CN105513074B - A kind of scaling method of shuttlecock robot camera and vehicle body to world coordinate system - Google Patents
A kind of scaling method of shuttlecock robot camera and vehicle body to world coordinate system Download PDFInfo
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- CN105513074B CN105513074B CN201510902715.0A CN201510902715A CN105513074B CN 105513074 B CN105513074 B CN 105513074B CN 201510902715 A CN201510902715 A CN 201510902715A CN 105513074 B CN105513074 B CN 105513074B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30221—Sports video; Sports image
Abstract
The invention discloses a kind of shuttlecock robot camera scaling methods, it include: to be demarcated using scaling board to parameter outside the internal reference of camera, due to this special tectonic of sizes such as the stain of scaling board is equidistant, the two-dimensional position of scaling board and the directional information of scaling board are readily recognized in the picture；According to the physical distance between stain true on scaling board, so that it may which the equation of intrinsic parameter is established in the connection for setting up camera and real world by this corresponding relationship；Left and right camera carries out calibration the intrinsic parameter of the camera can be obtained that the corresponding relationship between the camera of left and right can be established with this, both outer parameter matrix simultaneously because corresponding to same scaling board on two camera left images respectively.
Description
This case has required the Chinese invention patent submitted on June 17th, 2015, application No. is 2015103389533 it is preferential
Power.
Technical field
The present invention relates to shuttlecock robot field, in particular to a kind of shuttlecock robot camera and vehicle body arrive
The scaling method of world coordinate system.
Background technique
In the match of shuttlecock robot, the three-dimensional system of coordinate of shuttlecock is established according to binocular vision camera system, and
The world coordinates for needing the coordinate of binocular vision to be converted into robot utilizes machine when deviation occurs in the position of robot
Scaling board above device people's vehicle body is corrected.
Lack the correction to the calibration of camera and based on this to robot motion's position deviation at present.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency in the presence of the prior art, a kind of shuttlecock robot phase is provided
The scaling method of machine and vehicle body to world coordinate system.
In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is that:
A kind of scaling method of shuttlecock robot camera and vehicle body to world coordinate system, comprising:
Parameter outside the internal reference of camera is demarcated using scaling board,
Due to this special tectonic of sizes such as the stain of scaling board is equidistant, the two of scaling board are readily recognized in the picture
Tie up the directional information of position and scaling board；
According to the physical distance between stain true on scaling board, so that it may set up camera by this corresponding relationship
With the connection of real world, the equation of intrinsic parameter is established；Left and right camera carries out calibration respectively can be obtained the intrinsic parameter of the camera,
Simultaneously because corresponding to same scaling board on two camera left images, the corresponding pass between the camera of left and right can be established with this
It is, both outer parameter matrix.
Compared with prior art, the beneficial effects of the present invention are:
The present invention provides a kind of shuttlecock robot camera and vehicle body to the scaling method of world coordinate system, has filled up existing
There is technological gap, and enables to the motion control of shuttlecock robot more accurate.
Detailed description of the invention:
Fig. 1 is the scaling board structural schematic diagram in the embodiment of the present invention.
Fig. 2 is the another schematic diagram of scaling board in the embodiment of the present invention.
Fig. 3 is the schematic diagram that scaling board is located at competition area ground in Fig. 1 in the embodiment of the present invention.
Appended drawing reference:
1, scaling board, 2, frame, 3, unfilled corner, 4, stain, 5, place.
Specific embodiment
The present invention is described in further detail With reference to embodiment.But this should not be interpreted as to the present invention
The range of above-mentioned theme is only limitted to embodiment below, all that model of the invention is belonged to based on the technology that the content of present invention is realized
It encloses.
The calibration of camera itself: biocular systems brief introduction
In order to calculate three-dimensional point, we realize three-dimensional reconstruction using the biocular systems that two cameras are constituted.In order to keep
Biocular systems it is relatively stable, we are directly secured together two cameras with carbon-point.The hardness and high intensity of carbon-point ensure
The relative position of two cameras is constant, ensure that the constant of camera internal reference and outer ginseng.So that it is guaranteed that calculating the accurate of three-dimensional point
Property.
The process for obtaining biocular systems internal reference and outer ginseng is just called the calibration of camera.
1. scaling method
The three-dimensional scaling that we carry out using halcon algorithms library.
Hhalcon has powerful efficient algorithms library, encapsulates all calibration related algorithms.Me is realized using halcon
Calibration algorithm greatly improve efficiency.
2. demarcating inside and outside parameter:
We demarcate parameter outside the internal reference of camera using special scaling board 1, and scaling board 1 is as shown in Figure 1:
Scaling board 1 is a kind of plate of special air brushing.One circle dark border 2 is for distinguishing scaling board 1 in image recognition
Interior boundary and the external world, the notch in the upper left corner indicates the positive direction of this block scaling board 1.Inside be on white bottom plate air brushing it is equidistant
Etc. sizes black stain 4.The high contrast of black and white is convenient for Threshold segmentation, and black circle can pass through sub-pixel recognition
Obtain point-device centre coordinate.
