CN109242912A - Join scaling method, electronic equipment, storage medium outside acquisition device - Google Patents
Join scaling method, electronic equipment, storage medium outside acquisition device Download PDFInfo
- Publication number
- CN109242912A CN109242912A CN201810996832.1A CN201810996832A CN109242912A CN 109242912 A CN109242912 A CN 109242912A CN 201810996832 A CN201810996832 A CN 201810996832A CN 109242912 A CN109242912 A CN 109242912A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- coordinate system
- acquisition device
- mark
- moveable platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000009466 transformation Effects 0.000 claims abstract description 66
- 238000004088 simulation Methods 0.000 claims abstract description 11
- 239000011159 matrix material Substances 0.000 claims description 30
- 238000005457 optimization Methods 0.000 claims description 25
- 238000013519 translation Methods 0.000 claims description 17
- 238000006243 chemical reaction Methods 0.000 claims description 16
- 230000006870 function Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
The present invention, which provides, joins scaling method outside acquisition device, comprising steps of obtaining the identification information of acquisition device acquisition；Calculate the first coordinate transformation relation of mark coordinate system and acquisition device coordinate system；The corresponding coordinate points under acquisition device coordinate system of the mark point under mark coordinate system in identification information are obtained according to the first coordinate transformation relation, using fitting algorithm Fitting Coordinate System point, establish fitted coordinate system, the second coordinate transformation relation between digital simulation coordinate system and acquisition device coordinate system；According to the corresponding fitting algorithm Fitting Coordinate System point of desired guiding trajectory, fitting track, the third coordinate transformation relation between digital simulation coordinate system and moveable platform coordinate system are generated；By the second coordinate transformation relation and third coordinate transformation relation, the transformational relation between acquisition device coordinate system and moveable platform coordinate system is calculated.The present invention can reduce acquisition device installation out-of-flatness bring installation error, make calibration result more acurrate by optimizing calibration result, calibrated error is small.
Description
Technical field
The present invention relates to join to join scaling method, electronics outside calibration technique field more particularly to acquisition device outside acquisition device
Equipment, storage medium.
Background technique
It is generally necessary to be demarcated to acquisition device in advance to obtain accurate acquisition device parameter.Acquisition device parameter
Including inner parameter and external parameter, acquisition device inner parameter is the parameter of acquisition device inherently, such as focal length, optical center
Position etc., acquisition device join the position and direction for indicating acquisition device in world coordinate system (also referred to as global coordinate system) outside, from
For mathematical angle, ginseng characterizes acquisition device coordinate system outside acquisition device and specified world coordinate system is (also referred to as global to sit
Mark system) between coordinate conversion relation.The estimation of acquisition device pose is the relative movement in acquisition device and subject
It is middle estimation acquisition device outer ginseng, and in algorithm for estimating using to acquisition device intrinsic parameter usually passed through in off-line case
Acquisition device scaling method determines that the wheeled odometer calibration mode of traditional acquisition device-is to wheeled mileage in respect of degree of precision
It is required that and error it is larger.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide scaling method is joined outside acquisition device, directly
The centre of motion is demarcated, realizes that objective freedom degree is completely demarcated, optimizes calibration result, accuracy is high, and error is small.
The present invention, which provides, joins scaling method outside acquisition device, comprising the following steps:
Identification information is obtained, obtains acquisition device in the information of several acquisition moment acquisitions, the information is removable flat
Identification information of the platform in desired guiding trajectory and mark relative movement thereof；
The first coordinate transformation relation is established, the conversion of each acquisition moment mark coordinate system and acquisition device coordinate system is calculated
Relationship is denoted as the first coordinate transformation relation；
The second coordinate transformation relation is established, the mark point in the identification information, root are obtained on the mark coordinate system
It is corresponding under the acquisition device coordinate system that the mark point each acquisition moment is obtained according to first coordinate transformation relation
Several coordinate points are fitted the coordinate points using fitting algorithm, establish fitted coordinate system, calculate the fitted coordinate system with it is described
Transformational relation between acquisition device coordinate system is denoted as the second coordinate transformation relation；
Third coordinate transformation relation is established, the coordinate points are fitted according to the corresponding fitting algorithm of the desired guiding trajectory, it is raw
At fitting track, the transformational relation between the fitted coordinate system and moveable platform coordinate system is calculated, third coordinate is denoted as and turns
Change relationship；
Join calibration outside acquisition device, by the second coordinate transformation relation and third coordinate transformation relation, calculates the acquisition
Transformational relation between device coordinate system and the moveable platform coordinate system.
Further, described to establish in the first coordinate transformation relation, the identification information is handled, image seat is established
Mark system obtains coordinate of the mark on described image coordinate system and the mark coordinate system, and combines acquisition device internal reference
And distortion factor, the conversion between the mark coordinate system and the acquisition device coordinate system is calculated by position and orientation estimation method and is closed
System.
Further, the desired guiding trajectory includes the moveable platform with the rotation rail for being identified as referential generation
Mark and straight trip track.
Further, the acquisition identification information the following steps are included:
Rotation image is obtained, acquisition device during moveable platform is rotated in place by the rotational trajectory is obtained and acquires
Identification information, obtain several rotation images；
Rectilinear image is obtained, the seat in moveable platform by the straight trip track along the moveable platform coordinate system is obtained
The identification information that acquisition device acquires during parameter straight-line travelling, obtains several rectilinear images.
Further, it is described establish the first coordinate transformation relation the following steps are included:
Rotation pose is generated, the rotation image is handled, the image coordinate of the mark point is obtained, according to described
The image coordinate of mark point and the mark point correspond to the coordinate of the marking plate coordinate system mark coordinate system, and combine acquisition dress
Internal reference and distortion factor are set, calculates the marking plate coordinate system mark coordinate system relative to the position under the acquisition device coordinate system
Appearance obtains rotation pose；
Straight trip pose is generated, the rectilinear image is handled, the image coordinate of the mark point is obtained, according to described
The image coordinate of mark point and the mark point correspond to the coordinate of the marking plate coordinate system mark coordinate system, and combine acquisition dress
Internal reference and distortion factor are set, calculates marking plate coordinate system mark coordinate system relative to the pose under acquisition device coordinate system,
Obtain straight trip pose.
Further, described to establish in the second coordinate transformation relation, the coordinate points are fitted using plane fitting algorithm, it is raw
At fit Plane, fitted coordinate system is established in the fit Plane.
