating the transformational relation of a coordinate system and transit survey system coordinate system, thereby obtain to keep away barrier camera reference mirror coordinate system and the relation of demarcating a coordinate system.Utilize the barrier camera of keeping away of having demarcated intrinsic parameter to take pictures to demarcating the field once more; Utilize the resection method to obtain keeping away barrier camera coordinates system and the relation of demarcating a coordinate system; Thereby obtain to keep away barrier camera coordinates system and the relation of keeping away barrier camera reference mirror coordinate system, promptly calibrate the outer parameter of keeping away the barrier camera.
The camera intrinsic parameter: the camera intrinsic parameter comprises principal point at position and the focal length of camera of picture on the plane.The intrinsic parameter of mentioning among the present invention is except comprising the distortion parameter that principal point also comprises camera lens as the focal length of position on the plane and camera.
Camera extrinsic number: be used for representing camera preferred coordinate system position and one group of parameter of direction down, the angular orientation element RX that volume coordinate Xs, Ys, Zs and its spatial axes that comprises its central point is, RY, RZ.
(2) laser dot matrix instrument is demarcated, scaling method is:
(21) laser beam of laser dot matrix instrument is incident upon and forms laser point on the ground,, then the right intrinsic parameter of photogrammetric camera is demarcated laser point is taken pictures with photogrammetric camera; Again the right relative parameter of photogrammetric camera is demarcated; Form the double camera measuring system, utilize the photogrammetric camera of having demarcated, captured image is handled laser point is taken pictures; Obtain laser point picpointed coordinate (x, y);
(22) utilize the intrinsic parameter of photogrammetric camera to carry out triangulation, obtain laser point three-dimensional coordinate (X, Y, Z); Utilize processed images obtain laser point at photogrammetric camera to the three-dimensional coordinate under the measuring system (X ', Y ', Z ');
(23) set up the transit survey system, this system comprises the NET05 total powerstation that the Japanese Suo Jia of two two TM5001 electronic theodolites being produced by Switzerland come card company, company produces, one through demarcation, length is 1007.8 millimeters one of station meter.Through the transit survey system reference mirror of photogrammetric camera is collimated, confirm the transformational relation of transit survey coordinate system and photogrammetric camera measuring system;
(24) utilize the transit survey system in the step (23) that the reference mirror on the laser dot matrix instrument is collimated, thereby confirm the transformational relation of transit survey system and laser dot matrix instrument reference mirror coordinate system;
The coordinate of the laser point that (25) obtains through step (22) and step (23) under the transit survey system (X1 ', Y1 ', Z1 '); And the coordinate transformation relation that utilizes step (24) obtains the position of laser point under laser dot matrix instrument reference mirror coordinate system (X2 ', Y2 ', Z2 '); So far accomplish the demarcation of laser point under laser dot matrix instrument reference mirror coordinate system, repeated above-mentioned steps, gathered 20 laser point; Its coordinate under laser dot matrix instrument reference mirror coordinate system is (X2i ', Y2i ', Z2i ') (i=1～20); Utilize least square method to carry out the space line match, can obtain the vector equation of this laser beam, 18 laser beams respectively laser dot matrix instrument being launched are demarcated; Can obtain the vector equation of all light beams of laser dot matrix instrument under laser dot matrix instrument reference mirror coordinate system, accomplish the demarcation of laser dot matrix instrument;
(3) through laser dot matrix instrument 18 laser beam are got to apart from laser dot matrix instrument and the barrier of keeping away barrier a distance, camera the place ahead, will be kept away the barrier camera then the imaging of taking pictures of the laser point on the barrier of the place ahead.To clap image carry out scan process, obtain the picpointed coordinate of laser point on the image.
(4) laser dot matrix instrument hinders confirming of camera relation with keeping away.Through the demarcation of step (2), obtain the position of laser point at laser dot matrix instrument reference mirror coordinate system; Set up the transit survey system, through collimating and measure and, set up and keep away the corresponding relation that hinders camera reference mirror coordinate system and laser dot matrix instrument reference mirror coordinate system keeping away barrier camera reference mirror and laser dot matrix instrument reference mirror simultaneously through the coordinate system conversion method.
(5) utilize the result of step (4), laser point is transformed in the relation of the position under the laser dot matrix instrument reference mirror coordinate system keeps away under the barrier camera reference mirror coordinate system.
(6) laser point that the laser point of utilizing step (3) to obtain obtains in keeping away barrier camera imaging point and step (5) is being kept away the position under the barrier camera reference mirror coordinate system; Through space intersection obtain laser point keep away three-dimensional coordinate initial value under the barrier camera reference mirror coordinate system (Xc, Yc, Zc); Obtain laser point through spatial trangulation then and keeping away accurate three-dimensional coordinate (Xp under the barrier camera reference mirror coordinate system; Yp, Zp), thus the positional information of acquired disturbance point.
The space intersection of mentioning in the preceding text is under the known prerequisite of the inside and outside parameter of camera, utilizes the corresponding image points coordinate to confirm the process of corresponding object space point three-dimensional coordinate.
The content of not doing to describe in detail in the instructions of the present invention belongs to those skilled in the art's known technology.
Claims (1)
1. confirm method based on the obstacle location of lattice structure light, it is characterized in that step is following:
(1) chooses the fisheye camera conduct of adopting f-θ imaging model and keep away the barrier camera, said fisheye camera is demarcated, obtain the intrinsic parameter and outer parameter of fisheye camera;
(2) laser dot matrix instrument is demarcated, scaling method is:
(21) laser beam of laser dot matrix instrument is incident upon and forms laser point on the ground, with photogrammetric camera laser point is taken pictures, and after Flame Image Process, obtains the picpointed coordinate of laser point;
(22) utilize the intrinsic parameter of photogrammetric camera to carry out triangulation, obtain the three-dimensional coordinate of laser point under photogrammetric camera measuring system;
(23) set up the transit survey system, confirm the transformational relation of transit survey coordinate system and photogrammetric camera measuring system coordinate system;
(24), confirm the transformational relation of transit survey coordinate system and laser dot matrix instrument reference mirror coordinate system through the reference mirror on the transit survey laser dot matrix instrument;
(25) coordinate of laser point under the transit survey system that obtains through step (22) and step (23), and utilize the coordinate transformation relation of step (24) to obtain the position of laser point under laser dot matrix instrument reference mirror coordinate system, accomplish the demarcation of laser dot matrix instrument;
(3) laser beam of laser dot matrix instrument is incident upon and forms laser point on the barrier, keeps away the barrier camera laser point is formed images, and obtains the position of laser point under laser dot matrix instrument reference mirror coordinate system according to the laser dot matrix instrument calibration result;
(4) through transit simultaneously to keeping away measurements that collimate of barrier camera reference mirror and laser dot matrix instrument reference mirror, foundation keeps away the corresponding relation that hinders camera reference mirror coordinate system and laser dot matrix instrument reference mirror coordinate system;
(5) utilize the result of step (4), laser point is transformed in the position under the laser dot matrix instrument reference mirror coordinate system keeps away under the barrier camera reference mirror coordinate system;
(6) laser point that the laser point of utilizing step (3) to obtain obtains in keeping away barrier camera imaging point and step (5) is being kept away the position under the barrier camera reference mirror coordinate system; Obtain laser point at the three-dimensional coordinate initial value of keeping away under the barrier camera reference mirror coordinate system through space intersection; Obtain laser point through spatial trangulation then and keeping away accurate three-dimensional coordinate under the barrier camera reference mirror coordinate system, thus the positional information of acquired disturbance point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106212104A CN102175211B (en) | 2010-12-24 | 2010-12-24 | Barrier position determining method based on lattice structured light |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106212104A CN102175211B (en) | 2010-12-24 | 2010-12-24 | Barrier position determining method based on lattice structured light |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102175211A CN102175211A (en) | 2011-09-07 |
| CN102175211B true CN102175211B (en) | 2012-08-22 |
Family
ID=44518422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010106212104A Active CN102175211B (en) | 2010-12-24 | 2010-12-24 | Barrier position determining method based on lattice structured light |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102175211B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104215261B (en) * | 2014-08-26 | 2017-06-23 | 中国科学院长春光学精密机械与物理研究所 | The big reflective free form surface space camera distortion scaling method in visual field |
| CN104859562A (en) * | 2015-05-27 | 2015-08-26 | 北京信息科技大学 | Method and device for detecting barriers behind vehicle |
| CN105823420B (en) * | 2016-05-16 | 2018-06-01 | 北京控制工程研究所 | A kind of pyramid sub-assembly light echo center of energy coordinate precise deriving method |
| CN113884080A (en) * | 2016-11-01 | 2022-01-04 | 北京墨土科技有限公司 | Method and equipment for determining three-dimensional coordinates of positioning point and photoelectric measuring instrument |
| CN108562644B (en) * | 2018-04-27 | 2021-02-26 | 东北石油大学 | Intelligent detection device and detection method for storage tank top plate |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1769266A1 (en) * | 2004-07-06 | 2007-04-04 | Dimsdale Engineering, Llc | Method and apparatus for high resolution 3d imaging |
| CN101802754A (en) * | 2007-09-20 | 2010-08-11 | 沃尔沃拉斯特瓦格纳公司 | Position detection arrangement and operating method for a position detection arrangement |
| CN101832772A (en) * | 2010-06-01 | 2010-09-15 | 郑州辰维科技有限公司 | Calibrating method of laser dot-matrix device of obstacle avoidance system of lunar rover |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59214703A (en) * | 1983-05-21 | 1984-12-04 | Mc Kk | Position measuring device utilizing laser light |
| US7859655B2 (en) * | 2007-09-28 | 2010-12-28 | The Boeing Company | Method involving a pointing instrument and a target object |
-
2010
- 2010-12-24 CN CN2010106212104A patent/CN102175211B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1769266A1 (en) * | 2004-07-06 | 2007-04-04 | Dimsdale Engineering, Llc | Method and apparatus for high resolution 3d imaging |
| CN101802754A (en) * | 2007-09-20 | 2010-08-11 | 沃尔沃拉斯特瓦格纳公司 | Position detection arrangement and operating method for a position detection arrangement |
| CN101832772A (en) * | 2010-06-01 | 2010-09-15 | 郑州辰维科技有限公司 | Calibrating method of laser dot-matrix device of obstacle avoidance system of lunar rover |
Non-Patent Citations (1)
| Title |
|---|
| 李春艳等.一种双目立体视觉相机标定方法.《空间控制技术与应用》.2010,第36卷(第3期),51-54. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102175211A (en) | 2011-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107093195B (en) | A kind of locating mark points method of laser ranging in conjunction with binocular camera | |
| CN101858755B (en) | Method for calibrating star sensor | |
| CN102175211B (en) | Barrier position determining method based on lattice structured light | |
| CN102607457B (en) | Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology | |
| CN110361010B (en) | Mobile robot positioning method based on occupancy grid map and combined with imu | |
| CN109029257A (en) | Based on stereoscopic vision and the large-scale workpiece pose measurement system of structure light vision, method | |
| CN102538763B (en) | Method for measuring three-dimensional terrain in river model test | |
| CN108226938A (en) | A kind of alignment system and method for AGV trolleies | |
| CN102944188B (en) | A kind of spot scan three dimensional shape measurement system scaling method | |
| CN102519434B (en) | Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data | |
| CN108801142A (en) | A kind of super workpiece double-movement measurement robot system and method | |
| CN101832772B (en) | Calibrating method of laser dot-matrix device of obstacle avoidance system of lunar rover | |
| CN104200086A (en) | Wide-baseline visible light camera pose estimation method | |
| CN112945137B (en) | Storage ore heap scanning method based on single-line laser radar and range finder equipment | |
| CN105445721A (en) | Combined calibrating method of laser radar and camera based on V-shaped calibrating object having characteristic protrusion | |
| CN105913410A (en) | Long-distance moving object height measurement apparatus and method based on machine vision | |
| CN105303560A (en) | Robot laser scanning welding seam tracking system calibration method | |
| CN102650886A (en) | Vision system based on active panoramic vision sensor for robot | |
| CN101241011A (en) | High precision positioning and posture-fixing device on laser radar platform and method | |
| CN110243380A (en) | A kind of map-matching method based on multi-sensor data and angle character identification | |
| CN104613929A (en) | Method for automatic collimation of cubic mirror based on machine vision | |
| CN110411375B (en) | Three-dimensional imaging method based on passive millimeter wave/terahertz imaging technology | |
| CN108269286A (en) | Polyphaser pose correlating method based on combination dimensional mark | |
| CN102012236A (en) | Method for calibrating moon rover binocular vision obstacle avoidance system | |
| CN109920009B (en) | Control point detection and management method and device based on two-dimensional code identification |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |