CN107680139A - Universality calibration method of telecentric binocular stereo vision measurement system - Google Patents
Universality calibration method of telecentric binocular stereo vision measurement system Download PDFInfo
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Abstract
The invention relates to a universality calibration method of a telecentric binocular stereoscopic vision measurement system. The full-automatic identification of the control points is realized through the designed plane calibration plate with randomly distributed round points. The use of such a calibration plate makes the positioning of the control points more accurate and even more robust in case of local occlusions and large inclination angles. The invention provides a structural model of a three-dimensional telecentric camera system, and the structural parameters are kept unchanged in the calibration process, so that the structural parameters are optimized by adopting the adjustment of a light beam method. Compared with the existing method, the camera parameters obtained by calibration are obviously improved due to the fact that adjustment of a plurality of groups of images shot at the same time is optimized by the aid of a beam method.
Description
Technical field
The invention belongs to computer vision field, in particular with the versatility of telecentricity binocular stereo vision measuring system
Scaling method.
Background technology
With the development of sophisticated manufacturing, the development to the precision three-dimensional survey of miniature scale also has propulsion and demand.
It is to develop the three-dimensional measurement technology of comparative maturity to establish triangulation relation by binocular stereo vision measuring system.Compared to dry
Measuring method such as holographic interferometry is related to, moire method and Electronic Speckle Pattern Interferometry (ESPI), the technology are wanted to light path design
Ask simpler and need not be shockproof.Therefore, this method is all largely used in many fields.Traditionally, a typical binocular
Stereo Vision Measurement System is made up of two in general camera lenses.However, between the three-dimensional measurement optical system of miniature scale
Distance must obtain very little.A subject matter is perspective effect and lens distortion for general camera lens, it is close away from
From upper, target can produce distortion.There are many advantages compared to general camera lens, the characteristics of the rectangular projection of telecentric lens, such as
The lens distortion of very little, constant enlargement ratio, and the larger depth of field.Due to these features be present, so by telecentricity camera
The binocular stereo vision measuring system of composition can be widely applied among the three-dimensional measurement of miniature scale, such as minute yardstick target
Three-dimensional measurement and reconstruct, three-dimensional digital picture correlation etc..
When to be measured using stereo visual system, demarcation is a step of core.At present for using binocular
The algorithm research that stereoscopic vision measures has tended to be ripe, so the precision of measurement is heavily dependent on demarcation essence
Degree.Generally, due to the key position in optical measurement of calibration process, for pin-point model stereo camera calibration
There is extensive research, and it is also proposed many scaling methods.However, the demarcation for telecentric optical system is particularly in Z
It is not so directly, because telecentric system can cause along the conversion on optical axis direction and insensitive on direction.Therefore, for base
Telecentricity binocular stereo vision measurement system is not particularly suited in traditional scaling method that the aperture camera model of perspective projection is built
The demarcation of system.So for telecentricity binocular stereo vision measuring system, it is necessary to there is a kind of general high-precision calibrating method.
The content of the invention
It is an object of the invention to provide a versatility to the Stereo Vision Measurement System being made up of two telecentricity cameras
Scaling method, realize the demarcation of the high accuracy, high robust to system, be not the high-acruracy survey application of system, including but not
It is limited to the three-dimensionalreconstruction of minute yardstick target, three-dimensional digital picture correlation etc., lays the foundation.
The measuring system demarcated, including telecentricity camera A, telecentricity camera B and data handling machine, institute are needed in the present invention
The scaling board used is random round dot scaling board.Wherein, telecentricity camera A, telecentricity camera B connect firmly installation, have public view field, i.e.,
There are angle, 0 °~90 ° of angular range in telecentricity camera A visual angle with telecentricity camera B visual angle；Data handling machine and telecentricity phase
Machine A, telecentricity camera B UNICOMs, real-time synchronization gather the view data of two telecentricity cameras, and resolving system calibration result.At random
Round dot scaling board is generated at random by a series of, and the plane reference plate of the round dot composition of its known central coordinate of circle.Connect firmly peace
Dress refers to that telecentricity camera A and telecentricity camera B relative position are fixed.
