CN106600654A - Large viewing angle depth camera splicing device and splicing method - Google Patents
Large viewing angle depth camera splicing device and splicing method Download PDFInfo
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- CN106600654A CN106600654A CN201710054547.3A CN201710054547A CN106600654A CN 106600654 A CN106600654 A CN 106600654A CN 201710054547 A CN201710054547 A CN 201710054547A CN 106600654 A CN106600654 A CN 106600654A
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Abstract
The invention discloses a large viewing angle depth camera splicing device and splicing method. The device comprises cameras, a mechanical fixing device which fixes the cameras, a controller connected to the cameras, and a checkerboard calibration plate which positions the cameras. Through checkerboard calibration means, the external parameter rotary component R and a translational component T between the cameras are obtained, then the R and T are used to map the images of multiple cameras to a same coordinate system for splicing, the defects of a limited detection range and poor real-time performance of a common depth camera are improved, and the rapid and real-time imaging splicing can be realized in the condition of carrying out matching without extracting an image angular point characteristic.
Description
Technical field
The present invention relates to three-dimensional measurement and field of industry detection, particularly a kind of to obtain ginseng outside camera using scaling method
Number realizes the device and method of the quick joining image-forming of multiple depth cameras.
Background technology
Three-dimensional imaging is a kind of technology for obtaining object under test surface each point space coordinatess.With the development of science and technology,
Traditional two-dimensional measurement technology cannot meet the demand of scientific research, commercial production and people's lives.Three-dimensional measurement technology
As the premise that real-world object in space reproduces, in robot self-navigation and avoidance, topography and geomorphology drafting, industrial part detection
Identification with assembling, medical image, virtual reality, 3D show with printing etc. various fields have a wide range of applications.
With the development of 3 Dimension Image Technique, in order to improve three-dimensional imaging investigative range, three-dimensional depth camera splicing
Research seem more and more important.The image mosaic technology of main flow is to carry out matching using the Corner Feature of image to obtain phase at present
External parameter between machine realizes splicing, and the application scenarios of the technology are very flexible, but its real-time is far from enough, therefore
The high scene of requirement of real-time is unaccommodated.Need on market under the scene that camera relative position is fixed, using demarcation side
Method obtains external parameter between camera, then realizes real-time splicing apparatus using the preset parameter, and the present invention is solved so
Problem.
The content of the invention
To solve the deficiencies in the prior art, it is an object of the invention to provide a kind of depth camera splicing apparatus at big visual angle
And joining method, the present invention first pass through gridiron pattern demarcate means obtain camera between external parameter rotational component R and translation point
Amount T, recycles R and T that the imaging of polyphaser is mapped in the same coordinate system and splices, improve general depth camera investigative range
The poor shortcoming of finite sum real-time, can realize in the case of being matched image Corner Feature is not extracted quick real-time
Imaging joint.
In order to realize above-mentioned target, the present invention is adopted the following technical scheme that：
A kind of depth camera splicing apparatus at big visual angle, including：Camera, the mechanical fastening system of fixed camera, is connected to
The controller of camera, the gridiron pattern scaling board of positioning camera.
A kind of depth camera splicing apparatus at aforesaid big visual angle, mechanical fastening system include：Mechanical pedestal, is fixed on machine
On tool base and for the camera connector of fixed camera.
A kind of depth camera splicing apparatus at aforesaid big visual angle, camera is depth camera.
A kind of depth camera splicing apparatus at aforesaid big visual angle, camera is the depth camera of two same models.
A kind of depth camera splicing apparatus at aforesaid big visual angle, controller are computer, and computer processor is Intel i5.
A kind of joining method of the camera at aforesaid big visual angle, including：Following steps：
Step one：Camera to be spliced is fixed using mechanical fastening system；
Step 2：In the case where camera relative position is fixed, phase is obtained using calibration algorithm by gridiron pattern scaling board
External parameter rotational component R and translational component T between machine；
Step 3：The imaging of multiple cameras is mapped to the same coordinate system using rotational component R and translational component T to realize soon
Speed Pinyin connects.
A kind of joining method of the camera at aforesaid big visual angle, including：Following steps：
Step one：Camera to be spliced is fixed using mechanical fastening system；
Step 2：Using calibration algorithm, the gridiron pattern of multiple different visual angles is gathered in the public imaging region of multiple cameras
Photo, then obtains out the external parameter R spin matrixs and T translation vectors between two cameras using calibration algorithm；R's and T
Specific algorithm is as follows：
PwRepresent a bit in world coordinate system, Pc1Represent PwImaging point in first camera, Pc2Represent PwIn the second phase
Imaging point in machine, R1And T1For the external parameter of first camera, R2And T2For the external parameter of second camera；
1) assume that camera there are two, be first camera and second camera respectively；In assuming space coordinates it is a bit：Pw
(x, y, z), then its coordinate P in first camerac1For：
Pc1=R1*Pw+T1；
R in formula1The rotational component of camera coordinates system 1, T are tied to for space coordinatess1Camera coordinates system 1 is tied to for space coordinatess
Translational component；
Thus release：
2)PwThe coordinate P of (x, y, z) in second camerac2For：
Pc2=R2*Pw+T2；
R in formula2The rotational component of camera coordinates system 2, T are tied to for space coordinatess2Camera coordinates system 2 is tied to for space coordinatess
Translational component；
By P in S1wSubstitute into above formula to obtain：
3) first camera with the coordinate relation of second camera is：
Pc2=R*Pc1+T；
Contrast above-mentioned formula can draw：
With
Step 3：The imaging of multiple cameras is mapped to into the same coordinate system using rotational component R and translational component T, is calculated
Position of the camera on coordinate, realizes quick splicing；Specific algorithm is：Using the external parameter obtained, by a camera
In coordinate be mapped in another coordinate system, so can by two coordinate unifications get up to complete splicing, it is assumed that have two phases
Machine, the point of first camera is Pc1(x1,y1,z1), the point of second camera is Pc2(x2,y2,z2)；R and T are calculated by equation below；
R is 3x3 spin matrixs obtained by calibrating, and T is 3x1 translation vectors obtained by calibrating；
A kind of joining method of the camera at aforesaid big visual angle, step 2：Using calibration algorithm, in the public of two cameras
Imaging region gathers the gridiron pattern photo of 10 different visual angles, then obtains out the outside between two cameras using calibration algorithm
Parameter R spin matrix and T translation vectors.
The invention has benefit that：The present invention provides a kind of depth camera splicing apparatus at big visual angle and splicing side
Method, the present invention first pass through gridiron pattern and demarcate external parameter rotational component R and translational component T that means are obtained between camera, then profit
The imaging of polyphaser is mapped in the same coordinate system with R and T and is spliced, improve general depth camera investigative range finite sum reality
The poor shortcoming of when property, can realize in the case of being matched image Corner Feature is not extracted that quick imaging in real time is spelled
Connect.
Description of the drawings
Fig. 1 is a kind of structural representation of embodiment of this device；
Fig. 2 is a kind of structural representation of embodiment of mechanical fastening system of the present invention；
Fig. 3 is the splicing coordinate graph of a relation of the present invention；
The implication of reference in figure：
1 first camera, 2 second cameras, 3 objects to be detected, 4 mechanical fastening systems, 5 computers, 6 mechanical pedestals, 7 cameras connect
Meet device, PwRepresent a bit in world coordinate system, Pc1Represent PwImaging point in first camera, Pc2Represent PwIn second camera
Imaging point, Oc1Represent the imaging center of first camera, Oc2Represent the imaging center of second camera, R1And T1For first camera
External parameter, R2And T2For the external parameter of second camera.
Specific embodiment
Make specific introduction to the present invention below in conjunction with the drawings and specific embodiments.
A kind of depth camera splicing apparatus at big visual angle, including：Camera, the mechanical fastening system of fixed camera, is connected to
The controller of camera, the gridiron pattern scaling board of positioning camera.
Mechanical fastening system includes：Mechanical pedestal, is fixed in mechanical pedestal and for the camera connector of fixed camera.
Mechanical pedestal is polygon-shaped base, and camera connector is respectively arranged on the lateral location of polygon-shaped base.It is as a kind of preferred, polygon
Shape base is octagon base.
As one kind preferably, camera is depth camera, and camera is the depth camera of two same models.As a kind of enforcement
Example, controller are computer, and computer processor is Intel i5；It should be noted that this processor be it is minimum match somebody with somebody, as long as can be real
The processor of the existing present invention is all within protection scope of the present invention.
A kind of joining method of the camera at big visual angle, including：Following steps：
Step one：The essential condition of the present invention is exactly that the relative position between camera must be fixed, so the first step is just
It is that camera to be spliced is fixed using mechanical fastening system；
Step 2：As shown in figure 3, in the case where camera relative position is fixed, by gridiron pattern scaling board using demarcation
Algorithm obtains external parameter rotational component R and translational component T between camera；Using calibration algorithm, in the public of multiple cameras
Imaging region gathers the gridiron pattern photo of multiple different visual angles, then obtains out the outside between two cameras using calibration algorithm
Parameter R spin matrix and T translation vectors；The specific algorithm of R and T is as follows：
1) assume that camera there are two, be first camera and second camera respectively；In assuming space coordinates it is a bit：Pw
(x, y, z), then its coordinate P in first camerac1For：
Pc1=R1*Pw+T1；
R in formula1The rotational component of camera coordinates system 1, T are tied to for space coordinatess1Camera coordinates system 1 is tied to for space coordinatess
Translational component；
Thus release：
2)PwThe coordinate P of (x, y, z) in second camerac2For：
Pc2=R2*Pw+T2；
R in formula2The rotational component of camera coordinates system 2, T are tied to for space coordinatess2Camera coordinates system 2 is tied to for space coordinatess
Translational component；
By P in S1wSubstitute into above formula to obtain：
3) first camera with the coordinate relation of second camera is：
Pc2=R*Pc1+T；
Contrast above-mentioned formula can draw：
With
Step 3：The imaging of multiple cameras is mapped to the same coordinate system using rotational component R and translational component T to realize soon
Speed Pinyin connects；The imaging of multiple cameras is mapped to into the same coordinate system using rotational component R and translational component T, camera is calculated and is being sat
The position put on, realizes quick splicing；Specific algorithm is：Using the external parameter obtained, by a magazine coordinate
It is mapped in another coordinate system, so two coordinate unifications can be got up to complete splicing, it is assumed that have two cameras, the first phase
The point of machine is Pc1(x1,y1,z1), the point of second camera is Pc2(x2,y2,z2)；R and T are calculated by equation below；R is to demarcate
The 3x3 spin matrixs for arriving, T are 3x1 translation vectors obtained by calibrating；
Preferred as one kind, the public imaging region in step 2 in two cameras gathers the gridiron pattern of 10 different visual angles
Photo.
The present invention provides a kind of depth camera splicing apparatus and joining method at big visual angle, and the present invention first passes through chessboard case marker
Determine external parameter rotational component R and translational component T that means are obtained between camera, recycle R and T to map the imaging of polyphaser
Splice in the same coordinate system, improve the poor shortcoming of general depth camera investigative range finite sum real-time, can be not
Extract and in the case that image Corner Feature is matched, realize quick imaging joint in real time.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the invention is not limited in any way for above-described embodiment, it is all to be obtained by the way of equivalent or equivalent transformation
Technical scheme, all falls within protection scope of the present invention.
Claims (8)
1. a kind of depth camera splicing apparatus at big visual angle, it is characterised in that include：Camera, the machinery of the above-mentioned camera of fixation are solid
Determine device, be connected to the controller of above-mentioned camera, position the gridiron pattern scaling board of above-mentioned camera.
2. the depth camera splicing apparatus at a kind of big visual angle according to claim 1, it is characterised in that above-mentioned to be mechanically fixed
Device includes：Mechanical pedestal, is fixed in above-mentioned mechanical pedestal and for the camera connector of fixed camera.
3. the depth camera splicing apparatus at a kind of big visual angle according to claim 1, it is characterised in that above-mentioned camera is deep
Degree camera.
4. the depth camera splicing apparatus at a kind of big visual angle according to claim 3, it is characterised in that above-mentioned camera is two
The depth camera of individual same model.
5. the depth camera splicing apparatus at a kind of big visual angle according to claim 1, it is characterised in that controller noted above is
Computer, computer processor are Intel i5.
6. the joining method of the camera at a kind of big visual angle according to claim 1, it is characterised in that include：Following steps：
Step one：Camera to be spliced is fixed using mechanical fastening system；
Step 2：Camera relative position fix in the case of, by gridiron pattern scaling board using calibration algorithm obtain camera it
Between external parameter rotational component R and translational component T；
Step 3：The imaging of multiple cameras is mapped to into the same coordinate system using rotational component R and translational component T and realizes fast Speed Pinyin
Connect.
7. the joining method of the camera at a kind of big visual angle according to claim 6, it is characterised in that include：Following steps：
Step one：Camera to be spliced is fixed using mechanical fastening system；
Step 2：Using calibration algorithm, the gridiron pattern photo of multiple different visual angles is gathered in the public imaging region of multiple cameras,
Then the external parameter R spin matrixs and T translation vectors between two cameras is obtained out using calibration algorithm；The concrete calculation of R and T
Method is as follows：
PwRepresent a bit in world coordinate system, Pc1Represent PwImaging point in first camera, Pc2Represent PwIn second camera
Imaging point, R1And T1For the external parameter of first camera, R2And T2For the external parameter of second camera；
1) assume that camera there are two, be first camera and second camera respectively；In assuming space coordinates it is a bit：Pw(x,y,
Z), then its coordinate P in first camerac1For：
Pc1=R1*Pw+T1；
R in formula1The rotational component of camera coordinates system 1, T are tied to for space coordinatess1The flat of camera coordinates system 1 is tied to for space coordinatess
Move component；
Thus release：
2)PwThe coordinate P of (x, y, z) in second camerac2For：
Pc2=R2*Pw+T2；
R in formula2The rotational component of camera coordinates system 2, T are tied to for space coordinatess2The flat of camera coordinates system 2 is tied to for space coordinatess
Move component；
By P in S1wSubstitute into above formula to obtain：
3) first camera with the coordinate relation of second camera is：
Pc2=R*Pc1+T；
Contrast above-mentioned formula can draw：
With
Step 3：The imaging of multiple cameras is mapped to into the same coordinate system using rotational component R and translational component T, camera is calculated
Position on coordinate, realizes quick splicing；Specific algorithm is：It is using the external parameter obtained, magazine by one
Coordinate is mapped in another coordinate system, so can get up to complete splicing by two coordinate unifications, it is assumed that have two cameras, the
The point of one camera is Pc1(x1,y1,z1), the point of second camera is Pc2(x2,y2,z2)；R and T are calculated by equation below；R is mark
Surely the 3x3 spin matrixs for obtaining, T are 3x1 translation vectors obtained by calibrating；
8. a kind of joining method of the camera at big visual angle according to claim 7, it is characterised in that step 2：Using mark
Determine algorithm, the gridiron pattern photo of 10 different visual angles is gathered in the public imaging region of two cameras, then using calibration algorithm
Obtain out the external parameter R spin matrixs and T translation vectors between two cameras.
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| CN107154014A (en) * | 2017-04-27 | 2017-09-12 | 上海大学 | A kind of real-time color and depth Panorama Mosaic method |
| CN107255821A (en) * | 2017-06-07 | 2017-10-17 | 旗瀚科技有限公司 | A kind of method for splicing simulated laser radar data based on many depth cameras |
| CN108389157A (en) * | 2018-01-11 | 2018-08-10 | 江苏四点灵机器人有限公司 | A kind of quick joining method of three-dimensional panoramic image |
| CN109493354A (en) * | 2018-10-10 | 2019-03-19 | 中国科学院上海技术物理研究所 | A kind of target two-dimensional geometry Shape Reconstruction method based on multi-view image |
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| CN107154014A (en) * | 2017-04-27 | 2017-09-12 | 上海大学 | A kind of real-time color and depth Panorama Mosaic method |
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| CN111415331B (en) * | 2020-03-03 | 2023-05-23 | 北京深睿博联科技有限责任公司 | Abnormal detection method and system based on category relation in positive chest radiography |
| CN111915483A (en) * | 2020-06-24 | 2020-11-10 | 北京迈格威科技有限公司 | Image splicing method and device, computer equipment and storage medium |
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| CN111915483B (en) * | 2020-06-24 | 2024-03-19 | 北京迈格威科技有限公司 | Image stitching method, device, computer equipment and storage medium |
| CN112093442A (en) * | 2020-09-02 | 2020-12-18 | 顺丰科技有限公司 | Automatic rapid batch code scanning stream line for small express mail and processing method thereof |
| CN117021059A (en) * | 2023-10-09 | 2023-11-10 | 北京市农林科学院智能装备技术研究中心 | Picking robot, fruit positioning method and device thereof, electronic equipment and medium |
| CN117021059B (en) * | 2023-10-09 | 2024-02-06 | 北京市农林科学院智能装备技术研究中心 | Picking robot, fruit positioning method and device thereof, electronic equipment and medium |
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