CN106969723A - High speed dynamic object key point method for three-dimensional measurement based on low speed camera array - Google Patents
High speed dynamic object key point method for three-dimensional measurement based on low speed camera array Download PDFInfo
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- CN106969723A CN106969723A CN201710266074.3A CN201710266074A CN106969723A CN 106969723 A CN106969723 A CN 106969723A CN 201710266074 A CN201710266074 A CN 201710266074A CN 106969723 A CN106969723 A CN 106969723A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention belongs to three-dimensional measurement correlative technology field, it discloses a kind of high speed dynamic object key point method for three-dimensional measurement based on low speed camera array, it comprises the following steps：(1) a key point three-dimension measuring system is provided, the key point three-dimension measuring system includes the first low speed camera array and the second low speed camera array, and the key point three-dimension measuring system is carried out system calibrating to obtain each two CCD camera measure system to the transformational relation of world coordinate system；(2) the low speed camera in the first low speed camera array and the second low speed camera array is controlled to carry out IMAQ simultaneously according to temporal order；(3) three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system is transformed under the world coordinate system by the transformational relation according to each two CCD camera measure system to world coordinate system, to complete high speed dynamic object key point three-dimensional measurement.The above method reduces measurement cost, and measurement accuracy is higher, and time of measuring is longer.
Description
Technical field
The invention belongs to three-dimensional measurement correlative technology field, more particularly, to a kind of height based on low speed camera array
Fast dynamic object key point method for three-dimensional measurement.
Background technology
Dynamic object key point three-dimensional measurement is sat using the continuous tracing movement object key point three-dimensional of three-dimensional measurement instrument
Target technology, this technology can be used for measuring or analyze the crucial point deformation of moving object, movement velocity, acceleration, pass
The critical datas such as the vibration of key point, track and attitude angle, are suffered from extensively in fields such as Aero-Space, air force, auto industrys
Application.The dynamic object key point three-dimensional measurement technology of view-based access control model measurement is fast, simple to operate with its noncontact, measuring speed
The advantages of played an important role in dynamic object key point three-dimensional measurement field.
The dynamic object key point three-dimensional measurement technology of view-based access control model measurement is usually using two digital cameras while never
Testee is continuously shot with angle, the three-dimensional of tested feature is obtained by image procossing, corresponding points lookup and three-dimensionalreconstruction
Coordinate, this technology can be divided into on-line measurement and off-line measurement, when carrying out high speed dynamic object key point three-dimensional measurement, due to
Measuring speed is very fast, general at present to carry out high speed dynamic object key point three-dimensional measurement using off-line measurement method, i.e., first use
Camera gathers image, then carries out data and calculates and analysis.
During high speed dynamic object key point three-dimensional measurement, carrying out the camera frame per second of IMAQ needs and measuring speed pair
Should, therefore when measuring speed is very fast, it is necessary to which the larger high speed camera of acquisition frame rate carries out IMAQ.However, using at a high speed
Camera carries out IMAQ and there is following defect：1. the price of digital camera exponentially increases again with the increase of acquisition frame rate,
The price of high speed camera is more up to hundreds of thousands member, seriously adds the cost of high speed dynamic object key point three-dimensional measurement；2.
Due to the limitation of image transmitting or preservation speed, when IMAQ frame per second is larger, image resolution ratio is relatively low, has a strong impact on
Gather the quality and measurement accuracy of image；3. due to the limitation of image storage space, carry out high speed dynamic object key point three-dimensional
During measurement, the test constantly time is shorter, when needing time of measuring longer, and measurement can not be met by being measured using high speed camera
Demand.Correspondingly, this area, which is existed, develops a kind of relatively low high speed dynamic object key point method for three-dimensional measurement of measurement cost
Technical need.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of height based on low speed camera array
Fast dynamic object key point method for three-dimensional measurement, the characteristics of it is based on high speed dynamic object key point three-dimensional measurement, at a high speed
Dynamic object key point method for three-dimensional measurement is designed.The high speed dynamic object key point method for three-dimensional measurement is using more
Individual low speed camera constitutes low speed camera array to carry out high-speed image sampling, then according to each pair constituted in low speed camera array
The coordinate of mesh vision measurement system is tied to the transformational relation of world coordinate system, by the measurement data of each two CCD camera measure system
Be transformed under world coordinate system, to complete high speed dynamic object key point three-dimensional measurement, reduce measurement cost, measurement accuracy compared with
Height, time of measuring is longer.
To achieve the above object, the invention provides a kind of high speed dynamic object key point three based on low speed camera array
Measuring method is tieed up, it comprises the following steps：
(1) a key point three-dimension measuring system is provided, the key point three-dimension measuring system includes the first low speed camera
Array and the second low speed camera array, the first low speed camera array constitute multiple double with the second low speed camera array
Mesh vision measurement system；Join the inside that system calibrating is carried out to the key point three-dimension measuring system to obtain each low speed camera
Number and external parameter, and then each two CCD camera measure system is obtained to the transformational relation of world coordinate system；
(2) the low speed camera in the first low speed camera array and the second low speed camera array is controlled according to sequential
Order carries out IMAQ simultaneously, and the image collected is preserved in real time；
(3) high speed dynamic object key point three-dimensional measurement is regarded as multiple binocular vision dynamic object key point three-dimensional measurements
The combination of system, and the three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system is calculated, and then according to each
Individual two CCD camera measure system to world coordinate system transformational relation by each binocular vision dynamic object key point three-dimensional measurement
The three-dimensional data of system is transformed under the world coordinate system, to complete high speed dynamic object key point three-dimensional measurement.
Further, the key point three-dimension measuring system also includes sequential trigger controller described in sequential trigger controller
The first low speed camera array and the second low speed camera array are connected to, it is used for according in low speed camera array
Sequential relationship triggering low speed camera array in low speed camera carry out image taking.
Further, the key point three-dimension measuring system also includes video memory, and described image memory electrically connects
The first low speed camera array and the second low speed camera array are connected to, it is used for the first low speed camera described in real-time storage
The image that array and the second low speed camera array are shot.
Further, the key point three-dimension measuring system also includes computer, and the computer is used to carry out system mark
Fixed, image procossing, corresponding point matching and three-dimensionalreconstruction.
Further, the first low speed camera array and the second low speed camera array include the low speed of identical quantity
Camera, and the specification of each low speed camera is identical.
Further, the maximum acquisition frame rate f of the low speed cameramaxMeet：Wherein, v is measuring speed,
N is the number of low speed camera in single low speed camera array.
Further, the system calibrating of the key point three-dimension measuring system includes following sub-step：
(a) using all low speed cameras in the first low speed camera array and the second low speed camera array simultaneously
Shoot image of many secondary targets under different postures；
(b) system for calibrating each two CCD camera measure system using two CCD camera measure system scaling method respectively is joined
Number；
(c) i-th of (1≤i≤n, n are the quantity of low speed camera in single low speed camera array) binocular vision is calculated successively
Measurement coordinate is tied to the spin matrix R of first Binocular vision photogrammetry coordinate systemiWith translation vector Ti, complete the mark of measuring system
It is fixed.
Further, the three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system is calculated including following
Sub-step：
(s1) pixel coordinate of key point in the picture is calculated using image processing method；
(s2) key point on predetermined image is searched out in another low speed phase according to the epipolar geom etry relation of stereoscopic vision
Corresponding points in the image that machine is shot；
(s3) coordinate of the key point under two CCD camera measure system measurement coordinate system is calculated using three-dimensionalreconstruction algorithm.
Further, the three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system is transformed into described
It is to be carried out according to formula (1) under world coordinate system, formula (1) is
P1=RiPi+Ti (1)
Wherein, P1For the three-dimensional point coordinate in the first Binocular vision photogrammetry coordinate system, PiSat for i-th of Binocular vision photogrammetry
Three-dimensional point coordinate in mark system, RiAnd TiRespectively i-th of binocular vision coordinate obtained by calibrating is tied to first in step (1)
The spin matrix and translation vector of binocular vision coordinate system.
In general, by the contemplated above technical scheme of the present invention compared with prior art, the present invention is preferably implemented
The high speed dynamic object key point method for three-dimensional measurement based on low speed camera array that mode is provided mainly has following beneficial effect
Really：
(1) constitute low speed camera array using multiple low speed cameras and carry out high-speed image sampling, it is to avoid using at a high speed
Camera, reduces measurement cost, it is ensured that picture quality；
(2) turning for world coordinate system is tied to according to the coordinate of each two CCD camera measure system constituted in low speed camera array
Relation is changed, the measurement data of each two CCD camera measure system is transformed under world coordinate system, to complete high speed dynamic object
Key point three-dimensional measurement, measurement accuracy is higher, and time of measuring is longer；
(3) the high speed dynamic object key point method for three-dimensional measurement is simply easily achieved, and can meet longer measurement
Duration requirement, is conducive to popularization and application.
Brief description of the drawings
Fig. 1 is that the high speed dynamic object key point based on low speed camera array that better embodiment of the present invention is provided is three-dimensional
The schematic flow sheet of measuring method；
Fig. 2 is the pass that the high speed dynamic object key point method for three-dimensional measurement based on low speed camera array in Fig. 1 is related to
The structured flowchart of key point three-dimension measuring system.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Refer to Fig. 1 and Fig. 2, the high speed dynamic object based on low speed camera array that better embodiment of the present invention is provided
Key point method for three-dimensional measurement, the high speed dynamic object key point method for three-dimensional measurement using multiple low speed cameras (relative to
For high speed camera) composition low speed camera array carries out high-speed image sampling, then according to constituting in low speed camera array
The coordinate of each two CCD camera measure system is tied to the transformational relation of world coordinate system, by the measurement of each two CCD camera measure system
Data are transformed under world coordinate system, to complete high speed dynamic object key point three-dimensional measurement, reduce measurement cost, measurement essence
Degree is higher, and time of measuring is longer, and the high speed dynamic object key point method for three-dimensional measurement for overcoming existing view-based access control model is being carried out
The shortcomings of measurement cost height that exists during high speed dynamic object key point three-dimensional measurement, poor image quality, short test constantly time.
In present embodiment, the high speed dynamic object key point method for three-dimensional measurement master based on low speed camera array
Comprise the following steps：
Step one includes the first low speed there is provided a key point three-dimension measuring system, the key point three-dimension measuring system
Camera array and the second low speed camera array, the first low speed camera array constitute many with the second low speed camera array
Individual two CCD camera measure system；The key point three-dimension measuring system is carried out system calibrating to obtain in each low speed camera
Portion's parameter and external parameter, and then each two CCD camera measure system is obtained to the transformational relation of world coordinate system.
Specifically, the key point three-dimension measuring system also includes sequential trigger controller, video memory and computer,
The sequential trigger controller is connected to the first low speed camera array and the second low speed camera array, and it is used for
The low speed camera in sequential relationship triggering low speed camera array in low speed camera array carries out image taking.
Described image memory is connected to the first low speed camera array and the second low speed camera array, and it is used for
The image that first low speed camera array described in real-time storage and the second low speed camera array are shot.
The computer is used to carry out system calibrating, image procossing, corresponding point matching, three-dimensionalreconstruction etc..Present embodiment
In, the first low speed camera array and the second low speed camera array include the low speed camera of identical quantity, and each low speed
The specification of camera is identical, the maximum acquisition frame rate f of the low speed cameramaxMeet：Wherein, v is measuring speed, n
For the number of low speed camera in single low speed camera array.
When carrying out system calibrating to the key point three-dimension measuring system, the first low speed camera array and described the
The low speed camera of low speed camera sequence number identical two is labeled as a set of two CCD camera measure system in two low speed camera arrays, as in institute
Two cameras of serial number i in the first low speed camera array and the second low speed camera array are stated labeled as i-th of binocular vision
Feel measuring system (1≤i≤n, n are the quantity of low speed camera in single low speed camera array), then based on low speed camera array
High speed dynamic object key point three-dimension measuring system can be regarded as the combination of many set two CCD camera measure systems.Specifically, will
The measurement coordinate system of first two CCD camera measure system is defined as world coordinate system；During demarcation, the first low speed phase is used
Machine array shoots figure of many secondary targets under different postures from all low speed cameras in the second low speed camera array simultaneously
Picture, then calibrates the systematic parameter of each two CCD camera measure system using two CCD camera measure system scaling method respectively,
Finally the spin matrix R that i-th of Binocular vision photogrammetry coordinate is tied to first Binocular vision photogrammetry coordinate system is calculated successivelyiPeace
Move vector Ti, complete the demarcation of measuring system.Each two CCD camera measure system measurement coordinate is tied to the first Binocular vision photogrammetry
The spin matrix and translation vector of coordinate system embody each two CCD camera measure system to the transformational relation of world coordinate system.
Step 2, control low speed camera in the first low speed camera array and the second low speed camera array according to
Temporal order carries out IMAQ simultaneously, and the image collected is preserved in real time.Specifically, IMAQ is being carried out
When, the sequential trigger controller controls the low speed phase in the first low speed camera array and the second low speed camera array
Machine carries out IMAQ according to temporal order, i.e.,：Sequence in the first low speed camera array and the second low speed camera array
Number for i two low speed cameras simultaneously theMoment gathers image, and wherein k is the acquired figure of single low speed camera
As number, n is the number of camera in low speed camera array.The image of the low speed camera collection is stored in described image and deposited in real time
In reservoir, used when carrying out three-dimensional data calculating in order to the computer.
Step 3, regards high speed dynamic object key point three-dimensional measurement as multiple binocular vision dynamic object key points three-dimensional
The combination of measuring system, and calculate the three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system, Jin Eryi
It is according to the transformational relation of each two CCD camera measure system to world coordinate system that each binocular vision dynamic object key point is three-dimensional
The three-dimensional data of measuring system is transformed under the world coordinate system, to complete high speed dynamic object key point three-dimensional measurement.
Specifically, the dynamic object key point three-dimension measuring system based on low speed camera array is considered as many set binocular visions
The combination of dynamic object key point three-dimension measuring system is felt, in the dynamic object key point measuring system based on low speed camera array
The three-dimensional data for first calculating each binocular vision dynamic object key point three-dimension measuring system is needed to calculate before three-dimensional computations, then
The three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system is transformed into by the first binocular vision according to formula (1)
Feel in measurement coordinate system, to complete the high speed dynamic object key point three-dimensional measurement based on low speed camera array.
P1=RiPi+Ti (1)
Wherein, P1For the three-dimensional point coordinate in the first Binocular vision photogrammetry coordinate system, PiSat for i-th of Binocular vision photogrammetry
Three-dimensional point coordinate in mark system, RiAnd TiI-th of binocular vision coordinate obtained by calibrating is tied to first pair respectively in step one
Visually feel the spin matrix and translation vector of coordinate system.
The three-dimensional data of binocular vision dynamic object key point measuring system, which is calculated, to be comprised the following steps：Key point extraction,
Corresponding point matching and three-dimensionalreconstruction.It is to calculate the pixel of key point in the picture using image processing method to sit that key point, which is extracted,
Mark, wherein key point can be circular key point or angle point key point；Corresponding point matching is several according to the polar curve of stereoscopic vision
What relation searches out corresponding points of the key point in another low speed camera image on specific image；After the completion of corresponding point matching
Can with using three-dimensionalreconstruction algorithm calculate key point two CCD camera measure system measure coordinate system under coordinate.It is general double
Mesh vision measurement system measurement coordinate system is overlapped with the camera coordinates system of the left camera of two CCD camera measure system.
The high speed dynamic object key point method for three-dimensional measurement based on low speed camera array that the present invention is provided is using multiple
Low speed camera constitutes low speed camera array to carry out high-speed image sampling, then according to each binocular constituted in low speed camera array
The coordinate of vision measurement system is tied to the transformational relation of world coordinate system, and the measurement data of each two CCD camera measure system is turned
Change under world coordinate system, to complete high speed dynamic object key point three-dimensional measurement, reduce measurement cost, measurement accuracy compared with
Height, time of measuring is longer.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (9)
1. a kind of high speed dynamic object key point method for three-dimensional measurement based on low speed camera array, it is characterised in that this method
Comprise the following steps：
(1) a key point three-dimension measuring system is provided, the key point three-dimension measuring system includes the first low speed camera array
And the second low speed camera array, the first low speed camera array constitutes multiple binocular visions with the second low speed camera array
Feel measuring system；To the key point three-dimension measuring system carry out system calibrating with obtain each low speed camera inner parameter and
External parameter, and then each two CCD camera measure system is obtained to the transformational relation of world coordinate system；
(2) the low speed camera in the first low speed camera array and the second low speed camera array is controlled according to temporal order
IMAQ is carried out simultaneously, and the image collected is preserved in real time；
(3) high speed dynamic object key point three-dimensional measurement is regarded as multiple binocular vision dynamic object key point three-dimension measuring systems
Combination, and calculate the three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system, and then according to each pair
Mesh vision measurement system to world coordinate system transformational relation by each binocular vision dynamic object key point three-dimension measuring system
Three-dimensional data be transformed under the world coordinate system, to complete high speed dynamic object key point three-dimensional measurement.
2. the high speed dynamic object key point method for three-dimensional measurement as claimed in claim 1 based on low speed camera array, it is special
Levy and be：The key point three-dimension measuring system is also connected to including sequential trigger controller described in sequential trigger controller
The first low speed camera array and the second low speed camera array, its sequential relationship being used in low speed camera array
The low speed camera triggered in low speed camera array carries out image taking.
3. the high speed dynamic object key point method for three-dimensional measurement as claimed in claim 2 based on low speed camera array, it is special
Levy and be：The key point three-dimension measuring system also includes video memory, and described image memory is electrically connected at described the
One low speed camera array and the second low speed camera array, it is used for the first low speed camera array described in real-time storage and described
The image that second low speed camera array is shot.
4. the high speed dynamic object key point method for three-dimensional measurement as claimed in claim 3 based on low speed camera array, it is special
Levy and be：The key point three-dimension measuring system also includes computer, and the computer is used to carrying out system calibrating, at image
Reason, corresponding point matching and three-dimensionalreconstruction.
5. the high speed dynamic object key point three-dimensional measurement side based on low speed camera array as described in claim any one of 1-4
Method, it is characterised in that：The first low speed camera array and the second low speed camera array include the low speed phase of identical quantity
Machine, and the specification of each low speed camera is identical.
6. the high speed dynamic object key point method for three-dimensional measurement as claimed in claim 5 based on low speed camera array, it is special
Levy and be：The maximum acquisition frame rate f of the low speed cameramaxMeet：Wherein, v is measuring speed, and n is single low
The number of low speed camera in fast camera array.
7. the high speed dynamic object key point three-dimensional measurement side based on low speed camera array as described in claim any one of 1-4
Method, it is characterised in that：The system calibrating of the key point three-dimension measuring system includes following sub-step：
(a) shot simultaneously with all low speed cameras in the second low speed camera array using the first low speed camera array
Image of many pair targets under different postures；
(b) systematic parameter of each two CCD camera measure system is calibrated using two CCD camera measure system scaling method respectively；
(c) i-th of (1≤i≤n, n are the quantity of low speed camera in single low speed camera array) Binocular vision photogrammetry is calculated successively
Coordinate is tied to the spin matrix R of first Binocular vision photogrammetry coordinate systemiWith translation vector Ti, complete the demarcation of measuring system.
8. the high speed dynamic object key point method for three-dimensional measurement as claimed in claim 7 based on low speed camera array, it is special
Levy and be：Calculating the three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system includes following sub-step：
(s1) pixel coordinate of key point in the picture is calculated using image processing method；
(s2) key point searched out according to the epipolar geom etry relation of stereoscopic vision on predetermined image is clapped in another low speed camera
Corresponding points in the image taken the photograph；
(s3) coordinate of the key point under two CCD camera measure system measurement coordinate system is calculated using three-dimensionalreconstruction algorithm.
9. the high speed dynamic object key point method for three-dimensional measurement as claimed in claim 8 based on low speed camera array, it is special
Levy and be：The three-dimensional data of each binocular vision dynamic object key point three-dimension measuring system is transformed into the world coordinate system
Under be to be carried out according to formula (1), formula (1) is
P1=RiPi+Ti (1)
Wherein, P1For the three-dimensional point coordinate in the first Binocular vision photogrammetry coordinate system, PiFor i-th of Binocular vision photogrammetry coordinate system
In three-dimensional point coordinate, RiAnd TiRespectively i-th of binocular vision coordinate obtained by calibrating is tied to first binocular in step (1)
The spin matrix and translation vector of visual coordinate system.
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| CN111458958A (en) * | 2020-03-25 | 2020-07-28 | 东莞市至品创造数码科技有限公司 | Time-delay photographing method and device with adjustable camera moving speed |
| CN111854632A (en) * | 2020-06-22 | 2020-10-30 | 新拓三维技术(深圳)有限公司 | Image measuring method of high-speed moving object and computer readable storage medium |
| CN111854632B (en) * | 2020-06-22 | 2021-12-14 | 新拓三维技术(深圳)有限公司 | Image measuring method of high-speed moving object and computer readable storage medium |
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| CN112985293B (en) * | 2021-01-14 | 2023-05-30 | 北京航空航天大学 | Binocular vision measurement system and measurement method for single-camera double-spherical mirror image |
| CN112697065A (en) * | 2021-01-25 | 2021-04-23 | 东南大学 | Three-dimensional shape reconstruction method based on camera array |
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