CN107883870B - Overall calibration method based on binocular vision system and laser tracker measuring system - Google Patents
Overall calibration method based on binocular vision system and laser tracker measuring system Download PDFInfo
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of overall calibration method based on binocular vision system and laser tracker measuring system, rigid stereo target of the production face A with binocular vision system circular markers and the face B with laser tracker measurement target ball first, then the A areal coordinate system and B areal coordinate system of stereo target are established, resolve the transformational relation between the transformational relation and stereo target B areal coordinate system and laser tracker world coordinate system between stereo target A areal coordinate system and the left camera coordinates system of binocular vision system, according to the transformational relation calculated in previous step, calculate the transformational relation between A areal coordinate system and B areal coordinate system, finally calculate the transformational relation between the left camera coordinates system of global calibration binocular vision system and laser tracker world coordinate system.The present invention reduces the difficulty for directly processing and safeguarding High Precision Stereo target, directly measurement bring measurement error is avoided, more accurate calibration result is obtained.
Description
Technical field
The invention belongs to field of optical measuring technologies, and in particular to one kind is surveyed based on binocular vision system and laser tracker
The overall calibration method of amount system.
Background technique
With the fast development of computer vision the relevant technologies, the precise measurement of non-contact 3-D characteristic point is in modern work
Industry manufacturing field is widely used in deformation monitoring, dimension analysis, quality testing etc. more particularly to large-scale metrology neck
Domain, such as deformation monitoring, shipbuilding, aerospace manufacture.One important point as computer vision of binocular vision system
Branch, is to be handed over from two to the visual sensor of arrangement to form, and captures left images of the spatial point under two different perspectivess, utilizes
The corresponding images match point of spatial point in left images carries out three to spatial point according to the principle of triangulation of binocular stereo vision
Tie up the calculating of coordinate.The three-dimensional coordinate of binocular vision system reconstruct is on the basis of left camera coordinates system.
But limited by visual sensor, it is double when in left and right, visual sensor reaches the measurement accuracy of 0.2mm simultaneously
The measurement range of mesh vision system generally can only achieve 1m × 1m.In order to expand the measurement range of binocular vision system, by
Measured zone is laid out handmarking's point.Method one: mobile binocular under the premise of guaranteeing can see at least three common indicium point
Vision system realizes that the coordinate system of mobile front and back binocular vision system measurement data is unified using common indicium point, but the process
Error accumulation can be introduced, mm grades of measurement accuracy is reached, this method can only also expand the measurement range of binocular vision system
Into 10m；Method two: for the measurement range of further expansion vision measurement system, C.Reich proposes to combine number close
The method of scape Digital Photogrammetric System, this method use a high-resolution video camera first, from multiple and different position and side
Multiple image is shot to handmarking's point to layout, is optimized by image analysis, sequence image three-dimensionalreconstruction, bundle adjustment
And etc. obtain high-precision handmarking's point skeleton point model, then move binocular vision system and carry out three-dimensional measurement and will survey
It measures on data automatic Mosaic to high-precision handmarking's point skeleton point model, so that it is tired to solve error present in method one
Product problem, but the measurement range of binocular vision system can only be also expanded within the scope of 20m by this method.
Laser tracker is by the way that beam of laser to be emitted in target ball, and light beam is reflected back toward laser tracker and receives and remember
Its lower accurate distance is recorded, while two angular encoders inside laser tracker can accurately measure horizontal direction and perpendicular
Histogram to rotation angle, to calculate 3 d space coordinate of the target ball under laser tracker spherical coordinate system.Laser tracking
Instrument can also realize that the coordinate system of measurement data is unified by the mode of leapfroging of at least three common point, so that measurement range be expanded
Extremely rice up to a hundred, and guarantee that measurement accuracy reaches mm grades.
It, can be by means of laser tracker in order to which the measurement range of binocular vision system is extended to tens meters of even rice up to a hundred
Global coordinate system is established, to guarantee that the overall measurement accuracy within the scope of tens meters even up to a hundred meters reaches mm grades, but is wherein deposited
Critical issue be how accurately to realize binocular vision system measurement coordinate system and laser tracker global coordinate system
Global calibration.
Summary of the invention
The technical problems to be solved by the invention are in view of the above shortcomings of the prior art, to provide a kind of based on binocular vision
The overall calibration method of feel system and laser tracker measuring system.