With the method in the present invention to the Stereo Vision Measurement System being made up of two telecentricity cameras carry out demarcation include with
Lower step：
The first step, the identification of random round dot scaling board
The generation of 1.1 scaling boards
This plane reference plate is made up of the round dot of random scatter, and the central coordinate of circle of these round dots is in a subrange
Generate at random, the radius for generating round dot be it is consistent, in this case, the triangle of any three round dots composition it is interior
Angle can be obtained by the system of conics matrix number without homography correction map picture.When generate a scaling board it
Afterwards, that is, the coordinate at the round dot center under a reference frame is there is known, the feature description of this scaling board can then pass through
Following method generates.For each round dot on scaling board, two nearest round dots and its one triangle of composition are selected, then
The cosine value of the minimum and maximum interior angle of the triangle may act as the feature description of these three round dots.By this property,
Circular control point on scaling board can carry out automatic identification by similar triangle matching process；
1.2 round dots match
For shooting obtained uncalibrated image, the conic section Matrix C of Circle in Digital Images point is obtained by ellipses detection, C is bag
The real symmetric matrix of one 3 × 3 containing whose conic coefficient.It is similar with the process of demarcation plate features description generation, for one
The feature description of round dot and its two consecutive points can by the conic section Matrix C in formula (1) 'iTo obtain.
On scaling board has been obtained after the feature description of round dot, document is utilized《Nondimensional star
identification for uncalibrated star cameras》(it is published within 2006《The Journal of the
Astronautical Sciences》) method realize shooting image and scaling board generation data Optimum Matching.
1.3 homography matrixs are estimated
After optimal characteristics matching is obtained, corresponding secondary song in the centre coordinate and its image of three round dots has just been obtained
The correspondence of line.Therefore, homography matrix H initial estimate simply can be calculated by formula (2) by DLT methods.
Wherein, (a, b) and (u, v) represents the center of the conic section in the round dot and shooting image of generation respectively.Homography matrix H
Meet formula (3)
After homography matrix H initial estimation is obtained, a more accurate homography matrix can be obtained by RANSAC methods.
In application this scaling board and its corresponding recognition methods, can substantially be blocked existing, uneven illumination, high inclination-angle is very
The fixation and recognition to the full-automatic robust at control point is realized in the case of to defocus.
Second step, one camera parameter Estimation
2.1 camera parameter initial values determine
After homography matrix H is determined, the inside and outside parameter of undistorted camera can then be determined by an approximate solution, the party
Method is in document《A Flexible Calibration Approach for Cameras with Double-sided
Telecentric Lenses》(it is published within 2016《International Journal of Advanced Robotic
Systems》) in be described.
The ambiguousness of spin matrix R caused by telecentric lens demarcation can easily be passed through for application plane reference plate
The prior information of camera structure solves.Independently resolved by this method and obtain the Intrinsic Matrix K of two telecentricity camerasLWith
KR, and outer parameter (RL,tLs) and (RR,tRs), wherein tLs=[tLx tLy]TAnd tRs=[tRx tRy]TFor one of translation vector
Point, rather than complete translation vector tL=[tLx tLy tLz]TAnd tR=[tRx tRy tRz]T。
The nonlinear optimization of 2.2 conic sections conversion
Because for telecentricity camera, conic section center is in the picture with the conic section center in image under affine transformation
Consistent, therefore, the parameter of telecentricity camera, which includes lens distortion δ, to be retouched by way of the point transformation of formula (4)
State.All camera parameters can be optimized by the nonlinear optimization of point transformation under the description.
Wherein mjiWithIt is point P respectivelyiImage coordinate and re-projection coordinate in camera j.Spin matrix RjCan be by three ginsengs
Several vectors are represented by rodrigues formula.
3rd step, system structure parameter demarcation
3.1 establish system architecture peg model
For telecentricity camera Stereo Vision Measurement System, system structure parameter is the transformational relation between two camera coordinates
WithWhereinCan be by one camera R obtained by calibratingLAnd RRDirectly it is calculated by formula (5)
Recovered using left camera coordinates system as world coordinate system and by the translation vector parameter of its Z-direction, camera is put down
Last value t for the amount of shifting toRzArbitrary value can be set to.That is, coordinate system XRYRZROrigin can be that it is corresponding
Any point on optical axis, then by coordinate system XRYRZROrigin oRElect Z asRAxle and ZLYLThe intersection point of plane, by ZLAxle and its mistake
oRVertical line intersection point as coordinate system XLYLZLOrigin oL, in this case, the outer parameter of stereo visual systemWith
It can be calculated by formula (6)
Wherein, [0 yoR 0]TIt is coordinate system XRYRZROrigin in coordinate system XLYLZLIn coordinate, and feelings connected firmly when two cameras
Under condition, the coordinate of the point is constant.And it can be calculated by formula (7)-(9)
All structural parameters of system are so determined that.