Further, the second coordinate transformation relation of the generation the following steps are included:
The distance between the coordinate points and the fit Plane are calculated, when the distance is greater than threshold value, described in rejecting
Coordinate points, and it is fitted remaining coordinate points again；
Fitted coordinate system is established, takes and second point in the fit Plane at first point, described first point and described second
Point is respectively the first coordinate and the second coordinate in the coordinate of the acquisition device coordinate system, according to first coordinate and described the
Two coordinates calculate the first unit vector, the second unit vector, third unit vector, and first unit vector is the first coordinate points
With the unit vector of the second coordinate points difference vector, the third unit vector be the fit Plane normal vector, described second
Unit vector is the vector product of first unit vector and the third unit vector, using described first point as coordinate origin,
It is established respectively using the direction of first unit vector, the second unit vector, third unit vector as the direction of x-axis, y-axis, z-axis
Fitted coordinate system；
Coordinate transformation relation is generated, according to first unit vector, the second unit vector, third unit vector and described
Transformational relation between fitted coordinate system described in first Coordinate generation and the acquisition device coordinate system.
Further, described to establish in third coordinate transformation relation, to rotational trajectory described in the fitted coordinate system lower edge
Obtained coordinate points carry out ellipse fitting, remember that the elliptical center in fitted coordinate system is the rotation center of moveable platform, obtain
Translation matrix between fit Plane coordinate system and moveable platform coordinate system；Fitted coordinate system lower edge straight trip track is obtained
The coordinate points arrived carry out straight line fitting, obtain the spin matrix between fit Plane coordinate system and moveable platform coordinate system, obtain
Transformational relation between the fitted coordinate system and moveable platform coordinate system.
Further, it is calculated in the rotation of moveable platform by the second coordinate transformation relation, third coordinate transformation relation
Coordinate of the heart under the acquisition device coordinate system, obtains the translation square between acquisition device coordinate system and moveable platform coordinate system
Battle array；
By the spin matrix between third transformational relation digital simulation plane coordinate system and moveable platform coordinate system, lead to
Cross the spin matrix that the second transformational relation calculates acquisition device coordinate system and moveable platform coordinate system；
The acquisition device coordinate system and the moveable platform coordinate system are calculated by the translation matrix and spin matrix
Between transformational relation.
Further, further include optimization calibration result, sat by the acquisition device coordinate system and the moveable platform
Transformational relation, first coordinate transformation relation between mark system construct cost function, and the cost function is inputted optimization library
It is calculated, generates optimization calibration result.
Further, the optimization calibration result further includes establishing odometer constraint, and input optimization library is calculated, and is generated
Optimize calibration result.
It further, further include establishing one of re-projection constraint, circle constraint, line constraint or a variety of optimizations calibration knot
Fruit.
A kind of electronic equipment, comprising: processor；
Memory；And program, wherein described program is stored in the memory, and is configured to by processor
It executes, described program includes joining scaling method outside above-mentioned acquisition device for executing.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Join scaling method outside the above-mentioned acquisition device of row.
Compared with prior art, the beneficial effects of the present invention are:
The present invention, which provides, joins scaling method outside acquisition device, join scaling method outside acquisition device, comprising the following steps: obtain
Identification information obtains acquisition device in the information of several acquisition moment acquisitions, and information is moveable platform along desired guiding trajectory and mark
Know the identification information in relative movement thereof；Establish the first coordinate transformation relation, calculate each acquisition moment mark coordinate system and
The transformational relation of acquisition device coordinate system is denoted as the first coordinate transformation relation；The second coordinate transformation relation is established, in mark coordinate
The mark point obtained in identification information is fastened, mark point each acquisition moment is obtained in acquisition dress according to the first coordinate transformation relation
Corresponding several coordinate points under coordinate system are set, using fitting algorithm Fitting Coordinate System point, establish fitted coordinate system, digital simulation coordinate
Transformational relation between system and acquisition device coordinate system, is denoted as the second coordinate transformation relation；Establish third coordinate transformation relation, root
According to the corresponding fitting algorithm Fitting Coordinate System point of desired guiding trajectory, fitting track is generated, digital simulation coordinate system and moveable platform are sat
Transformational relation between mark system, is denoted as third coordinate transformation relation；Join calibration outside acquisition device, passes through the second coordinate transformation relation
With third coordinate transformation relation, the transformational relation between acquisition device coordinate system and moveable platform coordinate system is calculated.The present invention
It is related to electronic equipment and readable storage medium storing program for executing, joins scaling method outside acquisition device for executing；The present invention is flat by increasing fitting
Face, which is acquired outside device, joins calibration, reduces because acquisition device installation out-of-flatness brings installation error mechanically, passes through optimization
Calibration result makes calibration result more acurrate, and independent of high-precision odometer, calibrated error is small.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
A specific embodiment of the invention is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is to join scaling method flow chart outside acquisition device of the invention；
Fig. 2 is the aprilTag code schematic diagram in the embodiment of the present invention；
Fig. 3 is the marking plate schematic diagram in the embodiment of the present invention；
Fig. 4 is that the acquisition device and moveable platform in the embodiment of the present invention move schematic diagram；
Fig. 5 is fit Plane coordinate system, acquisition device coordinate system and the moveable platform coordinate system in the embodiment of the present invention
Schematic diagram one；
Fig. 6 is fit Plane coordinate system, acquisition device coordinate system and the moveable platform coordinate system in the embodiment of the present invention
Schematic diagram two；
Fig. 7 is that the acquisition device and moveable platform in the embodiment of the present invention move schematic diagram.
