CN107576264A - Object stereo vision measurement method in one kind vibration and small size space - Google Patents
Object stereo vision measurement method in one kind vibration and small size space Download PDFInfo
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Abstract
The present invention discloses a kind of object Binocular vision photogrammetry method in vibration and small size space, using 1 video camera, 1 biprism composition imaging system, make measurand surface same position after refraction of biprism, into 2 picture points in video camera, realize that single camera binocular stereo vision is imaged.Compared to the existing Stereo Vision Measurement System using 2 video cameras, the present invention is compact-sized, size is small, cost is low.
Description
Technical field
The present invention relates to technical field of visual measurement, refers in particular to object stereo-visiuon measurement in a kind of vibration and small size space
Method.
Background technology
In wind tunnel test, it usually needs measure the physical parameters such as posture and the deformation of test model.To avoid damage to wind
Hole experimental flow field, model in wind tunnel posture and deformation measurement are generally carried out using non-contact measurement method both at home and abroad at present.This
A little methods include：Optotrak（Song Jin, Ma Jun, Jiang Min, Hu Juan .Optotrak systems are in wind tunnel model deformation and attitude measurement
In application study [J] sensors and micro-system, 2011.3 (12):65-67）, Video Model deformation measurement VMD（Tianshu
Liu, L.N.Cattafesta III, and R.H.Radeztsky.Photogrammetry Applied to Wind
Tunnel Testing [R].AIAA Journal, Vol. 38, No.6, June 2000, pp. 964-971）Deng.Its
In, Optotrak measuring systems punch pre-buried LED luminescent markings point in tested aerofoil surface, then utilize three by line array CCD
Angular measurement principle obtains LED mark point 3 d space coordinates, and then obtains model attitude and deformation result.It is this in model surface
Punch the wing deformation measurement method of pre-buried LED luminescent markings point, it is difficult to be applied to it is high to model surface smoothness requirements, do not permit
Perhaps in the application scenario of model surface punching.VMD technologies（The model displacement video measuring of the .2.4m transonic wind tunnels such as Zhang Zhengyu
Research on Accuracy [J] experimental fluid mechanics, 2011.08 (25):79-82）It is discoid artificial that several whites are pasted in aerofoil surface
Mark point, using the image of handmarking's point of two cameras sync pulse jamming aerofoil surface, measured according to binocular stereo vision
Principle, the 3 d space coordinate of handmarking's point is calculated, and then calculate discrete wing deflection.VMD technologies are compared
The advantages of Optotrak is：In surface mount handmarking point, large effect will not be formed to model surface, without cloth
Line, use is more flexible, the scope of application is also wider, such as available in high wind tunnel testing.
Vibrated due in wind tunnel test, existing caused by gas, shake video camera, change two video cameras
Between position, so as to destroy the Binocular vision photogrammetry coordinate system having built up, erroneous measurements are produced, although can be by firm
Property connection come relative displacement between video camera caused by suppressing to vibrate, still, because baseline is longer between video camera, used rigidity
Bindiny mechanism's size is big, cost is high, is especially unsuitable for using in large scale wind-tunnel.In addition, for small size wind-tunnel, generally
Available optical observation window limited amount, when an only optical observation window, then it is in pairs to be difficult to adopt two image mechanisms
Mesh vision measurement system, this causes extreme difficulties to vision measurement system arrangement.To solve the problem, NASA scholar proposes
One camera measurement scheme（Videogrammetric Model Deformation Measurement Technique. A. W.
Burner, Tianshu Liu. NASA 2000）.Model surface handmarking point is along the span during program hypothesis test
The coordinate in direction is constant, for computation model surface artificial mark point three-dimensional coordinate.But when wing deflection is larger,
The hypothesis is simultaneously invalid.In addition, this method is also difficult to handle hole body vibration interference problem.
Therefore, the present invention in vibration and small size space using two video cameras for during object Binocular vision photogrammetry, being held
The problem of being vulnerable to hole body vibration interference, and being difficult to arrange in small size space, propose a kind of double using the realization of separate unit video camera
Visually feel the method for three-dimensional measurement.
