CN104501735A - Method for observing three-dimensional deformation of side slope by utilizing circular marking points - Google Patents
Method for observing three-dimensional deformation of side slope by utilizing circular marking points Download PDFInfo
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Abstract
The invention belongs to the technical field of geotechnical engineering monitoring, relates to a method for observing the three-dimensional deformation of a side slope by utilizing circular marking points, and aims to provide a more convenient and effective side slope deformation monitoring method. A two-camera visual system is put forwards, and the three-dimensional deformation of the side slope is observed by marking circular feature points. A series of regular circular feature points marked on a slope of the side slope are shot in real time to obtain two-dimensional coordinates of all the marking points at every moment, and then the two-dimensional coordinates are matched in pairs to obtain three-dimensional space coordinates through a program. Therefore, the three-dimensional information of surface soil of the side slope can be obtained to realize displacement observation. According to the method, the circular marking points are creatively combined with the two-camera visual system, and the deformation of a surface layer of the side slope can be observed only by the simple marking of the circular points, the two-camera visual system and an image processing computer, so that the labor, material resource and time input of conventional methods is greatly reduced, and good and direct observation effects are achieved.
Description
Technical field
The invention belongs to Geotechnical Engineering monitoring technical field, particularly a kind of method utilizing sphere shaped markup point observation side slope three-dimensional to be out of shape.
Background technology
In Practical Project, when the states such as the stability to side slope are monitored, the top layer deformation of side slope be characterize that side slope state changes the most significant a bit.If can accurate measurements be carried out to the displacement of side slope and can dope the deformation tendency of side slope, the measure of being correlated with just can be taked as early as possible, this harm problems such as greatly reducing slope sliding brought.
Traditional slope monitoring method as displacement meter, inclinometer pipe, artificial observation etc., all because technology and condition etc. be limited in exist to a certain extent efficiency low little, cost is higher, detect the shortcomings such as degree of accuracy is low.Along with the raising day by day of computer picture recognition and treatment technology, contactless image measuring method is more and more paid attention in fields such as Deformation Monitorings, it adopts the technology of image identifying and processing to reach acquisition to target component, thus realizes the requirement of the capable measurement of contraposition shift-in.The method cost is low, is convenient to implement, and do not need later maintenance etc., these features make it be applicable to the observation of side slope surface deformation.
Summary of the invention
The object of the invention is to a kind of method finding more convenient effective monitoring slope deforming.Proposition binocular vision system, and observe side slope three-dimensional be out of shape by marking circular unique point.By carrying out captured in real-time to a series of regular circular feature point be marked on the slope of side slope, obtaining the two-dimensional coordinate of each moment all gauge points, then by program, two-dimensional coordinate being mated between two, obtaining 3 d space coordinate.So just can obtain the three-dimensional information of side slope veneer of soil, thus realize the observation of displacement.
Technical scheme of the present invention is:
Utilize the method that sphere shaped markup point observation side slope three-dimensional is out of shape, step is as follows:
(1) soil sample according to actual needs and model size, heap builds side slope model, measures the data that heap builds the height of side slope model, the lower length of side, the upper length of side and width four sizes.
(2) on the slope of above-mentioned side slope model, a series of regular circular markers is marked.
(3) on the direction of slope facing or overlook side slope model, set up binocular vision system, in binocular vision system, the distance of the slope of camera and side slope model regulates and controls according to actual conditions.
(4) first with black and white lattice scaling board, the camera of two in binocular vision system is demarcated before test.First use the one camera standardization in MATLAB camera calibration tool box to demarcate two cameras respectively, then by the OpenCV camera calibration based on VS2010, two cameras demarcated are separately carried out stereo calibration.
(5) during test, make slope deforming by the mode of carrying out classification pressurization in the upper plane of side slope model, double camera takes the deformation process of side slope at the same time, until obvious deformation failure appears in side slope, shooting terminates.
(6) test terminates, to above-mentioned double camera shooting, collecting to the image of slope deforming process to screening, the picture before choosing every grade of pressurization and after pressurization, and choose piece image every same time after every grade of pressurization is stable.Above-mentioned selected image is carried out the pre-service such as image enhaucament, filtering, and pretreated principle enables circular markers on image clearly by computer recognizing.
(7) carry out pretreated often pair of image carried out Stereo matching to above-mentioned respectively, obtain the new images pair after three-dimensional correction.
(8) the OpenCV ellipse fitting method based on VS2010 is utilized to extract the two-dimensional coordinate of the circular markers of new images centering.
(9) according to the image-forming principle of camera, the two-dimensional coordinate of mutual for new images centering corresponding point is converted into unified three-dimensional coordinate, obtains the three-dimensional coordinate of all circular markers of each moment.
(10) circular markers spatial position change is in time obtained according to above-mentioned three-dimensional coordinate, again according to the physical size of side slope model, also can calculate the change in location situation of gauge point in real space, reach the object of the distortion observing whole side slope.
The invention has the beneficial effects as follows: initiative combines circular markers with binocular vision system, only need simple marked circle form point, double camera vision system and image procossing computing machine just can complete observation to side slope surface deformation.Substantially reduce the input of some classic method manpower and materials times, and observing effect is good, intuitively.
Embodiment
Below in conjunction with technical scheme, further illustrate the specific embodiment of the present invention.
Embodiment
(1) 1mm public footpath sieve is used to sieve to river sand, build side slope model with obtaining river Sha Dui, measurement obtain pile the height of side slope model built up, the lower length of side, top length and width degree four sizes are respectively: 25.4cm, 60.8cm, 28.9cm, 18.5cm.
(2) on the slope of above-mentioned side slope model, mark the circular markers of 15*15 specification, between consecutive point, be spaced apart 1cm.
(3) on the direction of slope facing side slope model, set up binocular vision system, the lower limb of double camera distance model is about 1.5m.
(4) first with black and white lattice scaling board, the camera of two in binocular vision system is demarcated before test.First use the one camera standardization in MATLAB camera calibration tool box to demarcate two cameras respectively, then by the OpenCV camera calibration based on VS2010, two cameras demarcated are separately carried out stereo calibration.
(5) during test, be 10KG by the single quality that adds up in the upper plane of side slope model, basal diameter is that the circular counterweight of 15cm carries out classification pressurization, and every grade loads interval time is 1 minute.Double camera is simultaneously with the deformation process of the time interval of 1 second shooting side slope, until obvious deformation failure appears in side slope, shooting terminates.
(6) test terminates, to above-mentioned double camera shooting, collecting to the image of slope deforming process to screening, picture before choosing every grade of pressurization and after pressurization, and choose secondary every grade of image loaded in interval time, altogether selected 34 pairs of images every 10 seconds.Above-mentioned selected image is carried out image enhaucament, smothing filtering, spiced salt denoising operation.
(7) carry out pretreated often pair of image carried out Stereo matching to above-mentioned respectively, obtain the new images pair after three-dimensional correction.
(8) the OpenCV ellipse fitting method based on VS2010 is utilized to extract the two-dimensional coordinate of the circular markers of new images centering.
(9) according to the image-forming principle of camera, the two-dimensional coordinate of mutual for new images centering corresponding point is converted into unified three-dimensional coordinate, obtains the three-dimensional coordinate of all circular markers of each moment.
(10) circular markers spatial position change figure is in time obtained according to above-mentioned three-dimensional coordinate, again according to the physical size of side slope model, also can calculate the change in location situation of gauge point in real space, reach the object of the distortion observing whole side slope.
Claims (1)
1. utilize the method that sphere shaped markup point observation side slope three-dimensional is out of shape, it is characterized in that, step is as follows:
(1) soil sample according to actual needs and model size, heap builds side slope model, obtains heap and builds the height of side slope model, the lower length of side, the upper length of side and width;
(2) on the slope of above-mentioned side slope model, a series of regular circular markers is marked;
(3) on the slope direction facing or overlook side slope model, set up binocular vision system, the distance of the slope of the camera in binocular vision system and side slope model regulates and controls according to actual conditions;
(4) first with black and white lattice scaling board, the camera of two in binocular vision system is demarcated before test, first use the one camera standardization in MATLAB camera calibration tool box to demarcate two cameras respectively, then by the OpenCV camera calibration based on VS2010, two cameras demarcated are separately carried out stereo calibration;
(5) during test, make side slope model deformation by the mode of carrying out classification pressurization in the upper plane of side slope model, double camera takes the deformation process of side slope model at the same time, until obvious deformation failure appears in side slope model, shooting terminates;
(6) test terminates, to above-mentioned double camera shooting, collecting to the image of side slope model deformation process to screening, the picture pair before choosing every grade of pressurization and after pressurization, and choose piece image every same time after every grade of pressurization is stable; By above-mentioned selected image to carrying out image enhaucament and filter preprocessing, pretreated principle enables circular markers on image clearly by computer recognizing;
(7) carry out pretreated often pair of image carried out Stereo matching to above-mentioned respectively, obtain the new images pair after three-dimensional correction;