3.2 bundle adjustments optimize system structure parameter
Demarcated by one camera and (R is obtained respectively to j by the image collected simultaneouslyLj,tLsj) and (RRj,tRsj), and for not
The image obtained with viewing angles, structural parameters includeAnd yoRAll keep constant, so in order to further lift the essence of demarcation
Degree, several images gathered simultaneously are optimized using bundle adjustment to all camera parameters, minimizing majorized function is
e2
Wherein mL jiAnd mR jiIt is image respectively to left and right camera image orbicular spot center P in jiCorrespondence；WithRespectively
It is round dot center PiRe-projection in left and right camera image during image is to j；δLAnd δRIt is distortion coefficients of camera lens.Spin matrix RLj
WithIt can be represented by the vector of three parameters by rodrigues formula.Minimize majorized function e2It is one non-linear
Minimization problem, the problem can be solved by Levenberg-Marquardt algorithms.
Advantages of the present invention：
1. the full-automatic identification to control point is realized by the plane reference plate of the random distribution round dot of design in the present invention.
Cause that the positioning at control point is more accurate with this scaling board, the also more Shandong even in the case of partial occlusion and high inclination-angle
Rod.
2. the present invention proposes the structural model of a three-dimensional telecentricity camera system, because the structural parameters are protected in calibration process
Hold it is constant, so being optimized using bundle adjustment to it.Compared with the existing methods, due to a pair multigroup figure for shooting simultaneously
As being optimized using bundle adjustment so that camera parameter obtained by calibrating is obviously improved.
Brief description of the drawings
Fig. 1 is the Stereo Vision Measurement System of the invention that be made up of two telecentricity cameras to be demarcated,
Fig. 2 is random round dot scaling board master drawing used in the present invention,
Fig. 3 is Stereo Vision Measurement System structural parameters model schematic used in the present invention.
Embodiment
The measuring system demarcated, including telecentricity camera A, telecentricity camera B and data handling machine, institute are needed in the present invention
The scaling board used is random round dot scaling board.Data handling machine and two telecentricity camera UNICOMs, real-time synchronization collection two
The view data of platform telecentricity camera, and resolving system calibration result.Random round dot scaling board is attached to by printing after algorithm generation
On the scaling board of one plane.
The Stereo Vision Measurement System being made up of two telecentricity cameras is demarcated using the present invention, specific steps are such as
Under：
The first step, the identification of random round dot scaling board
1.1 generate random round dot scaling board by related algorithm, its center of circle coordinate under referential are obtained, by the scaling board of generation
Print and be attached on flat board using suitable ratio and be used as scaling board；
1.2 are placed in scaling board under two camera public view fields, control two cameras to adopt figure, conversion demarcation simultaneously by computer
Plate posture, then carry out adopting figure, the process is repeated, obtains a series of uncalibrated images；
1.3, for each uncalibrated image, carry out ellipses detection, and then obtain the feature description at control point in the picture；
1.4 are matched by feature description to round dot, further obtain the estimation of homography matrix；
Second step, one camera parameter Estimation
2.1, by the estimation of obtained homography matrix, inside and outside ginseng of the single camera under the conditions of undistorted are determined by correlation technique
Several approximate solutions；
2.2 using above-mentioned approximate solution as initial value to camera parameter, comprising camera distortion, carry out nonlinear optimization and obtain one camera ginseng
Number；
3rd step, system structure parameter demarcation
3.1, by the independent parameter pair outside one camera obtained by calibrating of two camera images of shooting simultaneously, calculate according to formula (6)-(9)
Obtain a series of system structure parameters；
3.2 are entered as initial value using the above results and one camera independence calibration result to all camera parameters by bundle adjustment
Row optimization, obtains final calibrating parameters.
