CN108955576A - Multi-line structured light self-calibrating method and system in profile of steel rail dynamic detection - Google Patents
Multi-line structured light self-calibrating method and system in profile of steel rail dynamic detection Download PDFInfo
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Abstract
The present invention discloses multi-line structured light self-calibrating method and system in a kind of profile of steel rail dynamic detection, this method comprises: obtaining the characteristic point on multiple line structure striation according to angle extraction algorithm from the scene image of rail；According to characteristic point and the geometry of rail itself, and integrated structure light vision mode builds rail three-dimensional profile；And projection profile is obtained according to rail three-dimensional profile；To the size and shape deviation on the inside of projection profile and the in-orbit Hubei Province of standard profile, rail head and on three non-eroded areas of rail bottom, quantified using similarity of curves measure；According to quantization deviation iteration optimization multiple line structure light-plane parameters, the self-calibration of multi-line structured light is realized.The program solves the problems, such as that dependence calibrating template cannot be independently rapidly to the online self-calibration of structure light, and the robustness that raising measurement profile is rebuild and auxiliary plane constructs is conducive to correct the rail profile that distorts as caused by multi-freedom-degree vibration.
Description
Technical field
It is multi-thread in especially a kind of profile of steel rail dynamic detection the present invention relates to profile of steel rail dynamic detection technology field
Structure light self-calibrating method.
Background technique
Modern railways travelling speed is getting faster, load is increasing, needs a set of reasonable, efficient line upkeep system
To guarantee that iron transports quality and safety.As the core component of iron fortune system, rail route needs periodic monitoring and maintenance, wherein
The measurement of rail section form is one of committed step.Rail section form, i.e. profile not only directly reflect rail and currently grind
Damage degree provides scientific and reasonable reference also for line upkeep system.Due to precision height, strong real-time and low in cost, knot
Structure light vision is widely used in non-contact measurement field, it mainly includes two structures of line-structured light projector and industrial camera
Part.The area source that line-structured light projector gives off meets at measured object surface, and forms the striation that can reflect its section information.Work
Industry camera synchronization catch optical strip image is rebuild the three-dimensional of this section according to the camera inside and outside parameter and light-plane parameters demarcated and is believed
Breath.As shown in Figure 1, similar with above-mentioned principle using structure light vision technology measurement rail profile process.It is grasped using image procossing
Make to propose striation pixel coordinate from optical strip image, according to structure light vision Model Reconstruction three-dimensional profile.
During actual line upkeep, structure light vision measuring systems are usually lifted on track checking car or milling vehicle car body
Lower section, in order to dynamically measure profile of steel rail.When train operation, multiple degrees of freedom vibration occurs for the uneven pliable car body that will lead to of rail
Dynamic, the structured light projector connecting with rigidity of vehicle body will be also affected by vibrations.These vibrations can divide 6 freedom degrees, respectively
Be rocking vibration in X direction, the bouncing vibration along Y-direction, the stretching vibration along Z-direction, around the nodding of X-direction, around Y
The yawing in direction and around Z-direction rolling vibrate.Here X, Y and Z-direction refer respectively to gauge direction, vertical direction and
Rail is to direction.In these vibrations, waving, jump, stretch and roll vibration will not influence structure optical plane and rail longitudinal direction
Vertical relation, therefore not will lead to measurement profile distortion.But it shakes the head and will lead to optical plane and rail longitudinal direction not with nodding
Vertically, extension is generated along X and Y-direction as shown in Fig. 2, shaking the head and to measure profile respectively with nodding, this extension becomes
Change directly results in measurement profile distortion, is not available.
For correcting distorted profile, related scholar proposes many effective ways, including the vibration coupling based on Orthogonal Decomposition
Close be registrated with compensation, non-rigid closest approach iteration, affine parameter estimates and the projection correction based on Structured Light etc..In order to
Measurement of wear precision is improved, has scholar to do related work in the identification and correction of Affine distortion profile, is based on normal rounds
Geometrical deviations wide and that distortion profile is on three rail head, the web of the rail and rail bottom Matching units, propose a kind of novel similitude
Measure.Using this quantitative measurement, incorporating parametric optimization algorithm can be corrected with this with accurate estimation affine transformation parameter
Distort profile.Another Affine distortion bearing calibration is the building convex hull at the web of the rail, is found using local affine invariant invariant feature abnormal
Become the match point on profile and standard profile.This method is simple and easy, but its and reflectivity uneven to Rail Surface illuminance is not
It is sensitive with caused miscellaneous spot noise, the case where easily mismatching in harsh environment.Structured Light is multi-line structured light skill
One of art special case is also used for dynamic measurement and the distortion correction of profile of steel rail.Profile measurement based on Structured Light
System multiple profile of steel rail obtained are divided into rail top and rail bottom two parts, and wherein rail bottom part is for being constructed perpendicular to steel
The auxiliary plane of rail longitudinal direction.Distortion correction process is will to measure profile to project to auxiliary plane, i.e., a kind of projection correction's technology.It throws
Shadow correction is simple and effective but very high to the building required precision of auxiliary plane.Auxiliary plane disadvantage is constructed using multiple measurement rail bottoms
It holds and is not in view of the rail bottom part of distortion rail profile is no longer positive round, but it is oval, therefore, it is fitted its center of circle not
Rationally.In addition, parallel property may no longer expire between Structured Light multiple light courcess face there are body oscillating
Foot, the reliability for causing it to construct auxiliary plane are lower.
As the above analysis, correcting distorted rail profile key is following two element.One, if can be accurate
It is constructed perpendicular to the auxiliary projection plane of rail longitudinal direction；Secondly, if it is capable of the three-dimensional information of Exact Reconstruction measurement profile.It is tying
In structure light vision measurement model, calibration is one of the committed step for realizing above-mentioned element, and it is each that the purpose is to determinations
Parametric equation of the optical plane in camera coordinates system.Existing structure Light-plane calibration method relies on high-precision calibrating template,
It is not directly applicable dynamic measurement and the distortion correction of profile of steel rail.In other words, vibration caused by dynamic process is inevitable
Cause the relative position between structured light projector and industrial camera to change, is demarcated under the line based on high-precision calibrating template
Method plane parameter obtained is simultaneously unreliable.Therefore, we urgently design it is a kind of independent of any calibrating template, can from
The main new method that online self-calibration is promptly carried out to structure light.
Summary of the invention
The present invention provides multi-line structured light self-calibrating method and system in a kind of profile of steel rail dynamic detection, for overcoming
The defects of depending on the plane parameter reliability of calibrating template, acquisition not high in the prior art,.
To achieve the above object, the present invention proposes the multi-line structured light self-calibration side in a kind of profile of steel rail dynamic detection
Method, comprising:
Step 1, the characteristic point on multiple line structure striation is obtained according to angle extraction algorithm from the scene image of rail；
Step 2, according to the characteristic point and the geometry of rail itself, and integrated structure light vision mode builds rail three-dimensional
Profile；And projection profile is obtained according to the rail three-dimensional profile；
Step 3, to the size on the inside of the projection profile and the in-orbit Hubei Province of standard profile, rail head and on three non-eroded areas of rail bottom
And form variations, quantified using similarity of curves measure；
Step 4, according to the quantization deviation iteration optimization multiple line structure light-plane parameters, the self-calibration of multi-line structured light is realized.
To achieve the above object, the present invention also provides the multi-line structured light self-calibration systems in a kind of profile of steel rail dynamic detection
System, comprising:
Feature obtains module, for obtaining the feature on multiple line structure striation according to angle extraction algorithm from the scene image of rail
Point；
Profile module is projected, for the geometry according to the characteristic point and rail itself, and integrated structure light vision mode
Build rail three-dimensional profile；And projection profile is obtained according to the rail three-dimensional profile；
Quantization modules, for the projection profile and the in-orbit Hubei Province of standard profile, rail head inside and three non-eroded areas of rail bottom
On size and shape deviation, quantified using similarity of curves measure；
Demarcating module is used for according to the quantization deviation iteration optimization multiple line structure light-plane parameters, and realizes multi-line structured light
Self-calibration.
Multi-line structured light self-calibrating method and system in profile of steel rail dynamic detection provided by the invention, in rail longitudinal direction
Independent of camera external parameter and structure light-plane parameters when fitting, a scene image is only needed, Robust Algorithm of Image Corner Extraction is used
The characteristic points such as rail Hubei Province and the rail bottom angle point on multiple line structure striation are obtained, using rail itself collimation geometrical constraint, are fitted steel
Rail longitudinal direction simultaneously constructs auxiliary projection plane；For projection profile and the in-orbit Hubei Province of standard profile, rail head inside and three non-abrasions of rail bottom
Size and shape deviation on region, is quantified using similarity of curves measure, excellent come iteration according to the quantization deviation
Change multiple line structure light-plane parameters, the self-calibration of multi-line structured light is realized with this；And then realize the deviation correction of multi-line structured light,
The robustness rebuild so as to improve measurement profile；On the other hand, auxiliary plane construction method disclosed by the invention is based only on camera
Inner parameter, and independent of the camera external parameter and structure light-plane parameters for being possible to numerical bias occur, so its Shandong
Stick is stronger；To sum up, this programme improves the robustness for measuring that profile is rebuild and auxiliary plane constructs, and is conducive to correction by mostly certainly
Distort rail profile caused by being vibrated by degree.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 measures profile of steel rail schematic diagram using structure light vision to be middle in the prior art；
Fig. 2 is to rarely have to shake the head in technology to cause to measure profile distortion schematic diagram with nodding；
Fig. 3 is parallel to be based in the multi-line structured light self-calibrating method in profile of steel rail dynamic detection provided in an embodiment of the present invention
Property geometrical constraint projection secondary surface construct schematic diagram；
Fig. 4 is multi-thread to utilize in the multi-line structured light self-calibrating method in profile of steel rail dynamic detection provided in an embodiment of the present invention
Structure light vision model measurement profile schematic diagram；
Fig. 5 is that the process in the multi-line structured light self-calibrating method in profile of steel rail dynamic detection provided in an embodiment of the present invention is shown
It is intended to；
Fig. 6 be profile of steel rail dynamic detection provided in an embodiment of the present invention in multi-line structured light self-calibrating method in be based on knot
The distortion profile projection correction example schematic of structure light self-calibration；
Fig. 7 is the structural frames of the multi-line structured light self-calibration system in profile of steel rail dynamic detection provided in an embodiment of the present invention
Figure.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple " contain
Justice is at least two, such as two, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, be also possible to
Electrical connection；It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
It in addition, the technical solution between each embodiment of the present invention can be combined with each other, but must be general with this field
Based on logical technical staff can be realized, it will be understood that when the combination of technical solution appearance is conflicting or cannot achieve this
The combination of technical solution is not present, also not the present invention claims protection scope within.
The present invention proposes multi-line structured light self-calibrating method and system in a kind of profile of steel rail dynamic detection.
Embodiment one
Please refer to Fig. 1, the present invention provides the multi-line structured light self-calibrating method in a kind of profile of steel rail dynamic detection, comprising:
Step S1 obtains the characteristic point on multiple line structure striation according to angle extraction algorithm from the scene image of rail；
Feature point extraction, tool are carried out to the rail profile striation (i.e. profile of steel rail striation) for two or more for including in scene image
Body is to carry out feature point extraction using Harris Robust Algorithm of Image Corner Extraction.Camera intrinsic parameter then uses Zhang Zhengyou calibration method to determine.
Preferably, the step S1 includes:
Step S11 obtains two profile of steel rail striations from the scene image；
Referring to fig. 4, the area source that line-structured light projector gives off meets at measured object surface, and is formed and can reflect its section information
Striation, line-structured light projector meets at measured object from the area source that two different sectional positions give off on rail in image
Surface, and form two rail striations, through industrial camera synchronization catch optical strip image, two rail profiles obtained from image
Striation.
Step S12 extracts rail Hubei Province pixel and rail bottom corner pixels point respectively from two profile of steel rail striations.
Feature point extraction is carried out to the scene image comprising two rail profile striations, is extracted on two striations respectively
Rail Hubei Province pixel and rail bottom corner pixels point, use symbolWithIt indicates, wherein the value of i is 1 or 2.
Step S2, according to the characteristic point and the geometry of rail itself, and integrated structure light vision mode builds steel
Rail three-dimensional profile；And projection profile is obtained according to the rail three-dimensional profile；
The collimation geometrical constraint can be described as: the parallel lines being located in two non-parallel planes must be parallel to plane
Intersection, vice versa.As shown in figure 3, line segmentWithIt is parallel to each other, they are located at triangleWithIn the plane at place.Here pointAnd pointRespectively indicate rail Hubei Province point on optical plane i
With rail bottom angle point,For camera photocentre.Passing point respectively has been determined, point, pointAnd pointFour cameras projection
Ray, can construct two non-parallel planes described in collimation geometrical constraint, and intersection direction is rail longitudinal direction.
It is worth noting that, camera projection ray refers to imaging beam path corresponding to some image pixel, it is by having demarcated
Camera intrinsic parameter uniquely determines.
It posture, is estimated according to the relative position between optical plane and camera and using simulation software, gives exit plane
The initial value of parameter, and integrated structure light vision mode rebuilds rail three-dimensional profile.