The content of the invention
The purpose of the present invention is to solve two video cameras easily interference vibrated in binocular stereo vision, and being difficult to small
The problem of dimensional space is arranged, the present invention provide a kind of single camera binocular vision 3 D measurement method.Skill provided by the invention
Art scheme is：As shown in figure 1, using 1 video camera (1), 1 biprism (2) composition binocular vision imaging system, wherein double ribs
Mirror is positioned over video camera front end, and biprism axis (3) are conllinear with camera lens optical axis (4)；Biprism plane (5) and shooting
Machine imaging plane (6) is parallel；As shown in Fig. 2 .a, biprism (2) makes a point P on measurand (7) surface be produced after 2 refractions
Raw two deflection light L1 and L2, L1 and L2 are imaged as Q1, Q2 at 2 points after entering video camera, and Q1, Q2 are point P left and right views,
I.e.：Realize and measurand or so view is obtained in piece image I by 1 video camera, 1 biprism, for binocular vision
Imaging and measurement；As shown in Fig. 2 .c, shooting image I is divided into left and right two halves image：IL, IR, as shown in Fig. 2 .b, IL, IR
The left and right view of two virtual video camera C1, C2 shootings can be look at；Stereo calibration is carried out to imaging system according to IL, IR image；
In measurement process, according to measuring system stereo calibration result, binocular vision 3 D measurement is completed by IL, IR.
In use, making biprism and video camera be rigidly connected by mechanical fastening system in vibration environment, prevent from vibrating
During relative displacement occurs；K are set in the range of camera coverage above with reference to point, k value 3-100, and is ensured
Video camera can photograph reference point in vibration processes.
Vibration interference modification method is：
1）Before vibration, shooting refers to dot image, and calculating reference point initial coordinate X0；
2）In vibration processes, shooting refers to dot image, calculating reference point coordinate Xi, then calculates and is transformed into by changing coordinates Xi
Initial coordinate X0 transition matrix P：Make X0=Xi*P, computational methods use least-squares estimation；
3）According to transition matrix P, Coordinate Conversion is carried out to current three-dimensional measuring result Y：Y '=Y*Pi, eliminate vibration interference.
The method of binocular stereo vision measurement is carried out using the present invention is：
1）On measurand surface, circular handmarking's point is set；
2）It is disposable to shoot model surface handmarking's dot pattern image I by imaging system of the present invention；
3）Shooting image I is split into left and right two halves image IL, IR；
4）In image IL, IR, pass through Threshold segmentation, ellipse fitting method, extraction handmarking dot center subpixel coordinates；
5）According to two CCD camera measure system calibration result, constrained using Epipolar geometry, find handmarking of the same name in IL, IR
Point, and pass through triangulation calculation（Correlation technique refers to：The computational theory of Ma Songde, Zhang Zhengyou computer visions one and algorithm basis
[M] Beijing：Science Press, 1998.）, obtain measurand surface artificial mark point three-dimensional coordinate；
6）Vibration amendment is carried out to handmarking's point three-dimensional coordinate of calculating；
7）According to the point three-dimensional coordinate of handmarking at different moments, the information such as measurand position, posture, displacement, deformation are calculated.
Beneficial effect of the present invention：
1）Only need 1 video camera, 1 optical observation window, you can realize binocular stereo imaging, and can be distributed by adjusting light path
Angle realize binocular imaging sight angle adjust, be particularly suitable for narrow space, only 1 optical observation window small size space
Using；
2）Due to only with 1 video camera, and it is fixedly connected between biprism and video camera, therefore in vibration environment
Under, relative displacement is not present in captured left and right view, vibrates modification method for simplifying, and ensures the measurement essence under vibration environment
Spend significant；
3）In addition, captured model or so view comes from the identical image sensor in 1 video camera, therefore, left and right
The luminance difference of view image is very small, when avoiding using two video cameras, shooting figure caused by image device performance difference
As mass discrepancy, be advantageous to improve left and right view image matching accuracy；
4）1 video camera shoots 2 width or so view image, the twin camera synchronization control circuit without precision, it is ensured that synchronous
Shoot three-dimensional view；
5）Binocular vision imaging is realized using 1 video camera, saves 1 video camera, 1 camera lens, 1 video camera Synchronization Control
Device, reduce cost.
Brief description of the drawings
Fig. 1 single camera binocular vision imaging system composition figures of the present invention；
Fig. 2 single camera Binocular vision photogrammetry schematic diagrams of the present invention, (a) single camera binocular vision imaging index path, (b)
Virtual binocular vision imaging index path, the segmentation of (c) image obtain left and right virtual image IL, IR schematic diagram；
Fig. 3 binocular vision imaging system architecture dimensional drawings of the present invention；
In figure, 1, video camera, 2, biprism, 3, biprism optical axis, 4 camera lens optical axises, 5, biprism plane, 6, video camera
Imaging plane, 7, measurand.