In figure: 1, moveable platform；2, acquisition device；3, marking plate；4, acquisition device coordinate system；5, fit Plane coordinate
System；6, rotational trajectory；7, the point of rotation；8, execution track；9, straight trip point；10, moveable platform coordinate system.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Join scaling method outside acquisition device, as shown in Figure 1, comprising the following steps:
Identification information is obtained, for mark point in same plane and regularly arranged on marking plate, marking plate is placed in fixed work
On platform, acquisition device is installed on the near center location of moveable platform, towards fixed workbench, obtains acquisition device and exists
The information of several acquisition moment acquisitions, information are that mark of the moveable platform in desired guiding trajectory and mark relative movement thereof is believed
Breath, several mark points of identification information storage.The mark can be one or more spies with concrete shape to position
Sign, pattern, two dimensional code can be identified and therefrom extract coordinate points.Two dimensional code can be AprilTag or other forms.Institute
The mark stated is also possible to the combination of two dimensional code He other patterns, color.Specifically, the mark is it will be evident that and having
The characteristic of standby identified feature.When it uses two dimensional code, the array of specific shape can be arranged in.Its two-dimentional number of codes is got over
More, it is more accurate to position.The acquisition device can be camera, be also possible to other sensors with identification function.This reality
It applies in example, using aprilTag code as marker, as shown in Fig. 2, aprilTag code is black, background is usually white,
Each angle point of aprilTag code is as a mark point, and each aprilTag code has fixed ID number and direction, such as Fig. 3 institute
Show, several aprilTag codes are in same plane and regularly arranged on marking plate, as shown in figure 4, in the present embodiment, removable
In 1 motion process of platform, acquisition device 2 can at least observe 4 mark points on marking plate 3, the physics between mark point
Coordinate relationship is it is known that can be any difference background, the point that can be identified and uniquely determine in the picture, i.e., each mark point
There is determining unique coordinate in piece image.
In one embodiment, it is preferred that desired guiding trajectory includes moveable platform to be identified as the rotation rail of referential generation
Mark and straight trip track.Preferably, obtain identification information the following steps are included:
Rotation image is obtained, the mark that acquisition device acquires during moveable platform is rotated in place by rotational trajectory is obtained
Know information, obtains several rotation images；It in the present embodiment, rotates in place moveable platform one week, is rotated in moveable platform
In the process, acquisition device at least can observe an aprilTag code, and acquisition device obtains image.
Rectilinear image is obtained, the reference axis straight line in moveable platform by straight trip track along moveable platform coordinate system is obtained
The identification information that acquisition device acquires in driving process, obtains several rectilinear images.In the present embodiment, make moveable platform edge can
X-axis straight-line travelling a distance of moving coordinate system, when straight trip, acquisition device at least can observe an apriltag code, adopt
Acquisition means obtain image.
The first coordinate transformation relation is established, the conversion of each acquisition moment mark coordinate system and acquisition device coordinate system is calculated
Relationship is denoted as the first coordinate transformation relation.Preferably, it establishes in the first coordinate transformation relation, identification information is handled, build
Vertical image coordinate system obtains identifying the coordinate on image coordinate system and mark coordinate system, and combines acquisition device internal reference and abnormal
Variable coefficient calculates the transformational relation between mark coordinate system and acquisition device coordinate system by position and orientation estimation method.The present embodiment
In, the internal reference and distortion parameter of acquisition device are demarcated using the acquisition device calibration tool in gridiron pattern scaling board and MATLAB,
Identify the image coordinate of upper four mark points of apriltag code according to the image coordinate and mark of mark point by image processing means
The coordinate of note point correspondence markings plate coordinate system, and acquisition device internal reference and distortion factor are combined, pass through position and orientation estimation method such as PNP
Position and orientation estimation method calculates the transformational relation between marking plate coordinate system and acquisition device coordinate system.
In one embodiment, it is preferred that establish the first coordinate transformation relation the following steps are included:
Rotation pose is generated, rotation image is handled, the image coordinate of mark point is obtained, according to the image of mark point
The coordinate of coordinate and mark point correspondence markings plate coordinate system mark coordinate system, and acquisition device internal reference and distortion factor are combined, meter
Marking plate coordinate system mark coordinate system is calculated relative to the pose under acquisition device coordinate system, obtains rotation pose；Rotate pose packet
Position and posture are included, position indicates that posture is indicated with rotating vector with translation vector, in rotary course, it is assumed that saves altogether
M rotation pose.
Straight trip pose is generated, rectilinear image is handled, the image coordinate of mark point is obtained, according to the image of mark point
The coordinate of coordinate and mark point correspondence markings plate coordinate system mark coordinate system, and acquisition device internal reference and distortion factor are combined, meter
Marking plate coordinate system mark coordinate system is calculated relative to the pose under acquisition device coordinate system, obtains straight trip pose.Straight trip pose packet
Position and posture are included, position indicates that posture is indicated with rotating vector with translation vector, it is assumed that save N number of straight trip pose altogether.
In one embodiment, world coordinate system symbol Ow-XwYwZwIt indicates, world coordinate system is defined in space
Absolute coordinate system will not change with the movement of acquisition device or object.Moveable platform coordinate system symbol Ob-
XbYbZbIt indicates, the direction of advance of moveable platform is parallel with positive direction of the x-axis.Acquisition device coordinate system symbol Oc-XcYcZcTable
Show.Marking plate coordinate system symbol Om-XmYmZmIt indicates.Fit Plane coordinate system symbol Op-XpYpZpIt indicates.Image coordinate system,
With symbol OI-XIYIIt indicates.If a certain spin matrix isaRb, it is 3 × 3 unit matrixs, is indicated relative under coordinate system a
Coordinate system b rotation, by Douglas Rodríguez variation can obtain the corresponding rotating vector of the spin matrixaψb(aαb,aβb,a
γb)T, the transposition of T representing matrix, likewise, rotating vector also can obtain spin matrix by rodrigues formula.If a certain
Translation vector isatb, it is one 3 × 1 vector, indicates the translation relation relative to the coordinate system b under coordinate system a.If some
Coordinate isapi(axi,ayi,azi), lower i-th point of the coordinate of indicates coordinate system a.If the secondary acquisition image of i-th (i=1 ..., M+N)
When, acquisition device observes n mark point in total, and wherein the image coordinate of kth (k=1 ..., n) a mark point is expressed asIipk
(uk,vk), i.e., the kth mark point coordinate in image coordinate system in the i-th image obtained, coordinate under marking plate coordinate systemmipk
(mixk,miyk,mizk), i.e., in marking plate coordinate system i-th obtain image in kth point coordinate, obtain acquisition device coordinate system with
Being converted between scaling board coordinatectmi,cψmiIf being also referred to as in the pose that rotary course obtainsTogether
Sample, the pose obtained in straight trip process are also referred to as
The second coordinate transformation relation is established, the mark point in identification information is obtained on mark coordinate system, is sat according to first
Mark transformational relation obtains mark point each acquisition moment corresponding several coordinate points under acquisition device coordinate system, is calculated using fitting
Method Fitting Coordinate System point, establishes fitted coordinate system, and the transformational relation between digital simulation coordinate system and acquisition device coordinate system is denoted as
Second coordinate transformation relation；Preferably, it establishes in the second coordinate transformation relation, it is raw using plane fitting algorithm Fitting Coordinate System point
At fit Plane, fitted coordinate system is established in fit Plane.Preferably, generating the second coordinate transformation relation includes following step
It is rapid:
The distance between coordinates computed point and fit Plane reject coordinate points, and be fitted again when distance is greater than threshold value
Remaining coordinate points；Threshold value is 0.0001m in the present embodiment, when distance is greater than 0.0001m, determines that coordinate points are discrete point, picks
Except discrete point, and it is fitted remaining coordinate points again, until no longer there is discrete point.
Fit Plane coordinate system is established, takes and second point in fit Plane at first point, first point is indicated with p1, second point
It is indicated with p2, first point and second point are respectively the first coordinate and the second coordinate in the coordinate of acquisition device coordinate system, and first sits
It is designated asSecond coordinate isIt is single that first is calculated according to the first coordinate and the second coordinate
Bit vector, the second unit vector, third unit vector, the first unit vector are the first coordinate points and the second coordinate points difference vector
Unit vector, third unit vector are the normal vector of fit Plane, and the second unit vector is the first unit vector and third unit
The vector product of vector, using first point as coordinate origin, respectively with the first unit vector, the second unit vector, third unit vector
Direction be x-axis, y-axis, z-axis direction establish fitted coordinate system；Specifically, the first unit vectorThird unit vectorSecond
Unit vectorVectorIt is oriented parallel to p2p1Direction, vector directionIt is planar process vector direction, p2p1Positioned at quasi-
It closes in plane, vectorAnd vectorIt is mutually perpendicular to, is obtained according to orthogonality principleVector, i.e. vectorDirection be respectively perpendicular to
AmountAnd vectorAs shown in figure 5, if the z-axis of moveable platform coordinate system 10 and the z-axis of acquisition device coordinate system 4 are in the same direction,
With point p1For coordinate origin, positive direction of the x-axis is set along unit vectorDirection, positive direction of the y-axis is along unit vectorDirection, z-axis is just
Direction is along unit vectorFit Plane coordinate system 5 is established in direction, obtains fit Plane coordinate system 5 and acquisition device coordinate system 4
Transformational relation:
As shown in fig. 6, if the z-axis of moveable platform coordinate system 10 and the z-axis of acquisition device coordinate system 4 are reversed, with point
p1For coordinate origin, positive direction of the x-axis is set along unit vectorDirection, negative direction of the y-axis is along unit vectorDirection, z-axis negative direction
Along unit vectorFit Plane coordinate system 5 is established in direction, obtains the conversion of fit Plane coordinate system 5 Yu acquisition device coordinate system 4
Relationship:
Wherein,cRp,ctpRespectively indicate the rotationally-varying matrix peace of the opposite fitting plane coordinate system of acquisition device coordinate system
Move matrix.Then rotationally-varying matrix and translation matrix of the fit Plane coordinate system with respect to acquisition device coordinate system are as follows:
pRc=(cRp)T,ptc=-(pRc·ctp)
Coordinate transformation relation is generated, according to the first unit vector, the second unit vector, third unit vector and the first coordinate
Generate the transformational relation between fit Plane coordinate system and acquisition device coordinate system.
Third coordinate transformation relation is established, according to the corresponding fitting algorithm Fitting Coordinate System point of desired guiding trajectory, generates fitting rail
Mark, the transformational relation between digital simulation coordinate system and moveable platform coordinate system, is denoted as third coordinate transformation relation；Such as root
According to plane fitting algorithm fit Plane, according to ellipse fitting algorithm fitted ellipse, according to Algorithm of fitting a straight line fitting a straight line.Such as:
The coordinate of mark point correspondence markings plate coordinate system in image and rectilinear image will be rotated respectively by rotation pose and pose of keeping straight on
The coordinate under acquisition device coordinate system is converted to, the coordinate points under acquisition device coordinate system are obtained, since moveable platform rotates
Obtained ellipse is 2D oval, and the mark point acquired is 3D point, using plane fitting algorithm Fitting Coordinate System point, coordinate points coordinate
It is equivalent to translation vector, fit Plane equation are as follows:
Ap·x+Bp·y+Cp·z+Dp=0
Wherein, (Ap,Bp,Cp) it is plane normal vector, then plane is intersected at x-axisIt is intersected at y-axisIt is intersected at z-axisAp,Bp,Cp,DpIt can be obtained by fit Plane.It can also be according to adopting
Acquisition means model and mapping relations, the coordinate system that acquisition device coordinate system transformation is determined as needed to other.
In one embodiment, it is preferred that establish in third coordinate transformation relation, obtained under fitted coordinate system along rotational trajectory
The coordinate points arrived carry out ellipse fitting, remember that the elliptical center in fitted coordinate system is the rotation center of moveable platform, are intended
Close the translation matrix between plane coordinate system and moveable platform coordinate system；The seat that fitted coordinate system lower edge straight trip track is obtained
Punctuate carries out straight line fitting, obtains the spin matrix between fit Plane coordinate system and moveable platform coordinate system, is fitted
Transformational relation between coordinate system and moveable platform coordinate system.
Join calibration outside acquisition device, by the second coordinate transformation relation and third coordinate transformation relation, calculates acquisition device
Transformational relation between coordinate system and moveable platform coordinate system.Preferably, turned by the second coordinate transformation relation, third coordinate
Change coordinate of the rotation center under acquisition device coordinate system that relationship calculates moveable platform, obtain acquisition device coordinate system with can
Translation matrix between mobile platform coordinate system；Pass through third transformational relation digital simulation plane coordinate system and moveable platform coordinate
Spin matrix between system calculates the spin moment of acquisition device coordinate system and moveable platform coordinate system by the second transformational relation
Battle array；The transformational relation between acquisition device coordinate system and moveable platform coordinate system is calculated by translation matrix and spin matrix.Such as
Shown in Fig. 7, according to the transformational relation between acquisition device coordinate system 4 and fit Plane coordinate system 5, if i-th point fills in acquisition
The coordinate set under coordinate system 4 isThen its coordinate under fit Plane coordinate system 5 are as follows:
ppi=pRc·cpi+ptc
Due to having removed discrete point, the z coordinate approach of the point of rotation 7 or straight trip point 9 under fit Plane coordinate system 5 before being fitted
In 0, it is believed that the coordinate points under fit Plane coordinate system 5 are all located in x-y plane, are taken and are rotated under fit Plane coordinate system 5
The x of point 7, y-axis coordinate carry out ellipse fitting, generate rotational trajectory 6, and the mode of ellipse fitting is intended using ellipse fitting function
It closes, output result is coordinate of the elliptical center under corresponding coordinate system, it is assumed that be (xc,yc), then the point is in fit Plane coordinate system
Under coordinate be (xc,yc, 0), according to relative motion principle, assert that elliptical center is the rotation center of moveable platform, pass through seat
Mark variation obtains coordinate of the rotation center under acquisition device coordinate system:
ctb=cRp·[xc,yc,0]T+ctp
It takes the x of straight trip point 9, y-axis coordinate under fit Plane coordinate 5 to carry out straight line fitting, generates straight path 8, straight line is quasi-
The mode of conjunction is fitted using straight line fitting function, and output result is linear equation coefficient, and linear equation indicates are as follows:
BlY=Al·x+Cl
According to linear equation coefficient Al,BlObtain the angle of straight line and x-axis, i.e. angle between direction of advance and x-axis:
Rectilinear direction is the direction of advance of moveable platform, obtain fit Plane coordinate system and moveable platform coordinate system it
Between spin matrix:
The then rotation relationship between acquisition device coordinate system and moveable platform coordinate system:
cRb=cRp·pRb
Transformational relation i.e. between acquisition device coordinate system and moveable platform coordinate system: spin matrix iscRb, translate square
Battle array bectb, next process optimization, converts rotating vector for spin matrix for conveniencecψb(cαb,cβb,cγb)。
In one embodiment, it is preferred that further include optimization order calibration result, according to relative motion principle, pass through acquisition
Transformational relation, the first coordinate transformation relation between device coordinate system and moveable platform coordinate system construct cost function, will generation
Valence function input optimization library is calculated, and optimization calibration result is generated.Preferably, optimization calibration result further includes in foundation
The constraint of journey meter, input optimization library are calculated, and optimization calibration result is generated.Preferably, further include establish re-projection constraint,
One of circle constraint, line constraint or a variety of optimization calibration results.Acquisition device coordinate system and moveable platform coordinate
Conversion between system are as follows:ctb(cxb,cyb),cψb(cαb,cβb,cγb), i.e. the coordinate of acquisition device optical center and moveable platform
Between positional relationship；During rotation straight trip, the conversion under acquisition device coordinate system between marking plate coordinate system are as follows:In order to distinguish rotation and
Straight trip process, the conversion in rotary course under acquisition device coordinate system between marking plate coordinate system are as follows:Acquisition device during straight trip
Conversion under coordinate system between marking plate coordinate system are as follows: Straight line coefficient are as follows: Al,Bl, round radius is r, and optimized variable is total certainly
By spending for 6M+6N+9.In the present embodiment, cost function specifically:
1, N number of equation can be obtained in line constraint:
2, circle constraint, can be obtained M equation:
3, re-projection constrains, and 2 (M+N) a equations can be obtained:
If acquisition device observes n mark point in total, wherein jth (j when i-th (i=1 ..., M+N) secondary acquisition image
=1 ..., n) image coordinate of a mark point is expressed asIipj(uj,vj), coordinate under marking plate coordinate systemmipk(mixk,miyk,mizk), obtain being converted between acquisition device coordinate system and scaling board coordinate systemctmi,cψmi.Re-projection process, calculates first
The coordinate of j-th of mark point under acquisition device coordinate system:
Secondly, the image coordinate after being distorted by distortion model, the image coordinate theoretically observed should with throw again
The image coordinate that shadow obtains is equal:
Dist=1+r (k1+k2·r)
4,6 (M+N) a equations can be obtained in odometer constraint (profile constraints):
For odometer, the position at each moment and posture under world coordinate system can be directly acquired,
I.e. (wtb0,wRb0) ..., (wtbi,wRbi), (wtbj,wRbj), j-th of tracing point is obtained relative to i-th tracing point
Rotation translation:
Translation:bitbj=(wRbi)T·(wtbj-wtbi)
Rotation:biRbj=(wRbi)T·wRbj
For acquisition device, get between acquisition device coordinate system and marking plate coordinate system pose (ctm0,
cRm0) ..., (ctmi,cRmi),(ctmj,cRmj), if scaling board coordinate system is fixed, above-mentioned pose be equivalent to (c0tm,c0Rm) ...,
(citm,ciRm),(cjtm,cjRm), above-mentioned track is obtained by acquisition device coordinate system and moveable platform coordinate system:
Translation:bitbj=bRc·(ciRm·(bRc·cjRm)T·(-btc)+ciRm·(cjRm)T·(-cjtm)+citm)+btc
Rotation:biRbj=bRc·ciRm·(bRc·cjRm)T
9 (M+N) a equations are obtained, and the freedom degree of variable only has 6N+6, so meeting optimal conditions.About by four
Beam goes to seek final result with optimization library, obtains optimization calibration result.
A kind of electronic equipment, comprising: processor；
Memory；And program, wherein program is stored in memory, and is configured to be executed by processor, journey
Sequence includes joining scaling method outside above-mentioned acquisition device for executing.
A kind of computer readable storage medium, is stored thereon with computer program, and computer program is executed by processor
It states and joins scaling method outside acquisition device.
