CN102339463A - System and method for calibrating linear array camera based on laser scanner - Google Patents
System and method for calibrating linear array camera based on laser scanner Download PDFInfo
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- CN102339463A CN102339463A CN2010102362494A CN201010236249A CN102339463A CN 102339463 A CN102339463 A CN 102339463A CN 2010102362494 A CN2010102362494 A CN 2010102362494A CN 201010236249 A CN201010236249 A CN 201010236249A CN 102339463 A CN102339463 A CN 102339463A
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Abstract
The invention provides a system for calibrating a linear array camera based on a laser scanner, comprising a bearing device, a laser scanner and a resolver, wherein the laser scanner is arranged on the bearing device, and the bearing device is provided with a support which is used for fixing the linear array camera; the laser scanner is arranged below the linear array camera, the scanning direction of the laser scanner is parallel to the lens direction of the linear array camera, and nodes of the laser scanner and nodes of the linear array camera are in the same vertical straight line; the laser scanner scans to acquire point cloud data of a measured target object; the linear array camera takes pictures for positions scanned by the laser scanner so as to acquire image data of the measured target object; and the resolver receives the point cloud data and the image data, carries out characteristic matching on the received data and operates inner orientation elements of the linear array camera in accordance with the received data. The invention also provides a method for calibrating the linear array camera based on the laser scanner. The system and method provided by the invention can be used to reduce the workload of calibrating the linear array camera.
Description
Technical field
The present invention relates to a kind of scaling method of line-scan digital camera, relate in particular to a kind of system and method based on laser scanner calibration line array camera.
Background technology
Universal day by day along with three-dimensional spatial information service, people require increasingly high to the verisimilitude of virtual reality, and the three-dimensional measurement technology is also more and more paid close attention to.At present, the three-dimensional measurement technology is mainly obtained the image of measured target thing through line-scan digital camera, and further rebuilds the absolute three-dimensional coordinate of measured target thing through the elements of interior orientation that resolves camera; The process of resolving camera internal position element promptly is called the demarcation of camera; Because the relative position when dynamically taking between line-scan digital camera and the object constantly changes, traditional camera calibration Technology Need design target is analyzed the distribution of characteristic curve in image on the target; Confirm the relative position relation of poster camera; And then the elements of interior orientation of demarcation camera, this method not only needs a large amount of operands, and stated accuracy also is difficult to guarantee.
Summary of the invention
In view of the problems referred to above that exist in the prior art, fundamental purpose of the present invention is to address the deficiencies of the prior art, and the calibration system and the method for a kind of workload that reduces camera calibration, line-scan digital camera that the camera calibration precision is high is provided.
A kind of system based on laser scanner calibration line array camera; Comprise a bogey, a laser scanner and a resolver; Said laser scanner is installed on the said bogey, is equiped with a support on the said bogey, is used for fixing a line-scan digital camera on the said support; Said laser scanner is positioned at the below of said line-scan digital camera; The laser scanning direction of said laser scanner is parallel with the lens direction of line-scan digital camera, and the node of said laser scanner and line-scan digital camera is on same vertical straight line, and said laser scanner scans is obtained the cloud data of a measured target object; Said line-scan digital camera is taken position that said laser scanner scans to obtain the view data of said measured target thing; Said resolver is used to receive cloud data and view data, and the data that receive are carried out characteristic matching, and goes out the elements of interior orientation of said line-scan digital camera according to the data operation that receives.
A kind of method based on laser scanner calibration line array camera comprises:
Obtain the cloud data of a measured target object through a laser scanner;
Take position that said laser scanner scans to obtain the view data of said measured target thing through a line-scan digital camera to be calibrated, the node of parallel and said laser scanner with the lens direction of line-scan digital camera in the direction of scanning of wherein said laser scanner and line-scan digital camera is on same vertical straight line; And
Receive said cloud data and view data through a resolver, and the data that receive are carried out characteristic matching, and go out the elements of interior orientation of said line-scan digital camera according to the data operation that receives.
Said system and method based on laser scanner calibration line array camera is parallel with the lens direction of the line-scan digital camera of generation demarcation through the laser scanning direction that makes said laser scanner; And both nodes are on same vertical straight line; And cloud data and the view data obtained are carried out characteristic matching through said resolver; Obtain having the cloud data and the view data of same characteristic features, and come the elements of interior orientation of calibration line array camera, need not to design that to demarcate the interior side that target can the calibration line array camera be element according to said cloud data and view data; Reduce the operand that line-scan digital camera is demarcated, and had higher stated accuracy.
Description of drawings
Fig. 1 is the structural representation of preferred embodiments that the present invention is based on the system of laser scanner calibration line array camera.
Fig. 2 is the process flow diagram that the present invention is based on preferred embodiments laser scanner calibration line array camera and method.
Embodiment
To combine accompanying drawing and specific embodiment that the present invention is described further below.
Please refer to Fig. 1; The preferred embodiments that the present invention is based on the system 1 of laser scanner calibration line array camera comprises a bogey 10, a laser scanner 12, a filter 14 and a resolver 18; Said system 1 based on laser scanner calibration line array camera is used for a line-scan digital camera 16 is demarcated, and said camera 16 is used for obtaining in the three-dimensional measurement process image of a measured target object.
Said laser scanner 12, filter 14 and line-scan digital camera 16 are installed on the said bogey 12; Wherein, Said laser scanner 12 is installed in the surface of said bogey 10, vertically is fixed with a support 15 on the said bogey 10, said support 15 be fixed on laser scanner 12 around; Said filter 14 is fixed on the said support 15, is positioned at the top of said laser scanner 12.
Said filter 14 comprises one first dull and stereotyped 141,1 second dull and stereotyped 142,1 the 3rd flat board 143 and a plurality of setting nut 144; Said first, second and third dull and stereotyped 141-143 is stacked successively from top to bottom; And be fixed together through said a plurality of setting nuts 144, said a plurality of setting nuts 144 are distributed in the diverse location of said filter 14.Said line-scan digital camera 16 is fixed on the said the 3rd dull and stereotyped 143; The laser scanning line parallel of the lens direction of said line-scan digital camera 16 and said laser scanner 12, and both nodes (being the scanning center of said laser scanner 12 and the optical centre of said line-scan digital camera) are on same vertical straight line.In other true modes; Said line-scan digital camera 16 also can be fixed on the top of said laser scanner 12 through the mode of suspention; Said line-scan digital camera 16 also can be installed in the below of said laser scanner 12; As long as make the laser scanning direction of lens direction and laser scanner 12 of said line-scan digital camera 16 parallel, and both nodes get final product at same vertical straight line.
Said resolver 18 is a computing machine, and said resolver is connected with said laser scanner 12 and line-scan digital camera 16 through cable.
Said line-scan digital camera 16 is used to take a measured target object to obtain the view data of said measured target object; Said laser scanner 12 is used for obtaining through the mode of laser scanning the cloud data of said measured target object; Said laser scanner 12 is also as the external trigger source of said line-scan digital camera 16; Take through triggering said line-scan digital camera 16 to said line-scan digital camera transmission pulse signal; So that said line-scan digital camera 16 keeps synchronousing working with said laser scanner 12, promptly said laser scanner 12 makes said line-scan digital camera 16 also take this position in a certain position of scanning.Cloud data and view data that the said laser scanner 12 of said resolver 18 receptions obtains are carried out characteristic matching, and calculate the elements of interior orientation of said line-scan digital camera 16 through the adjustment computing.
When because external factor such as vibrations causes that deviation appears in the laser scanning direction of lens direction and the laser scanner 12 of said line-scan digital camera 16 when not parallel; Can operate the setting nut 144 of diverse location according to the angle of deviation; Make said first, second flat board 141, have the space between 142; And according to extent of deviation in that said first, second is dull and stereotyped 141, fill in the pad chi or the pad 17 of suitable thickness in the space between 142; To finely tune the attitude of said line-scan digital camera 16, make the lens direction of said line-scan digital camera 16 parallel with the laser scanning direction of laser scanner 12.In other embodiments; For example; Enough hour of the vibrations that in the lower measuring system of some accuracy requirements or when said laser scanner 12 and line-scan digital camera 16, produced; Can the attitude of said line-scan digital camera 16 finely not tuned, the 3rd flat board 143 that carries said line-scan digital camera 16 is fixed on the said support 15, and omits said first, second flat board 141,142, said a plurality of setting nuts 144 and said pad or pad chi 17.
Please refer to Fig. 2, the method that the present invention is based on laser scanner calibration line array camera applies to said system 1 based on laser scanner calibration line array camera, and its preferred embodiments comprises the steps:
Step S1: scan the measured target objects to obtain the cloud data of target object through said laser scanner 12;
Step S2: said laser scanner 12 triggers 16 pairs of said measured target objects of said line-scan digital camera and takes to obtain the view data of said measured target object; Said laser scanner 12 is when the measured target object is scanned, to trigger said line-scan digital camera 16 to take; So that said line-scan digital camera 16 and laser scanner 12 synchronous workings; Because the lens direction of said line-scan digital camera 16 is parallel with the direction of scanning of laser scanner 12; And the laser node of said laser scanner 12 and the camera lens node of said line-scan digital camera are at same vertical straight line, and said line-scan digital camera 16 can photograph the said laser scanner 12 current positions of scanning.In this embodiment, said step S2 and step S1 carry out simultaneously;
Step S3: regulate said first, second spaces dull and stereotyped 141, between 142 through operating said a plurality of setting nut 144, and in this space, fill in pad or pad chi 17 makes the lens direction of said line-scan digital camera 10 parallel with the direction of scanning of laser scanner 12; And
Step S4: the view data that cloud data that obtains through 18 pairs of said laser scanners 14 of said resolver and said line-scan digital camera 10 obtain is carried out characteristic matching; And said cloud data and view data carried out computing to obtain the elements of interior orientation of said line-scan digital camera 16; Realization is to the demarcation of said line-scan digital camera 16; Wherein, said resolver 18 is that interior side that mode through the adjustment computing obtains said line-scan digital camera 160 is an element.
Because the laser scanning direction of laser scanner 12 is parallel with the lens direction of line-scan digital camera 16; And the node of said laser scanner 12 and line-scan digital camera 16 is on same straight line; The cloud data that can guarantee to be gathered and the consistance of view data; Help to scan searching of some cloud that obtains and the same characteristic features point of taking the image that obtains, therefore need not to design to demarcate the demarcation that target can be realized line-scan digital camera, saved operand and had higher stated accuracy.
Claims (10)
1. system based on laser scanner calibration line array camera; Comprise a bogey, a laser scanner and a resolver; Said laser scanner is installed on the said bogey, is equiped with a support on the said bogey, is used for fixing a line-scan digital camera on the said support; Said laser scanner is positioned at the below of said line-scan digital camera; The laser scanning direction of said laser scanner is parallel with the lens direction of line-scan digital camera, and the node of said laser scanner and line-scan digital camera is on same vertical straight line, and said laser scanner scans is obtained the cloud data of a measured target object; Said line-scan digital camera is taken position that said laser scanner scans to obtain the view data of said measured target thing; Said resolver is used to receive cloud data and view data, and the data that receive are carried out characteristic matching, and goes out the elements of interior orientation of said line-scan digital camera according to the data operation that receives.
2. three-dimension measuring system as claimed in claim 1 is characterized in that: said system based on laser scanner calibration line array camera also comprises a filter, and said filter is fixed on the said support, and is used to install said line-scan digital camera.
3. the system based on laser scanner calibration line array camera as claimed in claim 2; It is characterized in that: said filter comprises one first flat board, one second dull and stereotyped and one the 3rd flat board; Said first to the 3rd flat board is stacked successively from top to bottom, and is fixed together through the setting nut in space between said first, second flat board of a plurality of scalable.
4. the system based on laser scanner calibration line array camera as claimed in claim 1 is characterized in that: said laser scanner is realized the synchronous working between said laser scanner and the line-scan digital camera through sending pulse signal to said line-scan digital camera.
5. mobile modeling as claimed in claim 1 and measuring system is characterized in that: said resolver is a computing machine.
6. method based on laser scanner calibration line array camera comprises:
Obtain the cloud data of a measured target object through a laser scanner;
Take position that said laser scanner scans to obtain the view data of said measured target thing through a line-scan digital camera to be calibrated, the node of parallel and said laser scanner with the lens direction of line-scan digital camera in the direction of scanning of wherein said laser scanner and line-scan digital camera is on same vertical straight line; And
Receive said cloud data and view data through a resolver, and the data that receive are carried out characteristic matching, and go out the elements of interior orientation of said line-scan digital camera according to the data operation that receives.
7. the method based on laser scanner calibration line array camera as claimed in claim 6; It is characterized in that: said line-scan digital camera is mounted on the filter; Said filter is installed between said laser scanner and the line-scan digital camera, and said method based on laser scanner calibration line array camera is further comprising the steps of:
Finely tune the attitude of said line-scan digital camera so that the direction of scanning of the lens direction of said line-scan digital camera and laser scanner is parallel through said filter plate.
8. the method based on laser scanner calibration line array camera as claimed in claim 7; It is characterized in that: said laser scanner is installed in the upper surface of said bogey; Said filter is fixed on said bogey upper surface through a support and is positioned at the top of said laser scanner; Said filter comprises one first flat board, one second dull and stereotyped and one the 3rd flat board, and said first to the 3rd flat board is stacked successively from top to bottom, and is fixed together through a plurality of setting nuts; Said line-scan digital camera is installed on said the 3rd flat board, and said method based on laser scanner calibration line array camera is the attitude of finely tuning said line-scan digital camera through following method:
Operating said a plurality of setting nut makes between said first, second flat board and has the space; And
Between said first, second dull and stereotyped space, fill in the pad or the pad chi of predetermined thickness.
9. the method based on laser scanner calibration line array camera as claimed in claim 6 is characterized in that: the step that said line-scan digital camera obtains the view data of measured target thing comprises: said line-scan digital camera receives the pulse signal from said laser scanner.
10. the method based on laser scanner calibration line array camera as claimed in claim 6 is characterized in that: said resolver is the elements of interior orientation that calculates said line-scan digital camera through the adjustment computing.
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| CN201010236249.4A CN102339463B (en) | 2010-07-22 | 2010-07-22 | Based on the system and method for laser scanner calibration line array camera |
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| CN201010236249.4A CN102339463B (en) | 2010-07-22 | 2010-07-22 | Based on the system and method for laser scanner calibration line array camera |
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Cited By (12)
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| CN103324281A (en) * | 2013-04-18 | 2013-09-25 | 苏州易乐展示***工程有限公司 | Filtering method of non-contact interactive display system |
| CN105486289A (en) * | 2016-01-31 | 2016-04-13 | 山东科技大学 | Laser photography measuring system and camera calibration method |
| CN106651964A (en) * | 2017-02-28 | 2017-05-10 | 嘉兴锐视智能科技有限公司 | Calibration system and calibration device of laser camera |
| CN107977997A (en) * | 2017-11-29 | 2018-05-01 | 北京航空航天大学 | A kind of Camera Self-Calibration method of combination laser radar three dimensional point cloud |
| CN107991662A (en) * | 2017-12-06 | 2018-05-04 | 江苏中天引控智能***有限公司 | A kind of 3D laser and 2D imaging synchronous scanning device and its scan method |
| CN111781610A (en) * | 2020-07-14 | 2020-10-16 | 中国人民解放军国防科技大学 | Moving target space position measuring method based on wide beam laser and linear array photoelectric tube |
| CN111929309A (en) * | 2020-09-14 | 2020-11-13 | 成都卓识维景科技有限公司 | Cast part appearance defect detection method and system based on machine vision |
| CN113960046A (en) * | 2021-10-08 | 2022-01-21 | 深圳市霄光科技有限公司 | Surface detection method and system |
| CN114157808A (en) * | 2021-12-13 | 2022-03-08 | 北京国泰星云科技有限公司 | Efficient container gate image acquisition system and method |
| CN114286017A (en) * | 2021-11-15 | 2022-04-05 | 华能国际电力股份有限公司上海石洞口第二电厂 | Super-large scale power equipment image acquisition method and system based on free view angle |
| CN116051659A (en) * | 2023-03-30 | 2023-05-02 | 山东科技大学 | Linear array camera and 2D laser scanner combined calibration method |
| CN116299368A (en) * | 2023-05-19 | 2023-06-23 | 深圳市其域创新科技有限公司 | Precision measuring method and device for laser scanner, scanner and storage medium |
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Cited By (17)
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| CN103324281B (en) * | 2013-04-18 | 2017-02-08 | 苏州易乐展示***工程有限公司 | Filtering method of non-contact interactive display system |
| CN103324281A (en) * | 2013-04-18 | 2013-09-25 | 苏州易乐展示***工程有限公司 | Filtering method of non-contact interactive display system |
| CN105486289A (en) * | 2016-01-31 | 2016-04-13 | 山东科技大学 | Laser photography measuring system and camera calibration method |
| CN105486289B (en) * | 2016-01-31 | 2018-03-23 | 山东科技大学 | A kind of laser photography measuring system and camera calibration method |
| CN106651964A (en) * | 2017-02-28 | 2017-05-10 | 嘉兴锐视智能科技有限公司 | Calibration system and calibration device of laser camera |
| CN107977997A (en) * | 2017-11-29 | 2018-05-01 | 北京航空航天大学 | A kind of Camera Self-Calibration method of combination laser radar three dimensional point cloud |
| CN107977997B (en) * | 2017-11-29 | 2020-01-17 | 北京航空航天大学 | Camera self-calibration method combined with laser radar three-dimensional point cloud data |
| CN107991662B (en) * | 2017-12-06 | 2023-12-15 | 南京添马机械科技股份有限公司 | 3D laser and 2D imaging synchronous scanning device and scanning method thereof |
| CN107991662A (en) * | 2017-12-06 | 2018-05-04 | 江苏中天引控智能***有限公司 | A kind of 3D laser and 2D imaging synchronous scanning device and its scan method |
| CN111781610A (en) * | 2020-07-14 | 2020-10-16 | 中国人民解放军国防科技大学 | Moving target space position measuring method based on wide beam laser and linear array photoelectric tube |
| CN111929309A (en) * | 2020-09-14 | 2020-11-13 | 成都卓识维景科技有限公司 | Cast part appearance defect detection method and system based on machine vision |
| CN113960046A (en) * | 2021-10-08 | 2022-01-21 | 深圳市霄光科技有限公司 | Surface detection method and system |
| CN114286017A (en) * | 2021-11-15 | 2022-04-05 | 华能国际电力股份有限公司上海石洞口第二电厂 | Super-large scale power equipment image acquisition method and system based on free view angle |
| CN114157808A (en) * | 2021-12-13 | 2022-03-08 | 北京国泰星云科技有限公司 | Efficient container gate image acquisition system and method |
| CN116051659A (en) * | 2023-03-30 | 2023-05-02 | 山东科技大学 | Linear array camera and 2D laser scanner combined calibration method |
| CN116299368A (en) * | 2023-05-19 | 2023-06-23 | 深圳市其域创新科技有限公司 | Precision measuring method and device for laser scanner, scanner and storage medium |
| CN116299368B (en) * | 2023-05-19 | 2023-07-21 | 深圳市其域创新科技有限公司 | Precision measuring method and device for laser scanner, scanner and storage medium |
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