Embodiment
Present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiment 1
For certain application scenarios, measured zone size is 500*500mm, measurement object to optical observation window distance for D1=
1000mm, optical observation window size 200*200mm.As shown in figure 3, optical imaging system parameter is：Resolution of video camera is 200
Ten thousand pixel B/W cameras, imaging sensor width w=6.4mm, camera lens and rib distance between mirrors D2=100mm, prism use optics
Glass manufacture, refractive index 1.6, prism width Wb=100mm, height Hb=100mm, thickness Bb=26.5mm, prism angle.
Embodiment 2
Demarcated using chequered with black and white gridiron pattern scaling board for measuring system, specific method is：In shooting field range, with not
Scaling board, camera acquisition multiple image are repeatedly put with posture.As shown in Fig. 2 by shooting image along axis subdivision for a left side
Right view image IL, IR, two CCD camera measure system demarcation is then carried out using Zhang Zhengyou binocular vision calibration method, and it is right
Lens distortion is corrected.
During actual measurement, vision measurement system shooting measurand image I, in axis line position subdivision graph picture, a left side is obtained
Right view image IL, IR, and Binocular vision photogrammetry is used for according to two CCD camera measure system calibration result.
Embodiment 3
By mechanical fastening system, biprism and video camera are fixed, prevent that relative displacement occurs in vibration processes；In video camera
Set 10 circular handmarking's points as a reference point within sweep of the eye, and ensure that video camera can photograph in vibration processes
Reference point.
Vibrating modification method is：
1）Before vibration, shooting refers to dot image, and calculating reference point initial coordinate X0；
2）In vibration processes, shooting refers to dot image, calculating reference point coordinate Xi, then calculates and is transformed into just by changing coordinates
The transition matrix P of beginning coordinate：Make X0=Xi*P, computational methods use least-squares estimation；
3）Transition matrix P, three-dimensional measuring result Y current to measurand surface carry out Coordinate Conversion：Y '=Y*P, it is dry to eliminate vibration
Disturb.
Embodiment 4
1）On measurand surface, circular handmarking's point is set；
2）It is disposable to clap handmarking's dot pattern image I by binocular vision imaging system of the present invention；
3）Shooting image I is split into left and right two halves image IL, IR；
4）In image IL, IR, using handmarking's point extracting method, extraction handmarking dot center subpixel coordinates；
5）According to two CCD camera measure system calibration result, constrained using Epipolar geometry, find handmarking of the same name in IL, IR
Point, and by triangulation calculation, obtain measurand surface artificial mark point three-dimensional coordinate；
6）Vibration amendment is carried out to calculating handmarking's point three-dimensional coordinate；
7）According to the point three-dimensional coordinate of handmarking at different moments, the information such as measurand position, posture, displacement, deformation are calculated.
Embodiment 5
1）In measurand surface rendering speckle patterns；
2）Using binocular vision imaging system photographs measurand pimple pattern image of the present invention；
3）Shooting image is divided into left and right two halves image IL, IR；
4）On IL, IR, according to binocular vision calibration result, constrained using Epipolar geometry, using digital picture related algorithm, looked for
The pixel of the same name into IL, IR image, carry out dense stereo matching；
5）According to stereo calibration result, triangulation calculation is carried out, obtains measurand surface three dimension cloud data；
6）Vibration amendment is carried out to the three dimensional point cloud of calculating；
7）According to shooting result at different moments, measurand whole field deformation amount is calculated.
Claims (3)
1. object stereo vision measurement method in kind of vibration and small size space, it is characterized in that：Using 1 video camera (1), 1
Biprism (2) forms binocular vision imaging system, and wherein biprism (2) is positioned over video camera (1) front end, biprism axis
(3) it is conllinear with camera lens optical axis (4)；Biprism plane (5) is parallel with video camera imaging plane (6)；Biprism (2) make by
A point P on object (7) surface is surveyed to be imaged after two deflection light L1 of generation and L2, L1 and L2 enter video camera after 2 refractions
For Q1, Q2, Q1, Q2 are point P left and right view respectively, i.e.,：Realized by 1 video camera, 1 biprism in piece image I
Obtain the left and right view of measurand (7)；Shooting image I is divided into left and right two halves image：IL, IR, IL, IR look at two
The left and right view of virtual video camera C1, C2 shooting；Using IL, IR image, stereoscopic vision demarcation is carried out to imaging system；Measuring
During, according to measuring system stereo calibration result, binocular stereo vision three-dimensional measurement is carried out using IL, IR image.
2. according to claim 1, biprism and video camera is rigidly connected by mechanical fastening system, prevent from sending out in vibration processes
Raw relative displacement；K are set in the range of camera coverage above with reference to point, k value 3-100, and is ensured in vibration processes
Middle video camera can photograph reference point；Vibration interference modification method is：
1）Before vibration, shooting refers to dot image, and calculating reference point initial coordinate X0；
2）In vibration processes, shooting refers to dot image, calculating reference point coordinate Xi, then calculates and is transformed into by changing coordinates Xi
Initial coordinate X0 transition matrix P：Make X0=Xi*P, computational methods use least-squares estimation；
3）According to transition matrix P, three-dimensional measuring result Y current to model surface carries out Coordinate Conversion：Y '=Y*P, it is dry to eliminate vibration
Disturb.
3. according to claim 1 and 2, it is using the step of carrying out stereo-visiuon measurement：
1）On measurand surface, circular handmarking's point is set；
2）It is disposable to shoot measurand surface artificial mark dot pattern image I by imaging system of the present invention；
3）Shooting image I is split into left and right two halves image IL, IR；
4）In image IL, IR, pass through Threshold segmentation, ellipse fitting method, extraction handmarking dot center subpixel coordinates；
5）According to two CCD camera measure system calibration result, constrained using Epipolar geometry, find handmarking of the same name in IL, IR
Point, and by triangulation calculation, obtain measurand surface artificial mark point three-dimensional coordinate；
6）Vibration amendment is carried out to handmarking's point three-dimensional coordinate of calculating；
7）According to measurand surface artificial mark point three-dimensional coordinate at different moments, calculate measurand position, posture, displacement,
The information such as deformation.
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Cited By (6)
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| CN109539981A (en) * | 2018-10-30 | 2019-03-29 | 成都飞机工业（集团）有限责任公司 | Test specimen associated picture acquisition methods under a kind of high-temperature high-frequency vibration coupling environment |
| CN112179762A (en) * | 2020-03-05 | 2021-01-05 | 成都迪泰科技有限公司 | Double prism auxiliary measurement of Young modulus of metal wire |
| CN112525482A (en) * | 2020-11-24 | 2021-03-19 | 清华大学 | Device and method for measuring deformation and temperature in high-temperature wind tunnel environment |
| CN113237628A (en) * | 2021-07-08 | 2021-08-10 | 中国空气动力研究与发展中心低速空气动力研究所 | Method for measuring horizontal free flight model attitude of low-speed wind tunnel |
| CN113390605A (en) * | 2021-07-20 | 2021-09-14 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Full-field measurement method for wing deformation of wind tunnel test airplane |
| CN114543667A (en) * | 2022-01-21 | 2022-05-27 | 同济大学 | Single-camera double-prism three-dimensional measurement system and measurement method based on neural network |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109539981A (en) * | 2018-10-30 | 2019-03-29 | 成都飞机工业（集团）有限责任公司 | Test specimen associated picture acquisition methods under a kind of high-temperature high-frequency vibration coupling environment |
| CN112179762A (en) * | 2020-03-05 | 2021-01-05 | 成都迪泰科技有限公司 | Double prism auxiliary measurement of Young modulus of metal wire |
| CN112525482A (en) * | 2020-11-24 | 2021-03-19 | 清华大学 | Device and method for measuring deformation and temperature in high-temperature wind tunnel environment |
| CN112525482B (en) * | 2020-11-24 | 2021-09-17 | 清华大学 | Device and method for measuring deformation and temperature in high-temperature wind tunnel environment |
| CN113237628A (en) * | 2021-07-08 | 2021-08-10 | 中国空气动力研究与发展中心低速空气动力研究所 | Method for measuring horizontal free flight model attitude of low-speed wind tunnel |
| CN113390605A (en) * | 2021-07-20 | 2021-09-14 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Full-field measurement method for wing deformation of wind tunnel test airplane |
| CN114543667A (en) * | 2022-01-21 | 2022-05-27 | 同济大学 | Single-camera double-prism three-dimensional measurement system and measurement method based on neural network |
| CN114543667B (en) * | 2022-01-21 | 2023-11-07 | 同济大学 | Single-camera double-prism three-dimensional measurement system and measurement method based on neural network |
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