The present invention, which provides, joins scaling method outside acquisition device, join scaling method outside acquisition device, comprising the following steps: obtain
Identification information obtains acquisition device in the information of several acquisition moment acquisitions, and information is moveable platform along desired guiding trajectory and mark
Know the identification information in relative movement thereof；Establish the first coordinate transformation relation, calculate each acquisition moment mark coordinate system and
The transformational relation of acquisition device coordinate system is denoted as the first coordinate transformation relation；The second coordinate transformation relation is established, in mark coordinate
The mark point obtained in identification information is fastened, mark point each acquisition moment is obtained in acquisition dress according to the first coordinate transformation relation
Corresponding several coordinate points under coordinate system are set, using fitting algorithm Fitting Coordinate System point, establish fitted coordinate system, digital simulation coordinate
Transformational relation between system and acquisition device coordinate system, is denoted as the second coordinate transformation relation；Establish third coordinate transformation relation, root
According to the corresponding fitting algorithm Fitting Coordinate System point of desired guiding trajectory, fitting track is generated, digital simulation coordinate system and moveable platform are sat
Transformational relation between mark system, is denoted as third coordinate transformation relation；Join calibration outside acquisition device, passes through the second coordinate transformation relation
With third coordinate transformation relation, the transformational relation between acquisition device coordinate system and moveable platform coordinate system is calculated.The present invention
It is related to electronic equipment and readable storage medium storing program for executing, joins scaling method outside acquisition device for executing；The present invention is flat by increasing fitting
Face, which is acquired outside device, joins calibration, reduces because acquisition device installation out-of-flatness brings installation error mechanically, passes through optimization
Calibration result makes calibration result more acurrate, and independent of high-precision odometer, calibrated error is small.
More than, only presently preferred embodiments of the present invention is not intended to limit the present invention in any form；All current rows
The those of ordinary skill of industry can be shown in by specification attached drawing and above and swimmingly implement the present invention；But all to be familiar with sheet special
The technical staff of industry without departing from the scope of the present invention, is made a little using disclosed above technology contents
The equivalent variations of variation, modification and evolution is equivalent embodiment of the invention；Meanwhile all substantial technologicals according to the present invention
The variation, modification and evolution etc. of any equivalent variations to the above embodiments, still fall within technical solution of the present invention
Within protection scope.
Claims (14)
1. joining scaling method outside acquisition device, it is characterised in that the following steps are included:
Acquisition device obtains the information in several acquisition moment acquisitions, and the information is moveable platform along desired guiding trajectory and mark
Identification information in relative movement thereof；
The transformational relation for calculating each acquisition moment mark coordinate system and acquisition device coordinate system, is denoted as the conversion of the first coordinate and closes
System；
The mark point in the identification information is obtained on the mark coordinate system, is obtained according to first coordinate transformation relation
Mark point each acquisition moment corresponding several coordinate points under the acquisition device coordinate system, are fitted using fitting algorithm
The coordinate points, establish fitted coordinate system, and the conversion calculated between the fitted coordinate system and the acquisition device coordinate system is closed
System, is denoted as the second coordinate transformation relation；
The coordinate points are fitted according to the corresponding fitting algorithm of the desired guiding trajectory, generate fitting track, the fitting is calculated and sits
Transformational relation between mark system and moveable platform coordinate system, is denoted as third coordinate transformation relation；
By the second coordinate transformation relation and third coordinate transformation relation, calculates the acquisition device coordinate system and moved with described
Transformational relation between platform coordinate system.
2. joining scaling method outside acquisition device as described in claim 1, it is characterised in that: described to establish the first coordinate conversion pass
In system, the identification information is handled, image coordinate system is established, obtains the mark in described image coordinate system and described
The coordinate on coordinate system is identified, and combines acquisition device internal reference and distortion factor, the mark is calculated by position and orientation estimation method
Transformational relation between coordinate system and the acquisition device coordinate system.
3. joining scaling method outside acquisition device as claimed in claim 2, it is characterised in that: the desired guiding trajectory can including described in
Mobile platform is with the rotational trajectory for being identified as referential generation and straight trip track.
4. joining scaling method outside acquisition device as claimed in claim 3, which is characterized in that the acquisition identification information include with
Lower step:
The identification information that acquisition device acquires during moveable platform is rotated in place by the rotational trajectory is obtained, if obtaining
Dry rotation image；
Obtain the reference axis straight-line travelling process in moveable platform by the straight trip track along the moveable platform coordinate system
The identification information of middle acquisition device acquisition, obtains several rectilinear images.
5. joining scaling method outside acquisition device as claimed in claim 4, which is characterized in that described to establish the first coordinate conversion pass
System the following steps are included:
The rotation image is handled, the image coordinate of the mark point is obtained, according to the image coordinate of the mark point
And the mark point corresponds to the coordinate of the marking plate coordinate system mark coordinate system, and combines acquisition device internal reference and distortion system
Number calculates the marking plate coordinate system mark coordinate system relative to the pose under the acquisition device coordinate system, obtains rotation position
Appearance；
The rectilinear image is handled, the image coordinate of the mark point is obtained, according to the image coordinate of the mark point
And the mark point corresponds to the coordinate of the marking plate coordinate system mark coordinate system, and combines acquisition device internal reference and distortion system
Number calculates the marking plate coordinate system mark coordinate system relative to the pose under acquisition device coordinate system, obtains straight trip pose.
6. joining scaling method outside acquisition device as described in claim 1, it is characterised in that: described to establish the second coordinate conversion pass
In system, the coordinate points are fitted using plane fitting algorithm, fit Plane is generated, establishes Fitting Coordinate System in the fit Plane
System.
7. joining scaling method outside acquisition device as claimed in claim 6, it is characterised in that: the conversion of the second coordinate of the generation is closed
System the following steps are included:
The distance between the coordinate points and the fit Plane are calculated, when the distance is greater than threshold value, reject the coordinate
Point, and it is fitted remaining coordinate points again；
Take and second point in the fit Plane at first point, and the second point are in the acquisition device coordinate at described first point
The coordinate of system is respectively the first coordinate and the second coordinate, according to first coordinate and second coordinate calculate the first unit to
Amount, the second unit vector, third unit vector, first unit vector are the first coordinate points and the second coordinate points difference vector
Unit vector, the third unit vector are the normal vector of the fit Plane, and second unit vector is described first single
The vector product of bit vector and the third unit vector, using described first point as coordinate origin, respectively with first unit to
Amount, the second unit vector, third unit vector direction be x-axis, y-axis, z-axis direction establish fitted coordinate system；
It is fitted according to first unit vector, the second unit vector, third unit vector and first Coordinate generation
Transformational relation between coordinate system and the acquisition device coordinate system.
8. joining scaling method outside acquisition device as claimed in claim 3, it is characterised in that: described to establish third coordinate conversion pass
In system, ellipse fitting is carried out to the coordinate points that rotational trajectory described in the fitted coordinate system lower edge obtains, is remembered in fitted coordinate system
Elliptical center be moveable platform rotation center, obtain flat between fit Plane coordinate system and moveable platform coordinate system
Move matrix；The coordinate points obtained to fitted coordinate system lower edge straight trip track carry out straight line fitting, obtain fit Plane coordinate
Spin matrix between system and moveable platform coordinate system, obtains between the fitted coordinate system and moveable platform coordinate system
Transformational relation.
9. joining scaling method outside acquisition device as claimed in claim 8, it is characterised in that: by the second coordinate transformation relation,
Third coordinate transformation relation calculates coordinate of the rotation center of moveable platform under the acquisition device coordinate system, is acquired
Translation matrix between device coordinate system and moveable platform coordinate system；
By the spin matrix between third transformational relation digital simulation plane coordinate system and moveable platform coordinate system, pass through
The spin matrix of two transformational relations calculating acquisition device coordinate system and moveable platform coordinate system；
It is calculated between the acquisition device coordinate system and the moveable platform coordinate system by the translation matrix and spin matrix
Transformational relation.
10. joining scaling method outside acquisition device as described in claim 1, it is characterised in that: further include optimization calibration result, lead to
Cross transformational relation, first coordinate transformation relation between the acquisition device coordinate system and the moveable platform coordinate system
Cost function is constructed, the cost function is inputted into optimization library and is calculated, optimization calibration result is generated.
11. joining scaling method outside acquisition device as claimed in claim 10, it is characterised in that: the optimization calibration result also wraps
It includes and establishes odometer constraint, input optimization library is calculated, and optimization calibration result is generated.
12. joining scaling method outside acquisition device as claimed in claim 11, it is characterised in that: further include establishing re-projection about
One of beam, circle constraint, line constraint or a variety of optimization calibration results.
13. a kind of electronic equipment, characterized by comprising: processor；
Memory；And program, wherein described program is stored in the memory, and is configured to be held by processor
Row, described program include requiring method described in 1-12 any one for perform claim.
14. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the computer program
It is executed by processor the method as described in claim 1-12 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810996832.1A CN109242912A (en) | 2018-08-29 | 2018-08-29 | Join scaling method, electronic equipment, storage medium outside acquisition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810996832.1A CN109242912A (en) | 2018-08-29 | 2018-08-29 | Join scaling method, electronic equipment, storage medium outside acquisition device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109242912A true CN109242912A (en) | 2019-01-18 |
Family
ID=65068707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810996832.1A Pending CN109242912A (en) | 2018-08-29 | 2018-08-29 | Join scaling method, electronic equipment, storage medium outside acquisition device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109242912A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109829952A (en) * | 2019-02-11 | 2019-05-31 | 广东工业大学 | A kind of outer ginseng scaling method, device and the relevant device of positioning system |
| CN110207722A (en) * | 2019-06-11 | 2019-09-06 | 远形时空科技（北京）有限公司 | A kind of automation calibration for cameras mileage system and method |
| CN111753565A (en) * | 2019-03-27 | 2020-10-09 | 北京外号信息技术有限公司 | Method and electronic equipment for presenting information related to optical communication device |
| CN112082491A (en) * | 2020-09-11 | 2020-12-15 | 苏州杰锐思智能科技股份有限公司 | Height detection method based on point cloud |
| CN112184824A (en) * | 2019-07-05 | 2021-01-05 | 杭州海康机器人技术有限公司 | Camera external parameter calibration method and device |
| CN112258590A (en) * | 2020-12-08 | 2021-01-22 | 杭州迦智科技有限公司 | Laser-based depth camera external parameter calibration method, device and storage medium thereof |
| CN112567439A (en) * | 2020-11-09 | 2021-03-26 | 驭势（上海）汽车科技有限公司 | Method and device for determining traffic flow information, electronic equipment and storage medium |
| WO2021056503A1 (en) * | 2019-09-29 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Positioning method and apparatus for movable platform, movable platform, and storage medium |
| CN112654886A (en) * | 2020-05-27 | 2021-04-13 | 华为技术有限公司 | External parameter calibration method, device, equipment and storage medium |
| CN112884842A (en) * | 2020-12-25 | 2021-06-01 | 杭州迦智科技有限公司 | Synchronous calibration method for zero position of double rudder wheels and external parameters of acquisition device and movable platform |
| CN113063353A (en) * | 2021-03-31 | 2021-07-02 | 深圳中科飞测科技股份有限公司 | Coordinate system establishing method, detection device, detection equipment and storage medium |
| CN113252066A (en) * | 2020-02-13 | 2021-08-13 | 纳恩博（北京）科技有限公司 | Method and device for calibrating parameters of odometer equipment, storage medium and electronic device |
| CN113538598A (en) * | 2021-07-21 | 2021-10-22 | 北京能创科技有限公司 | Active stereo vision system calibration method |
| CN113814987A (en) * | 2021-11-24 | 2021-12-21 | 季华实验室 | Multi-camera robot hand-eye calibration method and device, electronic equipment and storage medium |
| CN114538027A (en) * | 2020-11-26 | 2022-05-27 | 合肥欣奕华智能机器股份有限公司 | Full-automatic visual positioning transfer equipment and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103279949A (en) * | 2013-05-09 | 2013-09-04 | 浙江大学 | Operation method of self-positioning robot-based multi-camera parameter automatic calibration system |
| CN103542981A (en) * | 2013-09-28 | 2014-01-29 | 大连理工大学 | Method for measuring rotary inertia through binocular vision |
| CN105869150A (en) * | 2016-03-24 | 2016-08-17 | 杭州南江机器人股份有限公司 | Movable platform calibration device and calibration method based on visual recognition |
| CN106705956A (en) * | 2017-02-28 | 2017-05-24 | 南京工程学院 | Rapid industrial robot tail end pose measuring device and measuring method thereof |
| CN107993266A (en) * | 2017-12-05 | 2018-05-04 | 西北工业大学 | Light-field camera intrinsic parameter caliberating device and method |
-
2018
- 2018-08-29 CN CN201810996832.1A patent/CN109242912A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103279949A (en) * | 2013-05-09 | 2013-09-04 | 浙江大学 | Operation method of self-positioning robot-based multi-camera parameter automatic calibration system |
| CN103542981A (en) * | 2013-09-28 | 2014-01-29 | 大连理工大学 | Method for measuring rotary inertia through binocular vision |
| CN105869150A (en) * | 2016-03-24 | 2016-08-17 | 杭州南江机器人股份有限公司 | Movable platform calibration device and calibration method based on visual recognition |
| CN106705956A (en) * | 2017-02-28 | 2017-05-24 | 南京工程学院 | Rapid industrial robot tail end pose measuring device and measuring method thereof |
| CN107993266A (en) * | 2017-12-05 | 2018-05-04 | 西北工业大学 | Light-field camera intrinsic parameter caliberating device and method |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109829952A (en) * | 2019-02-11 | 2019-05-31 | 广东工业大学 | A kind of outer ginseng scaling method, device and the relevant device of positioning system |
| CN111753565A (en) * | 2019-03-27 | 2020-10-09 | 北京外号信息技术有限公司 | Method and electronic equipment for presenting information related to optical communication device |
| CN111753565B (en) * | 2019-03-27 | 2021-12-24 | 北京外号信息技术有限公司 | Method and electronic equipment for presenting information related to optical communication device |
| CN110207722A (en) * | 2019-06-11 | 2019-09-06 | 远形时空科技（北京）有限公司 | A kind of automation calibration for cameras mileage system and method |
| CN112184824A (en) * | 2019-07-05 | 2021-01-05 | 杭州海康机器人技术有限公司 | Camera external parameter calibration method and device |
| WO2021056503A1 (en) * | 2019-09-29 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Positioning method and apparatus for movable platform, movable platform, and storage medium |
| CN113252066A (en) * | 2020-02-13 | 2021-08-13 | 纳恩博（北京）科技有限公司 | Method and device for calibrating parameters of odometer equipment, storage medium and electronic device |
| CN113252066B (en) * | 2020-02-13 | 2024-04-09 | 纳恩博（北京）科技有限公司 | Calibration method and device for parameters of odometer equipment, storage medium and electronic device |
| WO2021237520A1 (en) * | 2020-05-27 | 2021-12-02 | 华为技术有限公司 | Method and apparatus for calibrating extrinsics, and device and storage medium |
| CN112654886A (en) * | 2020-05-27 | 2021-04-13 | 华为技术有限公司 | External parameter calibration method, device, equipment and storage medium |
| CN112082491A (en) * | 2020-09-11 | 2020-12-15 | 苏州杰锐思智能科技股份有限公司 | Height detection method based on point cloud |
| CN112567439A (en) * | 2020-11-09 | 2021-03-26 | 驭势（上海）汽车科技有限公司 | Method and device for determining traffic flow information, electronic equipment and storage medium |
| CN114538027A (en) * | 2020-11-26 | 2022-05-27 | 合肥欣奕华智能机器股份有限公司 | Full-automatic visual positioning transfer equipment and control method thereof |
| CN112258590A (en) * | 2020-12-08 | 2021-01-22 | 杭州迦智科技有限公司 | Laser-based depth camera external parameter calibration method, device and storage medium thereof |
| CN112884842B (en) * | 2020-12-25 | 2024-03-22 | 杭州迦智科技有限公司 | External parameter synchronous calibration method for double rudder zero position and acquisition device and movable platform |
| CN112884842A (en) * | 2020-12-25 | 2021-06-01 | 杭州迦智科技有限公司 | Synchronous calibration method for zero position of double rudder wheels and external parameters of acquisition device and movable platform |
| CN113063353A (en) * | 2021-03-31 | 2021-07-02 | 深圳中科飞测科技股份有限公司 | Coordinate system establishing method, detection device, detection equipment and storage medium |
| CN113063353B (en) * | 2021-03-31 | 2023-05-09 | 深圳中科飞测科技股份有限公司 | Coordinate system establishment method, detection device, detection equipment and storage medium |
| CN113538598A (en) * | 2021-07-21 | 2021-10-22 | 北京能创科技有限公司 | Active stereo vision system calibration method |
| CN113538598B (en) * | 2021-07-21 | 2022-03-25 | 北京能创科技有限公司 | Active stereo vision system calibration method |
| CN113814987A (en) * | 2021-11-24 | 2021-12-21 | 季华实验室 | Multi-camera robot hand-eye calibration method and device, electronic equipment and storage medium |
| CN113814987B (en) * | 2021-11-24 | 2022-06-03 | 季华实验室 | Multi-camera robot hand-eye calibration method and device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109242912A (en) | Join scaling method, electronic equipment, storage medium outside acquisition device | |
| CN104851104B (en) | Using the flexible big view calibration method of target high speed camera close shot | |
| CN108346165A (en) | Robot and three-dimensional sensing components in combination scaling method and device | |
| CN107175660B (en) | A kind of six-freedom degree robot kinematics scaling method based on monocular vision | |
| CN107883870A (en) | Overall calibration method based on binocular vision system and laser tracker measuring system | |
| CN104517291B (en) | Pose measuring method based on target coaxial circles feature | |
| CN105444696B (en) | A kind of binocular ranging method and its application based on perspective projection line measurement model | |
| CN105486289B (en) | A kind of laser photography measuring system and camera calibration method | |
| CN106813638B (en) | A kind of 3RPS parallel robots geometric parameter discrimination method | |
| CN106078359B (en) | A kind of zero definition of more main shaft drilling building-block machines of planer-type and scaling method | |
| CN106971408B (en) | A kind of camera marking method based on space-time conversion thought | |
| CN110260786A (en) | A kind of robot vision measuring system and its scaling method based on external trace | |
| CN101582161A (en) | C-type arm image correction method based on perspective imaging model calibration | |
| CN109454281A (en) | A kind of propeller workpiece coordinate system scaling method in robotic milling processing | |
| CN108705531A (en) | The kinematic calibration method of industrial robot, calibration system, electronic equipment | |
| CN109493389B (en) | Camera calibration method and system based on deep learning | |
| CN107671896A (en) | Fast vision localization method and system based on SCARA robots | |
| CN106990776A (en) | Robot goes home localization method and system | |
| CN107063229A (en) | Mobile robot positioning system and method based on artificial landmark | |
| CN107481276A (en) | The automatic identifying method of mark point sequence in a kind of 3 d medical images | |
| CN109297436A (en) | Binocular line laser measurement in space benchmark calibration method | |
| CN108413988A (en) | Robot end's theodolite coordinate system quick calibrating method | |
| An et al. | Building an omnidirectional 3-D color laser ranging system through a novel calibration method | |
| CN110065075A (en) | A kind of spatial cell robot external status cognitive method of view-based access control model | |
| CN106643489A (en) | Ground quick response (QR) code calibration method and device based on laser tracker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |