CN104165587A - Real time three dimensional imaging system based on laser light and visual sense - Google Patents
Real time three dimensional imaging system based on laser light and visual sense Download PDFInfo
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- CN104165587A CN104165587A CN201310184903.5A CN201310184903A CN104165587A CN 104165587 A CN104165587 A CN 104165587A CN 201310184903 A CN201310184903 A CN 201310184903A CN 104165587 A CN104165587 A CN 104165587A
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Abstract
The invention relates to a real time three dimensional imaging system based on laser light and visual sense. The real time three dimensional imaging system consists of three major parts that are a visual sense processing subsystem, a control subsystem and a machinery mechanism. Object images are obtained by a camera and are then processed by a visual sense processing computer, three dimensional position information in image coordinates can be obtained and sent to a common storage area, and a control computer obtains the three dimensional position information from the common storage area and performs coordinate conversion and real-time programming. Information of measured depth is fed back to the visual sense computer to obtain the three dimensional position information of an object. The system has the advantages of high distance precision, high activity, real-time performance, high speed, low cost, simple technology and the like.
Description
[technical field]
This patent relates to and belongs to computer vision, three-dimensional imaging and the mutual field of body sense, for quick and precisely obtaining the three dimensional local information of object.
[technical background]
At present, using binocular stereo vision is the Main Means that obtains target three dimensional local information.Conventional method is by two camera synchronization gain stereo-pictures pair, again according to the principle of stereoscopic vision, calculate the depth information of every bit in the public visual field of image, generating depth map, extract again depth information corresponding to target, determine the three dimensional local information of target. but all there is following problem in these equipment:
1. distance precision is low: in the past the binocular of research and many days stereoscopic visions (in 5 meters) in the time measuring close-in target had higher precision (more than 1 millimeter), and (beyond 5 meters) precision is very poor even cannot measure remote.
2. initiative is poor: in the time that space three-dimensional scene is projected as two dimensional image in video camera, the image of same scenery under different points of view has a great difference, and factors in scene, as illumination condition, scene geometry and physical characteristics, noise and distortion and camera properties etc., all by comprehensively in single gradation of image value.Obviously, from the image that has comprised so many unfavorable factors, be difficult to try to achieve exactly high accuracy depth information.And in application, in most of situation, be also not need each point to ask depth information.Therefore, much calculating there is no need, and also lacks the initiatively ability of select target.
3. operand is large, and the poor z stereoscopic vision of real-time requires to solve each corresponding point in a stereoscopic image, and the abundant information that image comprises, makes the speed of pointwise Corresponding matching very slow, and easily produces " morbid state " computational problem.Although be head it off, under regularization framework, add certain constraint, problem is converted into ask the optimum solution of many conditional functions, but difficulty in computation and calculated amount are greatly increased, make visual processes speed be difficult to improve, cannot requirement of real time, limit application.In order to improve the initiative of vision subsystem to target three-dimensional localization, reduce the calculated amount of 3 D visual image processing and the real-time of raising system, the positional information that initiatively obtains fast target, the invention provides a kind of real time three-dimensional imaging system based on laser speckle
[summary of the invention]
Whole system is by visual processes subsystem, and control subsystem and mechanical mechanism three parts form.Visual processes subsystem is made up of visual processes computing machine, video camera, laser speckle transmitter.Video camera of the present invention is USB camera.Control subsystem comprises controls computing machine (built-in DIA plate, memo-link subcard), driver, motor (integrated shaft-position encoder).
Mechanical mechanism forms by bearing and for the fixed support of mounted motor, camera and laser speckle transmitter, has two-dimensional freedom, mainly plays a part to install and support.Concrete framework is: two are fixed on the cuboid support in mechanical mechanism with the video camera of image pick-up card compatibility, laying the namely semiconductor laser of radiating portion of laser speckle transmitter in the midpoint of two video cameras, the i.e. line array CCD with 8 centimetres of amasthenic lens of 4 centimetres of focal lengths of diameter of receiving unit of laser speckle transmitter is being installed directly over laser instrument.At the support bracket fastened rear of rectangular parallelepiped, horizontal positioned the brshless DC motor of 15 watts, and motor diameter is that 4 centimeter length are 10 centimetres of built-in shaft-position encoders, rotates up and down CY direction of principal axis for drive system) to specified angle.Be thereunder a wound packages support, external diameter is 6 centimetres, and internal diameter is 4 centimetres, and the brshless DC motor of 15 watts has been installed in the inside, and this motor and horizontal positioned motor are completely alternate, for drive system left-right rotation ex direction of principal axis) to specified angle.
Obtained by video camera after the image of front target,, obtain target position information, be stored in the common storage area that is installed on memo-link main card in vision computer PCI slot.Controlling computing machine is obtained two-dimensional position information and the positional information of target visual coordinate system is converted into the positional information under the coordinate system taking generating laser as initial point from common storage area by memo-link subcard, calculate the controlled quentity controlled variable of target offset initial point, the driver that respectively controlled quentity controlled variable is outputed to motor by the DIA converter of 12 again carrys out drive motor rotates and consist of the shaft-position encoder of electric machine built-in simultaneously backfeed loop controls angle that motor turns to requirement accurately and is located in by target one by one the namely dead ahead of semiconductor laser of transmitting terminal of laser speckle transmitter, laser instrument can be irradiated in target to be measured exactly, the condenser lens of laser speckle transmitter receipt end converges to the reflected signal of target on line array CCD, calculate the range information (namely depth information) of target with triangulation according to the output of line array CCD, the depth information finally detecting and two-dimensional position information feed back to vision computer and have just demonstrated the three dimensional local information of target.
The invention has the beneficial effects as follows:
1. precision is high.Laser speckle transmitter has very high precision, except can realize the precision of stereoscopic vision in the distance of closely (in 5 meters), especially in the time measuring the target of remote (5 meters of >), there is the incomparable precision and stability of stereoscopic vision.
2. cost is low.The present invention has used the structure of two CPU, and this CPU also can be with the replacement such as DSP or MCU, lower than similar products price,
3. real-time.In the present invention, the depth information of target carries out corresponding point matching without stereoscopic image, and therefore speed is fast, and real-time is very good.
4. technique is simple.Mechanical part is only made up of the mounting bracket of realizing the motor of two degree of freedom and fixing camera, laser speckle transmitter, processing, easy for installation.
And the present invention also has the little lightweight feature of volume, can be easy to be integrated in other system, exist as a kind of functional unit.
[brief description of the drawings]
Brief description of the drawings: the present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is system schematic of the present invention
Fig. 2 is the vertical view of mechanical mechanism
Fig. 3 is vision subsystem workflow diagram
Fig. 1, in: 1. system framework, 2. video camera, 3. laser speckle transmitter, 4. image transmitting USB line,
Fig. 2, in: 1. system framework, 2. laser speckle transmitter, 3. camera, 4. optical filtering frosted glass
[embodiment]
The concrete steps that this system realizes three-dimensional localization are as follows:
The first step: video camera, by the image of the target in the visual field, is delivered in visual processes computing machine
Second step: visual processes Computer calculates target at the two-dimensional position of visual plane and this information is sent to common storage area
The 3rd step: control computing machine reads the position data of common storage area, carry out coordinate conversion and real time three-dimensional imaging by control program according to the installation site of video camera and semiconductor laser transmitter, after can obtaining the depth information of target and send the processing of visual processes computer generalization to triangulation, obtain the final three-dimensional information of target.
Claims (2)
1. the real time three-dimensional imaging system based on laser and vision, it is characterized in that: it comprises visual processes subsystem, control subsystem and mechanical mechanism three parts: wherein visual processes subsystem is made up of visual processes computing machine, camera, laser speckle transmitter, control subsystem comprises controls computing machine, driver, motor.
2. a kind of real time three-dimensional imaging system based on laser and vision as claimed in claim 1, it is characterized in that: obtained by video camera after the image of front target, calculate the range information (namely depth information) of target according to triangulation, the depth information finally detecting and two-dimensional position information feed back to vision computer, finally comprehensively go out the three dimensional local information of target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310184903.5A CN104165587A (en) | 2013-05-17 | 2013-05-17 | Real time three dimensional imaging system based on laser light and visual sense |
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| CN201310184903.5A CN104165587A (en) | 2013-05-17 | 2013-05-17 | Real time three dimensional imaging system based on laser light and visual sense |
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| CN104165587A true CN104165587A (en) | 2014-11-26 |
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| CN201310184903.5A Pending CN104165587A (en) | 2013-05-17 | 2013-05-17 | Real time three dimensional imaging system based on laser light and visual sense |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106840020A (en) * | 2017-03-16 | 2017-06-13 | 公安部交通管理科学研究所 | Hand-hold vehicle deformation parameter measurement apparatus and measuring method based on face structure light scanning |
| WO2018049818A1 (en) * | 2016-08-16 | 2018-03-22 | 上海汇像信息技术有限公司 | Three-dimensional measurement technology-based system and method for measuring surface area of object |
| CN111649695A (en) * | 2020-06-05 | 2020-09-11 | 苏州若柏视智能科技有限公司 | Binocular vision sensor and object identification method |
| CN111816050A (en) * | 2020-07-01 | 2020-10-23 | 武汉筑梦科技有限公司 | Multifunctional feeder based on visual feedback |
-
2013
- 2013-05-17 CN CN201310184903.5A patent/CN104165587A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018049818A1 (en) * | 2016-08-16 | 2018-03-22 | 上海汇像信息技术有限公司 | Three-dimensional measurement technology-based system and method for measuring surface area of object |
| CN106840020A (en) * | 2017-03-16 | 2017-06-13 | 公安部交通管理科学研究所 | Hand-hold vehicle deformation parameter measurement apparatus and measuring method based on face structure light scanning |
| CN111649695A (en) * | 2020-06-05 | 2020-09-11 | 苏州若柏视智能科技有限公司 | Binocular vision sensor and object identification method |
| CN111816050A (en) * | 2020-07-01 | 2020-10-23 | 武汉筑梦科技有限公司 | Multifunctional feeder based on visual feedback |
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Addressee: Liu Jiapeng Document name: Notification of Publication of the Application for Invention |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141126 |