Claims (2)
1. a kind of versatility scaling method of telecentricity binocular stereo vision measuring system, the measuring system of demarcation, including telecentricity phase
Machine A, telecentricity camera B and data handling machine, used scaling board are random round dot scaling board, it is characterised in that telecentricity
Camera A, telecentricity camera B connect firmly installation, have public view field, i.e. there is folder at telecentricity camera A visual angle and telecentricity camera B visual angle
Angle, 0 °~90 ° of angular range；Data handling machine and telecentricity camera A, telecentricity camera B UNICOMs, real-time synchronization gather two remote
The view data of heart camera, and resolving system calibration result, random round dot scaling board are generated at random by a series of, and known
The plane reference plate of the round dot composition of its central coordinate of circle, connects firmly installation and refers to that telecentricity camera A and telecentricity camera B relative position are consolidated
It is fixed；
Measuring system carries out demarcation and comprised the following steps：
The first step, the identification of random round dot scaling board
1.1 generate random round dot scaling board by related algorithm, obtain its center of circle coordinate under referential, random round dot is demarcated
Plate, which is printed and is attached on flat board, is used as scaling board；
1.2 are placed in scaling board under two camera public view fields, control two cameras to adopt figure, conversion demarcation simultaneously by computer
Plate posture, then carry out adopting figure, the process is repeated, obtains a series of uncalibrated images；
1.3, for each uncalibrated image, carry out ellipses detection, and then obtain the feature description at control point in the picture；
1.4 are matched by feature description to round dot, further obtain the estimation of homography matrix；
After optimal characteristics matching is obtained, corresponding secondary song in the centre coordinate and its image of three round dots has just been obtained
The correspondence of line, therefore, homography matrix H initial estimate simply can be calculated by formula (2) by DLT methods,
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After homography matrix H initial estimation is obtained, a more accurate homography matrix can be obtained by RANSAC methods,
In application this scaling board and its corresponding recognition methods, can substantially be blocked existing, uneven illumination, high inclination-angle is very
The fixation and recognition to the full-automatic robust at control point is realized in the case of to defocus；
Second step, one camera parameter Estimation
2.1 by the estimation of obtained homography matrix, determines the approximate solution of inside and outside parameter of the single camera under the conditions of undistorted；
2.2 using above-mentioned approximate solution as initial value to camera parameter, comprising camera distortion, carry out nonlinear optimization and obtain one camera ginseng
Number；
3rd step, system structure parameter demarcation
3.1, by the independent parameter pair outside one camera obtained by calibrating of two camera images of shooting simultaneously, calculate according to formula (6)-(9)
Obtain a series of system structure parameters；
For telecentricity camera Stereo Vision Measurement System, system structure parameter is the transformational relation between two camera coordinatesWithWhereinCan be by one camera R obtained by calibratingLAnd RRDirectly it is calculated by formula (5)
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Recovered using left camera coordinates system as world coordinate system and by the translation vector parameter of its Z-direction, camera is put down
Last value t for the amount of shifting toRzArbitrary value can be set to, that is to say, that coordinate system XRYRZROrigin can be that it is corresponding
Any point on optical axis, then by coordinate system XRYRZROrigin oRElect Z asRAxle and ZLYLThe intersection point of plane, by ZLAxle and its mistake
oRVertical line intersection point as coordinate system XLYLZLOrigin oL, in this case, the outer parameter of stereo visual systemWith
It can be calculated by formula (6)
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All structural parameters of system have so been determined that,
3.2 are entered as initial value using the above results and one camera independence calibration result to all camera parameters by bundle adjustment
Row optimization, obtains final calibrating parameters；
Demarcated by one camera and (R is obtained respectively to j by the image collected simultaneouslyLj,tLsj) and (RRj,tRsj), and for not
The image obtained with viewing angles, structural parameters includeAnd yoRAll keep constant, so in order to further lift the essence of demarcation
Degree, several images gathered simultaneously are optimized using bundle adjustment to all camera parameters, minimizing majorized function is
e2
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Wherein mLjiAnd mRjiIt is image respectively to left and right camera image orbicular spot center P in jiCorrespondence；WithIt is round respectively
Dot center PiRe-projection in left and right camera image during image is to j；δLAnd δRIt is distortion coefficients of camera lens, spin matrix RLjWith
It can be represented by the vector of three parameters by rodrigues formula.
2. a kind of versatility scaling method of telecentricity binocular stereo vision measuring system according to claim 1, its feature
It is, the minimum majorized function e2It is a non-linear minimisation problem, the problem passes through Levenberg-Marquardt
Algorithm is solved.
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| CN110148174A (en) * | 2019-05-23 | 2019-08-20 | 北京阿丘机器人科技有限公司 | Scaling board, scaling board recognition methods and device |
| WO2020237574A1 (en) * | 2019-05-30 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Method and apparatus for calibrating internal parameters of camera, method and apparatus for calibrating relative attitude of camera, unmanned aerial vehicle and storage apparatus |
| WO2021208630A1 (en) * | 2020-04-17 | 2021-10-21 | 虹软科技股份有限公司 | Calibration method, calibration apparatus and electronic device using same |
| CN113920205A (en) * | 2021-12-15 | 2022-01-11 | 深圳市华汉伟业科技有限公司 | Calibration method of non-coaxial camera |
| CN113920205B (en) * | 2021-12-15 | 2022-03-18 | 深圳市华汉伟业科技有限公司 | Calibration method of non-coaxial camera |
| CN114638898A (en) * | 2022-05-23 | 2022-06-17 | 中国人民解放军国防科技大学 | Small-sized flight target detection method and device |
| CN115289997A (en) * | 2022-08-01 | 2022-11-04 | 合肥国际应用超导中心 | Binocular camera three-dimensional contour scanner and using method thereof |
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