The technical scheme adopted by the invention is that: it is a kind of complete based on binocular vision system and laser tracker measuring system
Office's scaling method, comprising the following steps:
(1) make stereo target: the production face A has laser tracker with binocular vision system circular markers and the face B
Measure the rigid stereo target of target ball；
(2) the A areal coordinate system and B areal coordinate system of stereo target are established: by stereo target be placed in binocular vision system and
In the measurement visual field of laser tracker measuring system, binocular vision system measures the three of the face the stereo target A circular markers center of circle
Coordinate is tieed up, and establishes A areal coordinate system, laser tracker measuring system on the basis of three circular markers in the face stereo target A
The three-dimensional coordinate of the face the stereo target B target ball centre of sphere is measured, and establishes B on the basis of three target ball center points in the face stereo target B
Areal coordinate system；
(3) Conversion Relations between stereo target A areal coordinate system and the left camera coordinates system of binocular vision system are resolved:
Three-dimensional point under A areal coordinate system is denoted as PA, the three-dimensional point under the left camera coordinates system of binocular vision system is denoted as PS, it is known that at least three
Three-dimensional coordinate of the common point under A areal coordinate system and the left camera coordinates system of binocular vision system, calculates A areal coordinate system and binocular
Conversion Relations H_S2A between the left camera coordinates system of vision system, matrix equality PA=RS2APS+TS2A, wherein RS2A
For spin matrix, TS2AFor translation matrix；
(4) Conversion Relations between stereo target B areal coordinate system and laser tracker world coordinate system: the face B are resolved
Three-dimensional point under coordinate system is denoted as PB, the three-dimensional point under laser tracker world coordinate system is denoted as PG, it is known that at least three common point
Three-dimensional coordinate under B areal coordinate system and laser tracker world coordinate system calculates B areal coordinate system and the laser tracker world
Conversion Relations H_B2G between coordinate system, matrix equality PG=RB2GPB+TB2G, wherein RB2GFor spin matrix, TB2G
For translation matrix；
(5) Conversion Relations between stereo target A areal coordinate system and B areal coordinate system are resolved: multiple moving three-dimensional target
Mark, according to the transformational relation H_S2A between the stereo target A areal coordinate system calculated and the left camera coordinates system of binocular vision system
Transformational relation H_B2G between stereo target B areal coordinate system and laser tracker world coordinate system successively obtains each position
Three-dimensional coordinate P of the stereo target A face mark point under A areal coordinate system under stateAWith the face the B target ball centre of sphere under B areal coordinate system
Three-dimensional coordinate PB, calculate the Conversion Relations H_A2B between stereo target A areal coordinate system and B areal coordinate system, matrix etc.
Formula is PB=RA2BPA+TA2B, wherein RA2BFor spin matrix, TA2BFor translation matrix, the stereo target A areal coordinate system that will be calculated
Transformational relation result between B areal coordinate system is stored to computer, in case using when subsequent global calibration；
(6) the mutual conversion resolved between the left camera coordinates system of binocular vision system and laser tracker world coordinate system is closed
System: the mutual conversion between the stereo target A areal coordinate system resolved according to step 3 and the left camera coordinates system of binocular vision system is closed
It is the Conversion Relations between H_S2A, the step 4 stereo target B areal coordinate system resolved and laser tracker world coordinate system
The Conversion Relations H_A2B between stereo target A areal coordinate system and B areal coordinate system that H_B2G and step 5 resolve, calculates
Conversion Relations H_S2G between the left camera coordinates system of binocular vision system and laser tracker world coordinate system, wherein wrapping
R containing spin matrixS2GWith translation matrix TS2G, their transformational relation are as follows:
That is: PG=RB2GRA2BRS2APS+RB2GRA2B TS2A+RB2G TA2B+TB2G。
Preferably, moving three-dimensional target multiple in above-mentioned steps 5 to be resolved to the multiple spin matrix values and translation obtained
Matrix value calculates spin matrix R with least square methodA2BWith translation matrix TA2B, by the spin matrix R of calculatingA2BAnd translation matrix
TA2BAs initial value, nonlinear optimization is carried out using Levenberg-Marquardt algorithm, the stereo target A after being optimized
Conversion Relations H_A2B between areal coordinate system and B areal coordinate system.
Preferably, stereo target is repeatedly moved, throughout the measurement visual field of binocular vision system, after each movement
Position all calculates the global transformation relationship of a binocular vision system left camera coordinates system and laser tracker world coordinate system, will
Multiple global transformation relationships carry out average value processing, obtain the left camera coordinates system of final binocular vision system and laser tracker generation
Transformational relation between boundary's coordinate system.
The respective special objective point of binocular vision system and laser tracker measuring system all accurately measures of the invention
In the case where realize binocular vision system measurement coordinate system and laser tracker global coordinate system high-precision global calibration, no
The difficulty of directly processing and maintenance High Precision Stereo target is only reduced, and avoids binocular vision system and laser tracker
Measuring system directly measures the same target bring measurement error, obtains more accurate calibration result.
Detailed description of the invention
Fig. 1 is stereo target schematic diagram of the invention；
Fig. 2 is coordinate system transition diagram of the invention.
Specific embodiment
Invention is further described in detail below in conjunction with the accompanying drawings and the specific embodiments.
Overall calibration method provided in this embodiment based on binocular vision system and laser tracker measuring system includes
Following steps:
(1) as shown in Figure 1, production stereo target, the face stereo target A have binocular vision system circular markers, B mask
There is laser tracker to measure target ball, the layout quantity of the measurement target ball on circular markers and the face B on the face stereo target A and rule
Then meet and be at least laid out 3 and not conllinear, positional relationship need to only guarantee in practical application without accurate processing between the face A and the face B
In scene binocular vision system and laser tracker measuring system can the corresponding special marking point of approximate face, this implementation
5 vision system circular markers are installed in the face A in example, and the face B installs 5 laser trackers and measures target ball, and the face stereo target A is round
After mark point and the installation of the face B target ball, guarantee that the spatial relation between each circular markers and target ball is fixed；
(2) as shown in Fig. 2, establishing the left camera coordinates system S_xyz of binocular vision system, laser tracker world coordinates is established
It is G_xyz；Stereo target is placed in the measurement visual field of binocular vision system and laser tracker measuring system, according to binocular
Vision system measures the three-dimensional coordinate in the face the stereo target A circular markers center of circle, and with three circular marks in the face stereo target A
The A areal coordinate system A_xyz that stereo target is established on the basis of point measures stereo target B according to laser tracker measuring system
The three-dimensional coordinate of the face target ball centre of sphere, and the face B for establishing on the basis of three target ball center points in the face stereo target B stereo target is sat
Mark system B_xyz, stereo target A areal coordinate system and B areal coordinate system after foundation can not change, and store lower 5 circles of A areal coordinate system
The three-dimensional coordinate of lower 5 target balls of the three-dimensional coordinate of shape mark point and B areal coordinate system is to computer, in case making when subsequent global calibration
With；
(3) Conversion Relations between stereo target A areal coordinate system and the left camera coordinates system of binocular vision system are resolved:
Three-dimensional point under A areal coordinate system is denoted as PA, the three-dimensional point under the left camera coordinates system of binocular vision system is denoted as PS, it is known that at least three
Three-dimensional coordinate of the common point under A areal coordinate system and the left camera coordinates system of binocular vision system, calculates A areal coordinate system and binocular
Conversion Relations H_S2A between the left camera coordinates system of vision system, matrix equality PA=RS2APS+TS2A, wherein RS2A
For spin matrix, TS2AFor translation matrix；
(4) Conversion Relations between stereo target B areal coordinate system and laser tracker world coordinate system: the face B are resolved
Three-dimensional point under coordinate system is denoted as PB, the three-dimensional point under laser tracker world coordinate system is denoted as PG, it is known that at least three common point
Three-dimensional coordinate under B areal coordinate system and laser tracker world coordinate system calculates B areal coordinate system and the laser tracker world
Conversion Relations H_B2G between coordinate system, matrix equality PG=RB2GPB+TB2G, wherein RB2GFor spin matrix, TB2G
For translation matrix；
(5) Conversion Relations between stereo target A areal coordinate system and B areal coordinate system are resolved: vertical according to what is calculated
Transformational relation H_S2A and stereo target B areal coordinate between body target A areal coordinate system and the left camera coordinates system of binocular vision system
Transformational relation H_B2G between system and laser tracker world coordinate system obtains stereo target A face mark point in A areal coordinate system
Under three-dimensional coordinate PA1With three-dimensional coordinate P of the face the B target ball centre of sphere under B areal coordinate systemB1, moving three-dimensional target, after being moved
Three-dimensional coordinate P of the stereo target A face mark point under A areal coordinate systemA2With three-dimensional seat of the face the B target ball centre of sphere under B areal coordinate system
Mark PB2, and the coordinate system before the movement of the face stereo target A and the Conversion Relations between the coordinate system after movement are calculated, it is denoted as
C, the Conversion Relations between the coordinate system after coordinate system and movement before calculating the movement of the face stereo target B, is denoted as D, by
In the structural rigidity of stereo target, the transformational relation H_A2B between A areal coordinate system and B areal coordinate system be it is invariable, then may be used
To calculate transformational relation H_A2B by multiple moving three-dimensional target, it is denoted as X.
Stereo target A face circular markers and the face B target ball constitute a closed loop conversion before and after stereo target is mobile and close
System:
Following formula is obtained according to above-mentioned transformational relation:
Above-mentioned relation formula i.e. mechanical arm coordinate system and vision system coordinate system hand and eye calibrating relational expression for the moment, lead to
It crosses hand and eye calibrating method and calculates X, that is, calculate the Conversion Relations between stereo target A areal coordinate system and B areal coordinate system
H_A2B, matrix equality PB=RA2BPA+TA2B, wherein RA2BFor spin matrix, TA2BFor translation matrix, the solid that will be calculated
Transformational relation result between target A areal coordinate system and B areal coordinate system is stored to computer, in case making when subsequent global calibration
With；
Step (3), (4), Conversion Relations in (5) between two coordinate systems specific calculation method see Feng Qiqiang
" being oriented based on the photo outline of automatic orientation stick and coding maker, (infrared and laser engineering, 37 (4), 2008,132-136) "
One text.
In order to reach calculation accuracy as high as possible, need in visual field moving three-dimensional target as much as possible, comprising around
Multiple moving three-dimensional target is resolved the multiple spin matrix values obtained and translation matrix value by the rotation and translation motion of each axis
Spin matrix R is calculated with least square methodA2BWith translation matrix TA2B, by the spin matrix R of calculatingA2BWith translation matrix TA2BAs
Initial value carries out nonlinear optimization using Levenberg-Marquardt algorithm, while in order to improve the efficiency of nonlinear optimization
And precision, according to the characteristics such as orthogonal of spin matrix by 9 element dimensionality reductions of spin matrix at 3 elements (Cayley or
Rodrigues expression-form), so that the nonlinear optimization parameter of transformational relation becomes 6 elements；
The Cayley expression-form of spin matrix R:
R=(I-S)-1(I+S)
The objective function of Levenberg-Marquardt nonlinear optimization:
Using the conversion parameter after Levenberg-Marquardt nonlinear optimization as final stereo target A areal coordinate
Conversion Relations H_A2B between system and B areal coordinate system (includes spin matrix RA2BWith translation matrix TA2B), and store to meter
Calculation machine, in case being used when subsequent global calibration.
(6) the mutual conversion resolved between the left camera coordinates system of binocular vision system and laser tracker world coordinate system is closed
System:
The three-dimensional coordinate P of lower 5 circular markers of stereo target A areal coordinate system is had been obtained in step (2)A, three-dimensional
The three-dimensional coordinate P of lower 5 target balls of target B areal coordinate systemB,
Step (3) calculates mutually to be turned between stereo target A areal coordinate system and the left camera coordinates system of binocular vision system
Relationship H_S2A is changed, wherein including spin matrix RS2AWith translation matrix TS2A；
Step (4) calculates the pass of the mutual conversion between stereo target B areal coordinate system and laser tracker world coordinate system
It is H_B2G, wherein including spin matrix RB2GWith translation matrix TB2G；
Step (5) calculates the Conversion Relations H_A2B between stereo target A areal coordinate system and B areal coordinate system, wherein
Include spin matrix RA2BWith translation matrix TA2B；
Can then following expression be obtained:
That is the transformational relation H_S2G of the left camera coordinates system of binocular vision system to laser tracker world coordinate system (includes
Spin matrix RS2GWith translation matrix TS2G) are as follows:
When the measurement visual field of binocular vision system is larger, need multiple moving three-dimensional target as far as possible throughout binocular vision system
The measurement visual field of system, position after each movement all calculate the left camera coordinates system of a binocular vision system and laser tracker
Multiple global transformation relationships are carried out equalization processing, obtain final binocular vision by the global transformation relationship of world coordinate system
Transformational relation H_S2G between the left camera coordinates system of system and laser tracker world coordinate system (includes spin matrix RS2GPeace
Move matrix TS2G)。
The above is only the preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, any
The transformation and replacement carried out based on technical solution provided by the present invention and inventive concept should all be covered in protection model of the invention
In enclosing.
Claims (3)
1. a kind of overall calibration method based on binocular vision system and laser tracker measuring system, it is characterised in that: including
Following steps:
(1) make stereo target: the production face A is measured with binocular vision system circular markers and the face B with laser tracker
The rigid stereo target of target ball；
(2) the A areal coordinate system and B areal coordinate system of stereo target are established: stereo target is placed in binocular vision system and laser
In the measurement visual field of tracker measuring system, binocular vision system measures the three-dimensional of the face the stereo target A circular markers center of circle and sits
Mark, and A areal coordinate system is established on the basis of three circular markers in the face stereo target A, the measurement of laser tracker measuring system
The three-dimensional coordinate of the face the stereo target B target ball centre of sphere, and the face B seat is established on the basis of three target ball center points in the face stereo target B
Mark system；
(3) Conversion Relations between stereo target A areal coordinate system and the left camera coordinates system of binocular vision system: the face A are resolved
Three-dimensional point under coordinate system is denoted as PA, the three-dimensional point under the left camera coordinates system of binocular vision system is denoted as PS, it is known that at least three is public
Three-dimensional coordinate of the concurrent under A areal coordinate system and the left camera coordinates system of binocular vision system, calculates A areal coordinate system and binocular vision
Conversion Relations H_S2A between the left camera coordinates system of feel system, matrix equality PA=RS2APS+TS2A, wherein RS2AFor
Spin matrix, TS2AFor translation matrix；
(4) Conversion Relations between stereo target B areal coordinate system and laser tracker world coordinate system: B areal coordinate are resolved
Three-dimensional point under system is denoted as PB, the three-dimensional point under laser tracker world coordinate system is denoted as PG, it is known that at least three common point is in the face B
Three-dimensional coordinate under coordinate system and laser tracker world coordinate system calculates B areal coordinate system and laser tracker world coordinates
Conversion Relations H_B2G between system, matrix equality PG=RB2GPB+TB2G, wherein RB2GFor spin matrix, TB2GIt is flat
Move matrix；
(5) Conversion Relations between stereo target A areal coordinate system and B areal coordinate system: moving three-dimensional target are resolved, according to solution
Transformational relation H_S2A and Stereo target between the stereo target A areal coordinate system and the left camera coordinates system of binocular vision system of calculating
Transformational relation H_B2G between mark B areal coordinate system and laser tracker world coordinate system is successively obtained and is stood under each location status
Three-dimensional coordinate P of the body target A face mark point under A areal coordinate systemAWith three-dimensional coordinate of the face the B target ball centre of sphere under B areal coordinate system
PB, calculate the Conversion Relations H_A2B between stereo target A areal coordinate system and B areal coordinate system, matrix equality PB=
RA2BPA+TA2B, wherein RA2BFor spin matrix, TA2BFor translation matrix, the stereo target A areal coordinate system calculated and the face B are sat
Transformational relation result between mark system is stored to computer, in case using when subsequent global calibration；
(6) Conversion Relations between the left camera coordinates system of binocular vision system and laser tracker world coordinate system are resolved:
Conversion Relations between the stereo target A areal coordinate system resolved according to step 3 and the left camera coordinates system of binocular vision system
Conversion Relations H_ between H_S2A, the step 4 stereo target B areal coordinate system resolved and laser tracker world coordinate system
The Conversion Relations H_A2B between stereo target A areal coordinate system and B areal coordinate system that B2G and step 5 resolve, calculates double
Conversion Relations H_S2G between the left camera coordinates system of mesh vision system and laser tracker world coordinate system, wherein including
Spin matrix RS2GWith translation matrix TS2G, their transformational relation are as follows:
That is: PG=RB2GRA2BRS2APS+RB2GRA2BTS2A+RB2GTA2B+TB2G。
2. the overall calibration method according to claim 1 based on binocular vision system and laser tracker measuring system,
It is characterized by: multiple moving three-dimensional target resolves the multiple spin matrix values obtained and translation matrix value according to above-mentioned steps 5
Spin matrix R is calculated with least square methodA2BWith translation matrix TA2B, by the spin matrix R of calculatingA2BWith translation matrix TA2BAs
Initial value carries out nonlinear optimization using Levenberg-Marquardt algorithm, the stereo target A areal coordinate after being optimized
Conversion Relations H_A2B between system and B areal coordinate system.
3. the overall calibration method according to claim 1 based on binocular vision system and laser tracker measuring system,
It is characterized by also including step (7), and stereo target is repeatedly moved, throughout the measurement visual field of binocular vision system, each
Position after movement all calculates the left camera coordinates system of a binocular vision system and the overall situation of laser tracker world coordinate system turns
Relationship is changed, multiple global transformation relationships are subjected to average value processing, the left camera coordinates system of final binocular vision system is obtained and swashs
Transformational relation between optical tracker system world coordinate system.
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Denomination of invention: Global calibration method based on binocular vision system and laser tracker measurement system Granted publication date: 20191203 Pledgee: Chengdu SME financing Company Limited by Guarantee Pledgor: SICHUAN LEAD INDUSTRIAL INFO TECH CO.,LTD. Registration number: Y2024980013396 |