(8) the OpenCV ellipse fitting method based on VS2010 is utilized to extract the two-dimensional coordinate of the circular markers of new images centering;
(9) according to the image-forming principle of camera, the two-dimensional coordinate of mutual for new images centering corresponding point is converted into unified three-dimensional coordinate, obtains the three-dimensional coordinate of all circular markers in each time chart picture;
(10) obtain circular markers spatial position change in time according to above-mentioned three-dimensional coordinate, then according to the physical size of side slope model, calculate the change in location situation of gauge point in real space, and then observe the distortion of whole side slope model.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105488503A (en) * | 2015-11-27 | 2016-04-13 | 东北大学 | Method for detecting circle center image coordinate of uncoded circular ring-shaped gauge point |
| CN106127203A (en) * | 2016-06-29 | 2016-11-16 | 孟祥雨 | A kind of device to object location and followed the trail of and the method for image recognition |
| CN107843204A (en) * | 2017-10-27 | 2018-03-27 | 王文柏 | Side slope three-dimensional deformation monitoring method and system based on monitoring level video camera |
| CN107883916A (en) * | 2016-09-29 | 2018-04-06 | 波音公司 | Method and apparatus for sense aircraft areal deformation |
| CN109297428A (en) * | 2018-11-21 | 2019-02-01 | 武汉珈鹰智能科技有限公司 | A kind of high-precision deformation based on unmanned plane patrols survey technology method |
| CN110095073A (en) * | 2019-04-03 | 2019-08-06 | 中铁十六局集团第一工程有限公司 | A kind of safety monitoring slope system and method |
| CN110245634A (en) * | 2019-06-20 | 2019-09-17 | 招商局重庆交通科研设计院有限公司 | Multiposition, multi-angle crag deformation judgement and analysis method |
| CN110246192A (en) * | 2019-06-20 | 2019-09-17 | 招商局重庆交通科研设计院有限公司 | Binocular crag deforms intelligent identification Method |
| CN110307790A (en) * | 2019-07-04 | 2019-10-08 | 深圳市富源信息技术有限公司 | Camera shooting machine detecting device and method applied to safety monitoring slope |
| CN110514113A (en) * | 2019-06-13 | 2019-11-29 | 杭州电子科技大学 | A kind of monitoring land slide slit method based on monocular vision camera |
| CN113048888A (en) * | 2021-03-05 | 2021-06-29 | 杭州国翌科技有限公司 | Binocular vision-based remote three-dimensional displacement measurement method and system |
| CN113267128A (en) * | 2021-05-31 | 2021-08-17 | 西南石油大学 | Binocular vision automatic side slope displacement monitoring method |
| CN113361532A (en) * | 2021-03-10 | 2021-09-07 | 江西理工大学 | Image identification method, system, storage medium, equipment, terminal and application |
| CN113847905A (en) * | 2021-08-19 | 2021-12-28 | 深圳特科动力技术有限公司 | Three-dimensional binocular recognition slope detection method |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105488503B (en) * | 2015-11-27 | 2019-02-05 | 东北大学 | A kind of non-coding circular ring shape mark point center of circle image coordinate detection method |
| CN105488503A (en) * | 2015-11-27 | 2016-04-13 | 东北大学 | Method for detecting circle center image coordinate of uncoded circular ring-shaped gauge point |
| CN106127203A (en) * | 2016-06-29 | 2016-11-16 | 孟祥雨 | A kind of device to object location and followed the trail of and the method for image recognition |
| CN106127203B (en) * | 2016-06-29 | 2019-06-25 | 孟祥雨 | It is a kind of that knowledge method for distinguishing being carried out to image using object positioning and follow-up mechanism |
| CN107883916A (en) * | 2016-09-29 | 2018-04-06 | 波音公司 | Method and apparatus for sense aircraft areal deformation |
| CN107843204A (en) * | 2017-10-27 | 2018-03-27 | 王文柏 | Side slope three-dimensional deformation monitoring method and system based on monitoring level video camera |
| CN109297428A (en) * | 2018-11-21 | 2019-02-01 | 武汉珈鹰智能科技有限公司 | A kind of high-precision deformation based on unmanned plane patrols survey technology method |
| CN110095073A (en) * | 2019-04-03 | 2019-08-06 | 中铁十六局集团第一工程有限公司 | A kind of safety monitoring slope system and method |
| CN110514113A (en) * | 2019-06-13 | 2019-11-29 | 杭州电子科技大学 | A kind of monitoring land slide slit method based on monocular vision camera |
| CN110245634A (en) * | 2019-06-20 | 2019-09-17 | 招商局重庆交通科研设计院有限公司 | Multiposition, multi-angle crag deformation judgement and analysis method |
| CN110246192A (en) * | 2019-06-20 | 2019-09-17 | 招商局重庆交通科研设计院有限公司 | Binocular crag deforms intelligent identification Method |
| CN110307790A (en) * | 2019-07-04 | 2019-10-08 | 深圳市富源信息技术有限公司 | Camera shooting machine detecting device and method applied to safety monitoring slope |
| CN113048888A (en) * | 2021-03-05 | 2021-06-29 | 杭州国翌科技有限公司 | Binocular vision-based remote three-dimensional displacement measurement method and system |
| CN113361532A (en) * | 2021-03-10 | 2021-09-07 | 江西理工大学 | Image identification method, system, storage medium, equipment, terminal and application |
| CN113267128A (en) * | 2021-05-31 | 2021-08-17 | 西南石油大学 | Binocular vision automatic side slope displacement monitoring method |
| CN113847905A (en) * | 2021-08-19 | 2021-12-28 | 深圳特科动力技术有限公司 | Three-dimensional binocular recognition slope detection method |
| CN113847905B (en) * | 2021-08-19 | 2024-02-02 | 深圳特科动力技术有限公司 | Three-dimensional binocular recognition slope detection method |
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