Preferably, the step S2 includes:
Step S21 obtains the pixel according to the pixel coordinate of the camera internal parameter and above-mentioned pixel demarcated in advance
Projection ray；
Using the camera intrinsic parameter demarcated in advance and the characteristic point pixel coordinate extracted, calculate separately out by above-mentioned point, point, pointAnd pointThe projection ray of totally 4 characteristic points；
Circular is as follows:
IfFor the image pixel coordinates of rail Hubei Province point on striation i, the camera coordinates system of spatial point is corresponded to
Lower homogeneous coordinates are.According to structure light vision measurement model:
Above formula shows that the normalization space coordinate in structure light vision measurement model can be by corresponding image pixel coordinates and camera
Intrinsic parameter directly acquires.Normalized coordinate componentWithRespectively indicate camera seat
Two plane parameter equations in mark system, their public solution are the parametric equation of two plane intersection lines, the intersection and process rail Hubei ProvinceProjection ray be overlapped.Similarly, by rail bottom angle pointProjection ray can also be by rail bottom angle point image pixel coordinatesIt is determined with camera internal reference.
Step S22, according to rail Hubei Province pixel in the projection ray of the pixel and two profile of steel rail striations
With rail bottom corner pixels point, construction passes through the plane of two projection rays of rail Hubei Province point and by the rail bottom angle point respectively
The plane of two projection rays, and obtain the intersection of two planes；Process is constructed respectively using projection ray obtained in S1
The plane of rail Hubei Province line and rail bottom angle point line, and find out the intersection of two planes；
Wherein, rail Hubei Province refers to the corner that rail head is connected with the web of the rail, waits referring to the sum in Fig. 3.
Construct the plane by rail Hubei Province line and rail bottom angle point line respectively using projection ray obtained in step S21,
And find out the intersection of two planes.
Wherein, rail Hubei Province refers to the corner that rail head is connected with the web of the rail, waits referring to the sum in Fig. 3.
Construct the plane by rail Hubei Province line and rail bottom angle point line respectively using projection ray obtained in step S21,
And find out the intersection of two planes.
Above-mentioned collimation geometrical constraint can be described as: the parallel lines being located in two non-parallel planes must be parallel to flat
Face intersection, vice versa.As shown in figure 3, line segmentWithIt is parallel to each other, they are located at triangleWithIn the plane at place.Here pointAnd pointRespectively indicate rail Hubei Province point on optical plane i
With rail bottom angle point,For camera photocentre.Passing point respectively has been determined, point, pointAnd pointFour cameras projection
Ray, can construct two non-parallel planes described in collimation geometrical constraint, and intersection direction is rail longitudinal direction.
It is worth noting that, camera projection ray refers to imaging beam path corresponding to some image pixel, it is by having demarcated
Camera intrinsic parameter uniquely determines.
Step S23 constructs the projection secondary surface Jing Guo camera photocentre using the direction vector of the intersection as normal vector；
It is longitudinally parallel with rail according to the direction vector of the collimation geometrical constraint intersection.Therefore, this direction vector is made
For normal vector, a projection secondary surface Jing Guo camera photocentre is constructed.The secondary surface is longitudinally perpendicular in rail.
Step S24, according between the rail profile striation and the camera relative position and posture, by emulate it is soft
Part, and integrated structure light vision mode builds rail three-dimensional profile；
It posture, is estimated according to the relative position between optical plane and camera and using simulation software, provides light-plane parameters
Initial value, and integrated structure light vision mode rebuild rail three-dimensional profile.
The simulation software is specially Matlab2014a, and structure light vision model is as shown in Figure 4.The image of the model
Pixel coordinate is to the transformational relation between world three dimensional coordinate are as follows:
Wherein
HereIt is camera Intrinsic Matrix,WithFor Camera extrinsic number, spin moment is respectively indicated
Battle array and translation vector.
Step S25 projects the rail three-dimensional profile to the projection secondary surface, obtains projection profile.
Three-dimensional profile obtained in S24 is projected to projection secondary surface constructed by S23, is claimed with the two-dimentional profile that this is obtained
For projection profile.
Step S3, on the inside of the projection profile and the in-orbit Hubei Province of standard profile, rail head and on three non-eroded areas of rail bottom
Size and shape deviation, quantified using similarity of curves measure；
Preferably, the step S3 includes:
The projection profile is carried out the web of the rail with standard profile using rotation translation transformation and is aligned by step S31；
The projection profile and standard profile carries out rotation translational alignment at the web of the rail, is specifically fitted using double centers of circle
Method.If the center of circle of certain section of circular arc is on projection profile, correspondence on standard form profile
The center of circle is.Rotation translation relation between them may be expressed as:
Wherein,For rotation angle,WithIt is the translational component of X-direction and Y-direction respectively.By on fitting projection profile
R400 and R20 arc section the center of circle, the existing geological information of combined standard template profile can establish two pairs of match points, thus
Acquire rotation translation parameters、With。
Step S32, using rail Hubei Province, rail head inside and rail bottom as Matching unit, the projection profile and standard after analysis alignment are wide
Matching deviation of the shape at Matching unit；
Use rail Hubei Province, rail head inside and rail bottom as Matching unit, the projection profile after analysis alignment is being matched with standard profile
Matching deviation at primitive, and quantitative analysis is carried out to matching deviation using method for measuring similarity.On the inside of above-mentioned rail Hubei Province, rail head
Main source with rail bottom primitive matching deviation is the line-structured light plane parameter of mistake.In other words, if for rebuilding measurement
The line-structured light plane parameter of profile is accurate, and projection profile will be with standard form profile in rail head non-worn area below
Domain is accurately consistent.Otherwise, size and shape and standard form profile can have deviation.The quantitative analysis of this deviation is estimation
The premise of line-structured light plane parameter.On the inside of rail Hubei Province, rail head and these three Matching units of rail bottom are in projection profile and standard profile
Between matching deviation need to be modeled with similarity of curves measure.
Step S33 carries out quantitative analysis to the matching deviation using pointto-set map measure.
Used pointto-set map measure specific steps are as follows:
A. pointto-set map is constructed from standard profile toward projection profile.Rail head inside region is chosen first as mapping object, ifFor k-th of mapping point in standard profile rail head inside region, three are carried out using its longitudinal coordinate
Secondary spline interpolation obtains the horizontal coordinate of response point on projection profile, then the matching deviation of the point be.Calculate the pointto-set map matching deviation of entire rail head inside region are as follows:
B. deviation is matched with the pointto-set map that the method in a calculates entire rail bottom region (including the web of the rail and rail bottom angle point):
WhereinFor entire rail bottom area maps point set scale.WithRespectively indicate standard form profile rail bottom area
K-th of mapping point and its horizontal coordinate for projecting the correspondence response point on profile on domain.
C. due to having extracted rail Hubei Province point information on projection profile, and standard form when building projects secondary surface
Rail Hubei Province point on profile is also known, and does not need to carry out interpolation arithmetic when the pointto-set map for calculating rail Hubei Province point matches deviation.
Matching deviation on the point of rail Hubei Province can be simply expressed as follows:
WhereinWithRespectively project rail Hubei Province point on profile and standard profile.
Step S4 realizes multi-line structured light oneself according to the quantization deviation iteration optimization multiple line structure light-plane parameters
Calibration.
Preferably, the step S4 includes:
The matching deviation in rail Hubei Province, rail head inside and rail bottom is weighted summation by step S41；
Three matching deviations are weighted summation specifically: the weight of primitive and the setting of rail bottom primitive on the inside of rail Hubei Province primitive, rail head
Value is set as、With；
Weighted sum is expressed as；
Step S42, using the result of summation as final pointto-set map overall situation deviation；Pointto-set map overall situation deviation is expressed as:
；
Step S43 is iterated optimization using particle swarm algorithm, when the number of iterations reaches using the global deviation as fitness
To permitted greatest iteration scale, iteration ends simultaneously export optimal location vector；
It is described as follows using the detailed process of particle swarm algorithm iteration optimization:
For i-th of optical plane, position vector is constructed for each particle:
N is particle scale, their initial position according to the relative position between optical plane and camera and posture, utilizes emulation
Software is estimated.Using pointto-set map global map deviation as fitness.In each iterative process, particleCompare it
The size of fitness value, and record individual optimum positionWith population optimum position。
Step S44 uses the optimal location vector as first structure light-plane parameters to rebuild measurement profile；
The speed of each particleThe position andIt will be according to individual bestIt is best with populationAnd iteration updates, with this
Optimize population.It may be expressed as: with formula
WhereinTo update weight, it influences the global and local search capability of algorithm.WithIt is acceleration factor, they
Adjust separately best step-length of the particle on more new direction of global and individual.WithIt is greater than 0 and the random number less than 1.
It is current iteration number.When the number of iterations reaches permitted greatest iteration scale, iteration ends simultaneously export optimum position vector,
Self-calibration is completed.
Step S45 projects the measurement model to the auxiliary plane, obtains the good measurement profile of correction of a final proof.
Fig. 6 illustrates the correction result an of concrete case.It is wide to can be seen that distortion from the partial enlarged view in Fig. 6 (a)
Extension deformation has occurred in X and Y both direction in shape.From the partial enlarged view in Fig. 6 (b) can be seen that by projection correction it
Afterwards, final correction profile is matched in non-abraded area with standard form profile intact.
A. 50 samples pictures are acquired respectively to two types rail, striation 1 and striation 2 are respectively by line-structured light plane 1
With the formation of plane 2.Using self-calibrating method proposed by the invention, the actual parameter of calculating line-structured light plane 1 and plane 2 is simultaneously
Take its statistical average.In addition, comparing for the ease of analysis, it is flat to calculate that we additionally use the scaling method based on calibrating template
The actual parameter in face 1 and plane 2.Calibration acquired results are listed in table 1.
Table 1. demarcates the calibration result of plane 1 and plane 2 using distinct methods
As it can be seen from table 1 present invention calibration result obtained is the same as use whether for 60 shaped steel rails or 50 shaped steel rails
The calibration result that calibrating template obtains is almost consistent.This result shows that, even if do not use calibrating template, the present invention also can from
Multiple line structure optical plane is accurately demarcated on dynamic ground.Due to only needing a scene image that Auto-calibration can be completed, the present invention exists
Profile of steel rail dynamic measurement category has comparable flexibility and practicability.
B. the stated accuracy of this method is tested.Using the multiple line structure metrology model demarcated to a diameter
It is measured for the standard cylinder of 65mm, the mismachining tolerance of ± 0.01 mm of cylinder diameter presence.In 20 differences of cylindrical body
Position be fitted its section, the obtained diameter of fitting is compared with true diameter, counts its root-mean-square error.The results show that
It uses the root-mean-square error of standard form multiple line structure metrology model fitting diameter obtained by calibrating for 0.064mm, and uses
The root-mean-square error that self-calibrating method of the present invention obtains is respectively 0.055mm and 0.061mm.
C. the vibration of different type and degree will cause the variation of line-structured light position and posture, for this variation, lead to
Cross experimental verification effectiveness of the invention.Self-calibration is executed to the scene image that one group of line-structured light posture has differences.Equally,
The standard cylinder that one diameter is 65mm is measured using the multiple line structure metrology model demarcated, fitting is obtained
Diameter is compared with true diameter, counts its root-mean-square error.Result corresponding to posture 1, posture 2 and posture 3 is respectively
0.055mm, 0.056mm and 0.060 mm.
As it can be seen that the present invention is effective and feasible for the line-structured light of different types of rail and different postures.It is imitated
It is explained in terms of Ying Kecong following three: firstly, rail Hubei Province and rail bottom angle point belong to the important characteristic point in non-abraded area two, it
It is accurate extraction with positioning it is relatively easy.The present invention is using the corresponding points under its camera coordinates system as collimation geometrical constraint
Primitive ensure that rail longitudinal direction fitting precision；Secondly, in order to ensure transportation safety and quality, it is in-service used in operation field
Rail passes through stringent and accurate design and processing, and rail Hubei Province line and rail bottom line are exactly parallel, this is collimation geometry
The application of constraint is provided the foundation and is ensured.Based on collimation geometrical constraint, rail only is parallel to construct using camera internal reference
The projection secondary surface of section is not only simple and convenient but also accurate and reliable；Finally, pointto-set map similarity measurement is based on sample three times
Interpolation, although projection profile and standard profile in cloud scale and distribution there are larger difference, PSM can also be constructed really
Matching double points.The mapping deviation on primitive is remapped three by minimizing projection profile and standard profile, it can be autonomous rapidly
Ground calibration line structure light plane parameter, and do not depend on any calibrating template.
Embodiment two
Please refer to Fig. 7, the embodiment of the present invention provides the multi-line structured light self-calibration system in a kind of profile of steel rail dynamic detection, packet
It includes:
Feature obtains module 1, for obtaining the spy on multiple line structure striation according to angle extraction algorithm from the scene image of rail
Sign point；
Profile module 2 is projected, for the geometry according to the characteristic point and rail itself, and integrated structure light vision mode
Build rail three-dimensional profile；And projection profile is obtained according to the rail three-dimensional profile；
Quantization modules 3, for the projection profile and the in-orbit Hubei Province of standard profile, rail head inside and three non-eroded areas of rail bottom
On size and shape deviation, quantified using similarity of curves measure；
Demarcating module 4 is used for according to the quantization deviation iteration optimization multiple line structure light-plane parameters, and realizes multi-line structured light
Self-calibration.
The feature obtains module 1
Striation acquiring unit 11, for obtaining two rail profile striations from the scene image；
Feature point extraction unit 12, for extracting rail Hubei Province pixel and rail bottom angle point respectively from two rail profile striations
Pixel.
The projection profile module 2 includes:
Projection ray unit 21 is obtained for the pixel coordinate according to the camera internal parameter and above-mentioned pixel demarcated in advance
The projection ray of the pixel；
Rail longitudinal direction unit 22, according to rail Hubei Province pixel in the projection ray of the pixel and two rail profile striations
Point and rail bottom corner pixels point,
Plane of the construction by two projection rays of rail Hubei Province point and two projection rays by the rail bottom angle point respectively
Plane, and obtain the intersection of two planes, the i.e. longitudinal direction of rail；
Project secondary surface unit 23, for using the direction vector of the intersection as normal vector, projection of the component Jing Guo camera photocentre
Secondary surface；
Three-dimensional profile unit 24, for according between the rail profile striation and the camera relative position and posture, lead to
Simulation software is crossed, and integrated structure light vision mode builds rail three-dimensional profile；
Profile unit 25 is projected, the rail three-dimensional profile is projected to the projection secondary surface, obtains projection profile.
The quantization modules 3 include:
Alignment unit 31 is aligned for the projection profile to be carried out the web of the rail with standard profile using rotation translation transformation；
Deviation unit 32 is matched, for using rail Hubei Province, rail head inside and rail bottom as Matching unit, the projection after analysis alignment is wide
The matching deviation of shape and standard profile at Matching unit；
Analytical unit 33, for carrying out quantitative analysis to the matching deviation using pointto-set map measure.
The demarcating module 4 includes:
Summation unit 41, for the matching deviation in rail Hubei Province, rail head inside and rail bottom to be weighted summation；
Global deviation unit 42, the result for that will sum is as final pointto-set map overall situation deviation；
Position vector unit 43, for being iterated optimization using particle swarm algorithm using the global deviation as fitness, when
The number of iterations reaches permitted greatest iteration scale, and iteration ends simultaneously export optimal location vector；
Profile unit 44 is measured, it is wide to rebuild measurement as first structure light-plane parameters for using the optimal location vector
Shape；
Unit 45 being corrected, for projecting the measurement model to the auxiliary plane, obtaining the good measurement profile of correction of a final proof.
The realization of multi-line structured light self-calibration system in profile of steel rail dynamic detection provided in an embodiment of the present invention and its
Effect is referring to the above method.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (10)
1. the multi-line structured light self-calibrating method in a kind of profile of steel rail dynamic detection characterized by comprising
Step 1, the characteristic point on multiple line structure striation is obtained according to angle extraction algorithm from the scene image of rail；
Step 2, according to the characteristic point and the geometry of rail itself, and integrated structure light vision mode builds rail three-dimensional
Profile；And projection profile is obtained according to the rail three-dimensional profile；
Step 3, to the size on the inside of the projection profile and the in-orbit Hubei Province of standard profile, rail head and on three non-eroded areas of rail bottom
And form variations, quantified using similarity of curves measure；
Step 4, according to the quantization deviation iteration optimization multiple line structure light-plane parameters, the self-calibration of multi-line structured light is realized.
2. the multi-line structured light self-calibrating method in profile of steel rail dynamic detection as described in claim 1, which is characterized in that institute
Stating step 1 includes:
Step 11, two profile of steel rail striations are obtained in the scene image；
Step 12, rail Hubei Province pixel and rail bottom corner pixels point are extracted respectively from two profile of steel rail striations.
3. the multi-line structured light self-calibrating method in profile of steel rail dynamic detection as claimed in claim 2, which is characterized in that institute
Stating step 2 includes:
Step 21, according to the pixel coordinate of the camera internal parameter and above-mentioned pixel demarcated in advance, the pixel is obtained
Projection ray；
Step 22, according to the rail Hubei Province pixel and rail bottom in the projection ray of the pixel and two rail profile striations
Corner pixels point,
Plane of the construction by two projection rays of rail Hubei Province point and two projection rays by the rail bottom angle point respectively
Plane, and obtain the intersection of two planes；
Step 23, using the direction vector of the intersection as normal vector, the projection secondary surface Jing Guo camera photocentre is constructed；
Step 24, according between the rail profile striation and the camera relative position and posture, by simulation software, and
Integrated structure light vision mode builds rail three-dimensional profile；
Step 25, the rail three-dimensional profile is projected to the projection secondary surface, obtains projection profile.
4. the multi-line structured light self-calibrating method in profile of steel rail dynamic detection as claimed in claim 3, which is characterized in that institute
Stating step 3 includes:
Step 31, the projection profile web of the rail is carried out with standard profile using rotation translation transformation to be aligned；
Step 32, using rail Hubei Province, on the inside of rail head and rail bottom is Matching unit, the projection profile and standard profile after analysis alignment
With the matching deviation at primitive；
Step 33, quantitative analysis is carried out to the matching deviation using pointto-set map measure.
5. the multi-line structured light self-calibrating method in profile of steel rail dynamic detection as claimed in claim 4, which is characterized in that institute
Stating step 4 includes:
Step 41, the matching deviation in rail Hubei Province, rail head inside and rail bottom is weighted summation；
Step 42, using the result of summation as final pointto-set map overall situation deviation；
Step 43, using the global deviation as fitness, optimization is iterated using particle swarm algorithm, when the number of iterations reaches
Permitted greatest iteration scale, iteration ends simultaneously export optimal location vector；
Step 44, the optimal location vector is used as first structure light-plane parameters to rebuild measurement profile；
Step 45, the measurement model is projected to the auxiliary plane, obtains the good measurement profile of correction of a final proof.
6. the multi-line structured light self-calibration system in a kind of profile of steel rail dynamic detection characterized by comprising
Feature obtains module, for obtaining the feature on multiple line structure striation according to angle extraction algorithm from the scene image of rail
Point；
Profile module is projected, for the geometry according to the characteristic point and rail itself, and integrated structure light vision mode
Build rail three-dimensional profile；And projection profile is obtained according to the rail three-dimensional profile；
Quantization modules, for the projection profile and the in-orbit Hubei Province of standard profile, rail head inside and three non-eroded areas of rail bottom
On size and shape deviation, quantified using similarity of curves measure；
Demarcating module is used for according to the quantization deviation iteration optimization multiple line structure light-plane parameters, and realizes multi-line structured light
Self-calibration.
7. the multi-line structured light self-calibration system in profile of steel rail dynamic detection as claimed in claim 6, which is characterized in that institute
Stating feature acquisition module includes:
Striation acquiring unit, for obtaining two rail profile striations from the scene image；
Feature point extraction unit, for extracting rail Hubei Province pixel and rail bottom angle point picture respectively from two profile of steel rail striations
Vegetarian refreshments.
8. the multi-line structured light self-calibration system in profile of steel rail dynamic detection as claimed in claim 7, which is characterized in that institute
Stating projection profile module includes:
Projection ray unit obtains institute for the pixel coordinate according to the camera internal parameter and above-mentioned pixel demarcated in advance
State the projection ray of pixel；
Rail longitudinal direction unit, according to rail Hubei Province pixel in the projection ray of the pixel and two profile of steel rail striations
With rail bottom corner pixels point, construction passes through the plane of two projection rays of rail Hubei Province point and by the rail bottom angle point respectively
The plane of two projection rays, and obtain the intersection of two planes, the i.e. longitudinal direction of rail；
Secondary surface unit is projected, for using the direction vector of the intersection as normal vector, projection of the component Jing Guo camera photocentre to be auxiliary
Principal surface；
Three-dimensional profile unit, for according between the profile of steel rail striation and the camera relative position and posture, pass through
Simulation software, and integrated structure light vision mode builds rail three-dimensional profile；
Profile unit being projected, for projecting the rail three-dimensional profile to the projection secondary surface, obtaining projection profile.
9. the multi-line structured light self-calibration system in profile of steel rail dynamic detection as claimed in claim 8, which is characterized in that institute
Stating quantization modules includes:
Alignment unit is aligned for the projection profile to be carried out the web of the rail with standard profile using rotation translation transformation；
Deviation unit is matched, for the projection profile and mark using rail Hubei Province, rail head inside and rail bottom as Matching unit, after analysis alignment
Matching deviation of the quasi- profile at Matching unit；
Analytical unit, for carrying out quantitative analysis to the matching deviation using pointto-set map measure.
10. the multi-line structured light self-calibration system in profile of steel rail dynamic detection as claimed in claim 9, which is characterized in that
The demarcating module includes:
Summation unit, for the matching deviation in rail Hubei Province, rail head inside and rail bottom to be weighted summation；
Global deviation unit, the result for that will sum is as final pointto-set map overall situation deviation；
Position vector unit, for optimization being iterated using particle swarm algorithm, when repeatedly using the global deviation as fitness
Generation number reaches permitted greatest iteration scale, and iteration ends simultaneously export optimal location vector；
Profile unit is measured, rebuilds measurement profile for using the optimal location vector as first structure light-plane parameters；
Unit being corrected, for projecting the measurement model to the auxiliary plane, obtaining the good measurement profile of correction of a final proof.
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