Due to this special tectonic of sizes such as the stain 4 of scaling board 1 is equidistant, we can readily recognize in the picture
The two-dimensional position of scaling board 1 and the directional information of scaling board 1, referring to Fig. 2.
Due to it is understood that physical distance on scaling board 1 between true stain 4, so that it may pass through this corresponding relationship
The equation of intrinsic parameter is established in the connection for setting up camera and real world.Left and right camera carries out calibration respectively can be obtained the phase
The intrinsic parameter of machine, simultaneously because correspond to same scaling board 1 on two camera left images, can be established with this left and right camera it
Between corresponding relationship, both outer parameter matrixs.
Only a uncalibrated image can not accurately calculate all camera parameters.So we pass through in camera image
Left upper, middle and lower, middle upper, middle and lower, right upper, middle and lower is placed scaling board 1 respectively and is demarcated, repeatedly for three times, to obtain accurate phase
Machine inside and outside parameter.Picture comprising different information is The more the better.Parameter the most accurate can be fitted by least square method.
Obtain uncalibrated image can use halcon itself offer calibration assistant, assistant can convenient Real-time Feedback uncalibrated image matter
Amount, convenient for selecting suitable uncalibrated image sample.
Pay special attention to, due to the premise of calibration be monochrome pixels on scaling board 1 contrast it is big, between monochrome pixels away from
From wanting accurate identical, stain 4 will be justified very much, so requiring to air brushing precision and space of a whole page flatness very high.While in order to guarantee
Contrast pays attention in calibration process reflective.
3. obtaining calibrating parameters and calculating three-dimensional point
Halcon provides the operator of easily calibration and three-dimensional computations, and usage is as follows:
Create_calib_data:
Creation is used to the class demarcated, and refers herein to the physical characteristic (size, points etc.) of calibration fixed board 1, calibration for cameras
Type (line camera, face camera), parameter (monocular, more mesh)
Find_calib_object:
Scaling board 1 is identified in the picture, while establishing the relation equation of parameter, and one picture of every reading just needs to call
This primary operator, thus the relation equation of supplementary parameter.It is The more the better
Calibrate_cameras:
Calibration, obtains institute's data in need, joins outside the relativeness of the internal reference of the difference including camera and two cameras.
These inside and outside parameters can be stored directly, need again later just only with directly read parameter can not have to re-calibration.
Intersect_lines_of_sight:
Input parameter is the two-dimensional points coordinate and inside and outside parameter matrix of left and right camera, exports three-dimensional coordinate, this process effect
Rate is high.
So far, we have obtained the inside and outside parameter of camera.As long as the two-dimensional points provided on the camera of left and right are accurately counted
Calculate relative to camera coordinates origin three-dimensional distance (in halcon the coordinate origin of biocular systems be left camera optical center).
Two: the calibration of camera to world coordinate system:
1. brief introduction:
Due to the three-dimensional information obtained by calibrating only with respect to camera coordinates system, only the optical center of left camera is origin
Distance.It is desirable that we are relative to world coordinate system, that is, court lower left corner three-dimensional distance, so needing to obtain from phase
Transition matrix of the machine coordinate system to world coordinate system.Obtain this transition matrix process be known as camera to world coordinate system mark
It is fixed.
2. scaling method
We are still demarcated using above-mentioned scaling board 1.Previously mentioned mistake, the upper left corner of scaling board 1 are one three
Angular unfilled corner 3 can obtain the directional information of calibration class by this triangle.Simultaneously because the physics of known calibration plate 1 is believed
Breath, it is understood that the three-dimensional position between calibration point can accurately identify scaling board 1 in space in conjunction with biocular systems
Three-dimensional position and posture (xyz and angle information).
Transformational relation due to available scaling board 1 relative to biocular systems origin, referring to Fig. 3, then, we use
Scaling board 1 is arranged in corresponding position on place 5, then the position and attitude of scaling board 1 is position of the place 5 relative to biocular systems
Set posture.To which we obtain the transformational relation matrix from biocular systems coordinate system to 5 coordinate system of shuttlecock place.Each meter
The three-dimensional point of the opposite camera origin system calculated is handled with this transformational relation matrix, can be obtained relative to shuttlecock
The three-dimensional coordinate of field.
3. obtaining transition matrix and realization
Create_calib_data:
In order to identify that scaling board 1 needs to initialize this function.Select monocular calibration.
Find_calib_object:
The scaling board 1 in image is recognized, position and posture information of the scaling board 1 relative to biocular systems origin are obtained.
Pose_to_hom_mat3d:
Transition matrix of the place 5 about camera is obtained by 1 position and attitude of scaling board, this matrix can store.
As long as the relative position in biocular systems and place 5 does not change and directly uses later.
Affine_trans_point_3d:
The three-dimensional point calculated by intersect_lines_of_sight is handled with this operator, is obtained
The three-dimensional point about place 5 arrived.
Three: the calibration of vehicle body to world coordinate system:
1. brief introduction:
Our shuttlecock robot is to carry out whole audience positioning by gyroscope and code-disc.However, since robot exists
Largely with back and forth, gyroscope and code-disc can accumulate Errors Catastrophic quickly, will soon deflect away from because of cumulative errors for spurt in match
One brand and beat less than ball.So correction gyroscope and code-disc are extremely important in real time, we need to know accurately thus
Position and angle information of the vehicle body relative to place 5.The process for obtaining this information is known as the calibration of vehicle body to world coordinate system.
2. scaling method:
We still use scaling board 1 to demarcate.However due to the limitation of vehicle body shape, we use special calibration
Plate 1, such as Fig. 3.
3. calibration algorithm:
This scaling board 1 is too small, cannot be found by directly finding the operator of scaling board 1.But due to scaling board 1
The characteristics of sizes such as equidistant and high contrast of body, we are easy to realize the algorithm for finding scaling board 1 ourselves.According to vehicle body
The available left and right camera of three-dimensional position back projection on vehicle body Position Approximate, by taking ROI available comprising vehicle body
Image.Since extraneous illumination condition is unknown, it is not easy to suitable Threshold segmentation image is found, so we are using unrelated with illumination
The algorithm of edge finding search 1 profile of scaling board, by screening circularity and the highest point of saturation degree and obtain center, thus
To two-dimensional 1 position of scaling board.By camera inside and outside parameter and 5 transform matrix calculations of place go out each point relative to place 5
Three-dimensional position, pass through this 8 three-dimensional points and known scaling board 1 arrive vehicle body code-disc relative position, available vehicle body
Position and posture relative to place 5.Due to the high-precision of camera, this algorithm can achieve mm rank.
A specific embodiment of the invention is described in detail above in conjunction with attached drawing, but the present invention is not restricted to
Embodiment is stated, in the spirit and scope for not departing from claims hereof, those skilled in the art can make
Various modifications or remodeling out.
Claims (1)
1. a kind of shuttlecock robot camera and vehicle body are to the scaling method of world coordinate system characterized by comprising
Parameter outside the internal reference of camera is demarcated using scaling board (1), the scaling board (1) has circle dark border (2)
To distinguish the interior boundary and the external world of scaling board (1) in image recognition, scaling board (1) upper left corner has notch to indicate this block
The positive direction of scaling board, scaling board (1) inside are several stains (4) that air brushing is matrix arrangement arrangement on white bottom plate,
The sizes such as equidistant between stain (4)；
According to the physical distance between the stain (4) on scaling board (1), camera and true generation are set up by this corresponding relationship
The equation of intrinsic parameter is established in the connection on boundary；Left and right camera carries out calibration respectively can be obtained the intrinsic parameter of the camera, simultaneously because
Same scaling board is corresponded on two camera left images, the corresponding relationship between the camera of left and right can be established with this, both outer ginseng
Matrix number；
The described method includes: the scaling board (1) is arranged in court ground corresponding position, make the position and attitude of scaling board
It is position and attitude of the shuttlecock place relative to biocular systems, obtains from biocular systems coordinate system to shuttlecock place coordinate system
Transformational relation matrix, at the calculated opposite three-dimensional point of camera origin system transformational relation matrix every time
Reason, obtains the three-dimensional coordinate relative to court；
The calibration of vehicle body to world coordinate system includes: to obtain left and right phase according to the three-dimensional position back projection of shuttlecock robot automobile body
Vehicle body Position Approximate on machine, by taking region of interest ROI to obtain the image comprising vehicle body；Using the edge unrelated with illumination
The algorithm of lookup searches scaling board profile, by screening circularity and the highest point of saturation degree and center is obtained, to obtain two dimension
Calibration Board position；By camera inside and outside parameter and shuttlecock place transform matrix calculations go out each point relative to court
The three-dimensional position on ground, by 8 three-dimensional points and known scaling board to the relative position of vehicle body code-disc, obtain vehicle body relative to
The position in shuttlecock place and posture.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106647755A (en) * | 2016-12-21 | 2017-05-10 | 上海芮魅智能科技有限公司 | Sweeping robot capable of intelligently building sweeping map in real time |
| CN107671858A (en) * | 2017-10-11 | 2018-02-09 | 上海交通大学 | A kind of Halcon vision processing systems and method for being integrated in the control of Labview robots |
| CN107729295B (en) * | 2017-10-19 | 2021-07-06 | 广东工业大学 | Real-time drop point prejudging method, platform and equipment for shuttlecocks |
| CN109099883A (en) * | 2018-06-15 | 2018-12-28 | 哈尔滨工业大学 | The big visual field machine vision metrology of high-precision and caliberating device and method |
| CN111064864A (en) * | 2018-10-17 | 2020-04-24 | 杭州海康慧影科技有限公司 | Method and device for setting distortion correction parameters and endoscope system |
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Effective date of registration: 20200827 Address after: 4 / F, building 7, No. 1118, Hongjiang Road, Yongquan street, Wenjiang District, Chengdu, Sichuan 610000 Patentee after: Sichuan Xinshang Artificial Intelligence Technology Co., Ltd Address before: 611731, No. 2006, West Avenue, hi tech (West), Sichuan, Chengdu Patentee before: UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY |