JP2001133223A - Method of correcting distortion aberration - Google Patents
Method of correcting distortion aberrationInfo
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- JP2001133223A JP2001133223A JP31123699A JP31123699A JP2001133223A JP 2001133223 A JP2001133223 A JP 2001133223A JP 31123699 A JP31123699 A JP 31123699A JP 31123699 A JP31123699 A JP 31123699A JP 2001133223 A JP2001133223 A JP 2001133223A
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- correction
- distortion
- distortion aberration
- calibration plate
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- 230000004075 alteration Effects 0.000 title abstract description 19
- 238000012937 correction Methods 0.000 claims abstract description 40
- 238000005259 measurement Methods 0.000 abstract description 24
- 238000003384 imaging method Methods 0.000 description 12
- 238000001444 catalytic combustion detection Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 102100033040 Carbonic anhydrase 12 Human genes 0.000 description 2
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- 101150080148 RR10 gene Proteins 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
- 239000011087 paperboard Substances 0.000 description 1
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、歪曲収差の補正
方法に関し、特に、画像計測における計測精度を向上さ
せる補正方法に関するものである。[0001] 1. Field of the Invention [0002] The present invention relates to a method for correcting distortion, and more particularly to a method for improving measurement accuracy in image measurement.
【０００２】[0002]
【従来の技術】ＣＣＤなどのデジタルカメラを用いる画
像計測は、工業製品の検査,加工管理などに用いられて
いて、主として、それほど高度の計測精度を要求されな
い分野に利用されている。2. Description of the Related Art Image measurement using a digital camera such as a CCD is used for inspection and processing management of industrial products, and is mainly used in fields where not so high measurement accuracy is required.
【０００３】ところで、この種の画像計測は、非接触で
の計測が可能なので、例えば、橋梁などの構造物の経時
的な変位計測など、手の届かない部位や、危険な部位で
の高精度の計測に利用することが期待されている。[0003] By the way, since this kind of image measurement can be measured in a non-contact manner, for example, measurement of displacement over time of a structure such as a bridge or the like can be performed with high precision in a part that is out of reach or a dangerous part. It is expected that it will be used for measurement.
【０００４】しかしながら、従来のデジタルカメラを用
いる画像計測を高度の計測精度が要求される分野に適用
するには、以下に説明する技術的な課題があった。[0004] However, there are the following technical problems in applying the conventional image measurement using a digital camera to a field requiring high measurement accuracy.
【０００５】[0005]
【発明が解決しようとする課題】すなわち、従来の画像
計測では、撮像によって得られた撮像画像データから計
測点を抽出し、計測点間の画素数を計数し、得られた計
数値に画素の大きさを乗算することにより、計測点間の
長さなどを求めている。That is, in the conventional image measurement, measurement points are extracted from captured image data obtained by imaging, the number of pixels between the measurement points is counted, and the pixel count is added to the obtained count value. The length between measurement points is obtained by multiplying the size.
【０００６】ところが、ＣＣＤなどのデジタルカメラ
は、画素数の増大化などにより高精度化が図られている
ものの、レンズ系を有していて、撮像された画面は、レ
ンズ系の収差の影響を受けて樽型ないしは糸巻型に屈曲
しており、これをそのまま計数すると、収差による誤差
を含んでいるので、高精度の計測値が得られないという
問題があった。However, although digital cameras such as CCDs have been improved in accuracy by increasing the number of pixels, etc., they have a lens system, and the captured image is affected by the aberration of the lens system. The receiving part is bent into a barrel shape or a pin winding shape, and if this is counted as it is, since it includes an error due to aberration, there is a problem that a highly accurate measurement value cannot be obtained.
【０００７】本発明は、このような従来の問題点に鑑み
てなされたものであって、その目的とするところは、高
精度の画像計測を可能にする歪曲収差の補正方法を提供
することにある。SUMMARY OF THE INVENTION The present invention has been made in view of such conventional problems, and an object of the present invention is to provide a method of correcting distortion which enables high-precision image measurement. is there.
【０００８】[0008]
【課題を解決するための手段】上記目的を達成するため
に、本発明は、座標値が既知の複数のターゲットマーク
が表示されたキャリブレーション板をデジタルカメラに
より撮像し、撮像された画面上の前記ターゲットマーク
間の計測値と前記既知座標値とに基づいて、前記キャリ
ブレーション板の撮影距離に対応した歪曲収差率補正曲
線を作成し、得られた歪曲収差率補正曲線に基づいて、
計測値を修正するようにした。このように構成した歪曲
収差の補正方法によれば、撮像された画面上のターゲッ
トマーク間の計測値と既知座標値とに基づいて、キャリ
ブレーション板の撮影距離に対応した歪曲収差率補正曲
線を作成し、得られた歪曲収差率補正曲線に基づいて、
計測値を修正するので、高精度の計測が可能になる。ま
た、本発明は、座標値が既知の複数のターゲットマーク
が表示されたキャリブレーション板をデジタルカメラに
より撮像し、撮像された画面上の前記ターゲットマーク
間の計測値と前記既知座標値とに基づいて、多次元多項
補正近似式のパラメータを決定し、得られた多次元多項
補正近似式から、計測値に対する修正補正値を求めるよ
うにした。このような構成を採用すると、デジタルカメ
ラの撮像条件に依存しない歪曲収差補正が行える。In order to achieve the above-mentioned object, the present invention provides a digital camera which images a calibration plate on which a plurality of target marks whose coordinate values are known are displayed, and displays the image on a screen. Based on the measured values between the target marks and the known coordinate values, create a distortion aberration correction curve corresponding to the shooting distance of the calibration plate, based on the obtained distortion aberration correction curve,
Corrected the measured value. According to the distortion correction method configured as described above, the distortion aberration correction curve corresponding to the shooting distance of the calibration plate is calculated based on the measured values between the target marks on the captured screen and the known coordinate values. Based on the created and obtained distortion aberration rate correction curve,
Since the measured value is corrected, highly accurate measurement can be performed. Further, the present invention captures a calibration plate on which a plurality of target marks having known coordinate values are displayed by a digital camera, and based on the measured values between the target marks on the captured screen and the known coordinate values. Then, the parameters of the multidimensional polynomial correction approximation equation are determined, and the corrected correction value for the measured value is obtained from the obtained multidimensional polynomial correction approximation equation. With such a configuration, distortion correction can be performed without depending on the imaging conditions of the digital camera.
【０００９】[0009]
【発明の実施の形態】以下、本発明の好適な実施の形態
について、添付図面に基づいて詳細に説明する。図１か
ら図４は、本発明にかかる歪曲収差の補正方法の一実施
例を示している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. 1 to 4 show one embodiment of a method for correcting distortion according to the present invention.
【００１０】図１には、本実施例の補正方法で用いるキ
ャリブレーション板Ｃが示されている。同図に示したキ
ャリブレーション板Ｃは、図示寸法の位置に、正確に描
かれた合計５個のターゲットマークＴＡ〜ＴＥを有して
いる。このターゲットマークＴＡ〜ＴＥは、白色板紙に
所定直径の真円を黒色で描いたものであって、デジタル
カメラ１４により撮像可能な状態になっている。FIG. 1 shows a calibration plate C used in the correction method of this embodiment. The calibration plate C shown in the figure has a total of five target marks TA to TE accurately drawn at the positions of the dimensions shown. The target marks TA to TE are formed by drawing a perfect circle of a predetermined diameter in black on a white paperboard, and are in a state where an image can be taken by the digital camera 14.
【００１１】歪曲収差を求める際には、複数のキャリブ
レーション板Ｃを、図２に示すように、所定の間隔を隔
てて、鉛直壁上にｍ列,ｎ行になるように縦横に配置
し、これを所定の撮影距離Ｚの地点からデジタルカメラ
１４で撮像する。When obtaining the distortion, a plurality of calibration plates C are arranged vertically and horizontally on the vertical wall at predetermined intervals, as shown in FIG. This is imaged by the digital camera 14 from a point at a predetermined shooting distance Z.
【００１２】壁上に配置した各キャリブレーション板Ｃ
の２次元位置は、図３に示すように、ｍ列,ｎ行に配置
された中央のキャリブレーション板Ｃi,jのターゲット
マークＴＡi,jを原点とするＸ,Ｙ系の二次元座標値とし
て、誤差が±１mm程度のレーザートランシットなどで計
測されている。Each calibration plate C arranged on the wall
Are the two-dimensional coordinates of the X, Y system having the origin at the target mark TA i, j of the central calibration plate C i, j arranged in m columns and n rows as shown in FIG. The value is measured with a laser transit having an error of about ± 1 mm.
【００１３】レーザートランシットは、水準器により計
測して、地面と平行になるように三脚１６上に設置して
計測する。デジタルカメラ１４は、同じ三脚１６上に設
置し、中央のキャリブレーション板Ｃi,jのターゲット
マークＴＡi,jの方向に光軸が向くように調整して、同
じ配列のキャリブレーション板Ｃを撮像する。The laser transit is measured by a level, and placed on a tripod 16 so as to be parallel to the ground. The digital camera 14 is mounted on the same tripod 16 and adjusted so that the optical axis is directed in the direction of the target mark TA i, j of the central calibration plate C i, j , so that the calibration plates C having the same arrangement are arranged. Take an image.
【００１４】図４にデジタルカメラ１４によりターゲッ
トＣを撮像した際の撮像画面の要部が示されている。カ
メラ１４による撮像画面では、ピクセルｐijの中心を原
点とするＸ',Ｙ'系の二次元座標により各ターゲットマ
ークＴＡ'i,jなどの座標値が求められる。FIG. 4 shows the main part of the image screen when the target C is imaged by the digital camera 14. In the image captured by the camera 14 , the coordinate values of each target mark TA ′ i, j and the like are obtained from the X ′, Y ′ two-dimensional coordinates having the origin at the center of the pixel p ij .
【００１５】この場合、ターゲットマークＴＡ〜ＴＥの
撮像画面上での大きさは、例えば、６００万画素のＣＣ
Ｄカメラを用い、撮影距離が約１５ｍで撮影すると、レ
ンズの画角から、１画素の間隔は、撮像画面上で約４ｍ
ｍの換算になるので、例えば、ターゲットマークＴＡ〜
ＴＥの大きさが５０ｍｍの円形であると、約１０〜１３
画素の大きさを占める。In this case, the size of the target marks TA to TE on the imaging screen is, for example, 6 million pixels of CC.
When shooting at a shooting distance of about 15 m using a D camera, the distance between one pixel is about 4 m on the imaging screen from the angle of view of the lens.
m, so, for example, the target mark TA ~
When the size of TE is a circle of 50 mm, about 10 to 13
Occupies the size of a pixel.
【００１６】そこで、ターゲットマークＴＡ〜ＴＥの中
心位置は、撮像画面上での円形の重心上に設定する。こ
の場合、ターゲットマークＴＡ〜ＴＥは、黒色で描かれ
ているので、閾値処理を行うことにより、図形を明確に
してから重心位置を決定する。Therefore, the center positions of the target marks TA to TE are set on the center of gravity of the circle on the imaging screen. In this case, since the target marks TA to TE are drawn in black, the position of the center of gravity is determined after clarifying the figure by performing threshold processing.
【００１７】この場合、デジタルカメラ１４を中央のキ
ャリブレーション板Ｃi,jのターゲットマークＴＡi,jの
方向に光軸が向くように調整配置したとしても、光軸の
中心とピクセルｐijの中心との間に、図４に示すような
ズレＴが生じ、このズレＴは、座標系間の誤差となる。In this case, even if the digital camera 14 is arranged so that the optical axis is oriented in the direction of the target mark TA i, j of the central calibration plate C i, j , the center of the optical axis and the pixel p ij are not aligned. A shift T as shown in FIG. 4 occurs between the center and the center, and the shift T becomes an error between coordinate systems.
【００１８】このズレＴの大きさは、ピクセルｐijの中
心を原点として、キャリブレーション板Ｃ'i,jのターゲ
ットマークＴＡ'i,jの座標を求めれば決まり、ズレＴの
大きさが決定すると、ターゲットマークＴＡ'i,jなどの
各座標値をこれで補正する、座標系間の誤差補正を行
う。The magnitude of the deviation T is determined by obtaining the coordinates of the target mark TA ′ i, j of the calibration plate C ′ i, j with the center of the pixel p ij as the origin, and the magnitude of the deviation T is determined. Then, error correction between coordinate systems is performed to correct each coordinate value of the target mark TA ′ i, j and the like.
【００１９】このような座標系間の誤差補正が終了する
と、図３に示す実測に基づく像高ｈ１〜ｈ５と、これに
対応する図４に示す撮像画面上の像高h１’〜ｈ５'をそ
れぞれ求め、これらの値に基づいて、歪曲収差率が以下
の式で求められる。When the error correction between the coordinate systems is completed, the image heights h1 to h5 based on the actual measurement shown in FIG. 3 and the corresponding image heights h1 'to h5' on the imaging screen shown in FIG. Each of them is obtained, and based on these values, the distortion aberration rate is obtained by the following equation.
【００２０】 歪曲収差率(％)＝１００×(ｈ'−ｈ )／h このような歪曲収差率をＸ',Ｙ'軸ないしは放射方向な
どに沿って順次求めていくと、図５に示すような、歪曲
収差率の補正曲線が得られる。図５には、キャリブレー
ション板Ｃを、撮影距離１５m,１０m,５mの地点でそれ
ぞれ６００万画素のＣＣＤカメラで撮像して得られた３
種類の補正曲線が示されている。Distortion Aberration Rate (%) = 100 × (h′−h) / h When such distortion aberration rates are sequentially obtained along the X ′ and Y ′ axes or the radiation direction, FIG. Such a correction curve of the distortion aberration rate is obtained. FIG. 5 shows three images obtained by imaging the calibration plate C with a CCD camera having 6 million pixels each at a shooting distance of 15 m, 10 m, and 5 m.
Different types of correction curves are shown.
【００２１】なお、図５において、横軸は、歪み後の像
高であって、撮影距離５mにおける像高１１ｍｍの以上
の部分を除けば、理論値と比較して大きなずれがないこ
とが判った。In FIG. 5, the horizontal axis represents the image height after the distortion, and it can be seen that there is no large deviation compared to the theoretical value except for the portion above the image height of 11 mm at a shooting distance of 5 m. Was.
【００２２】このような補正曲線をあらかじめ求めてお
くと、デジタルカメラ１４により計測対象物を撮像した
際の計測値を、この補正曲線に当てはめて修正すること
ができ、このような修正補正値を用いると、画像計測の
精度を向上させることができる。ところで、以上のよう
にして求められる歪曲収差率の補正曲線は、デジタルカ
メラ１４の撮像距離によって異なるし、また、デジタル
カメラ１４の画角の方向が異なった位置に向けられると
変化し、実際の歪曲収差補正に採用すると、再現性に問
題がある。If such a correction curve is obtained in advance, it is possible to correct a measurement value obtained by imaging the object to be measured by the digital camera 14 by applying the correction curve to the correction curve. When used, the accuracy of image measurement can be improved. Incidentally, the correction curve of the distortion aberration rate obtained as described above differs depending on the imaging distance of the digital camera 14, and changes when the direction of the angle of view of the digital camera 14 is directed to a different position. When employed for distortion correction, there is a problem in reproducibility.
【００２３】そこで、これらの条件に左右されることな
く、撮像距離による依存性のない歪曲収差の補正方法と
して、多次元多項式により補正曲線を近似することがで
きる。Therefore, a correction curve can be approximated by a multidimensional polynomial as a method of correcting distortion that is independent of the imaging distance without being affected by these conditions.
【００２４】本実施例では、歪み後の像高ｈ’を歪み前
の像高ｈに直す関数として、以下の５次元の多項補正式
を設定した。 ｈ＝ａｈ’5+ｂｈ’5+ｃｈ’4+ｄｈ’3+ｅｈ’ この補正式の各パラメータを求めるためには、図４に示
す、撮像画面上に５点以上の測点を設定し、各測点に置
ける像高h１'〜ｈ５’と、これに対応する図３に示す実
測像高h１〜ｈ５とをそれぞれ求め、これらの値を代入
した式を５以上得て、最小二乗法を用いて、最も近似し
た値が得られるパラメータ(ａ〜ｅ)を決定する。In this embodiment, the following five-dimensional polynomial correction formula is set as a function of converting the image height h 'after distortion into the image height h before distortion. h = ah ' 5 + bh' 5 + ch ' 4 + dh' 3 + eh 'In order to obtain each parameter of this correction formula, five or more measurement points are set on the imaging screen shown in FIG. The image heights h1 'to h5' at each measurement point and the corresponding actually measured image heights h1 to h5 shown in FIG. 3 are respectively obtained, and five or more equations obtained by substituting these values are obtained. Are used to determine the parameters (a to e) at which the most approximate values are obtained.
【００２５】図６は、実際にキャリブレーション板Ｃ
を、撮影距離１５mで、６００万画素のＣＣＤカメラで
撮像し、上記方法によりパラメータ(ａ〜ｅ)を決定し
て、歪曲収差補正をした場合と、補正をしない場合と
の、実測値との間の誤差を示している。FIG. 6 shows an actual calibration plate C
At a shooting distance of 15 m with a 6 million pixel CCD camera, parameters (a to e) are determined by the above method, and distortion is corrected. The error between them is shown.
【００２６】図６に示した結果からも明らかなように、
歪曲収差補正をしないと、中心からの距離が約６ｍ程度
で、約１００ｍｍほどの誤差が生じているが、収差補正
を行うと、±１０ｍｍ以内に誤差が収まることが判る。As is clear from the results shown in FIG.
If the distortion is not corrected, the error from the center is about 6 m, and an error of about 100 mm occurs. However, if the aberration correction is performed, the error falls within ± 10 mm.
【００２７】以上のような、歪曲収差の補正方法によれ
ば、撮像された画面上のターゲットマーク間の計測値と
既知間隔値とに基づいて、予め、多次元多項補正近似式
のパラメータを決定し、この多次元多項補正近似式か
ら、歪曲収差補正を施した補正座標値を求めるので、デ
ジタルカメラ１４の撮像条件に依存しない、絶対的な歪
曲収差補正が行える。According to the distortion aberration correction method as described above, the parameters of the multidimensional polynomial correction approximation equation are determined in advance based on the measured values between the target marks on the imaged screen and the known interval values. Since the corrected coordinate value subjected to the distortion correction is obtained from the multidimensional polynomial correction approximation formula, the absolute distortion correction independent of the imaging conditions of the digital camera 14 can be performed.
【００２８】[0028]
【発明の効果】以上、詳細に説明したように、本発明に
かかる歪曲収差の補正方法によれば、高精度の計測が可
能になる。As described above in detail, according to the distortion correcting method of the present invention, highly accurate measurement can be performed.
【図１】本発明にかかる歪曲収差の補正方法で用いるキ
ャリブレーション板の平面図である。FIG. 1 is a plan view of a calibration plate used in a distortion aberration correcting method according to the present invention.
【図２】図１に示したキャリブレーション板をデジタル
カメラで撮影する際の説明図である。FIG. 2 is an explanatory diagram when photographing the calibration plate shown in FIG. 1 with a digital camera.
【図３】図２に示したキャリブレーション板の実測座標
値の要部説明図である。FIG. 3 is an explanatory diagram of a main part of actually measured coordinate values of the calibration plate shown in FIG. 2;
【図４】図２に示したキャリブレーション板の画像上の
座標値の要部説明図である。FIG. 4 is an explanatory diagram of a main part of coordinate values on an image of the calibration plate shown in FIG. 2;
【図５】本発明の歪曲収差補正に用いる補正曲線のグラ
フである。FIG. 5 is a graph of a correction curve used for correcting distortion according to the present invention.
【図６】本発明の歪曲収差補正を行った場合と、行わな
い場合の誤差を示すグラフである。FIG. 6 is a graph showing errors when distortion correction of the present invention is performed and when distortion correction is not performed.
【符号の説明】 ＴＡ〜ＴＥ ターゲットマーク Ｃ キャリブレーション板 １４ デジタルカメラ[Description of Signs] TA to TE Target Mark C Calibration Plate 14 Digital Camera
───────────────────────────────────────────────────── フロントページの続き (72)発明者 大内 一 東京都清瀬市下清戸４−640 株式会社大 林組技術研究所内 (72)発明者 橋本 周司 千葉県市川市八幡１−13−19 Ｆターム(参考） 2F065 AA04 AA53 BB28 CC14 EE08 FF04 FF61 JJ03 JJ26 QQ17 RR10 2F112 AC06 BA20 CA08 CA12 DA40 FA23 FA35 5B057 AA01 BA02 BA11 CA12 CA16 DA07 DA20 DB02 DC03 5C022 AA01 AB51 AC42 AC76 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Ichiichi Ouchi 4-640 Shimoseito, Kiyose-shi, Tokyo Inside the Obayashi Corporation Technical Research Institute (72) Inventor Shuji Hashimoto 1-13-19 Yawata, Ichikawa-shi, Chiba F-term (Reference) 2F065 AA04 AA53 BB28 CC14 EE08 FF04 FF61 JJ03 JJ26 QQ17 RR10 2F112 AC06 BA20 CA08 CA12 DA40 FA23 FA35 5B057 AA01 BA02 BA11 CA12 CA16 DA07 DA20 DB02 DC03 5C022 AA01 AB51 AC42 AC76
Claims (2)
が表示されたキャリブレーション板をデジタルカメラに
より撮像し、撮像された画面上の前記ターゲットマーク
間の計測値と前記既知座標値とに基づいて、前記キャリ
ブレーション板の撮影距離に対応した歪曲収差率補正曲
線を作成し、 得られた歪曲収差率補正曲線に基づいて、計測値を修正
することを特徴とする歪曲収差の補正方法。An image of a calibration plate on which a plurality of target marks having known coordinate values are displayed is captured by a digital camera, based on a measured value between the target marks on the captured screen and the known coordinate values. A distortion correction curve corresponding to the shooting distance of the calibration plate, and correcting the measured value based on the obtained distortion correction curve.
が表示されたキャリブレーション板をデジタルカメラに
より撮像し、撮像された画面上の前記ターゲットマーク
間の計測値と前記既知座標値とに基づいて、 多次元多項補正近似式のパラメータを決定し、得られた
多次元多項補正近似式から、計測値に対する修正補正値
を求めることを特徴とする歪曲収差の補正方法。2. A digital camera captures an image of a calibration plate on which a plurality of target marks whose coordinate values are known are displayed, based on a measured value between the target marks on the captured image and the known coordinate values. A method for correcting distortion, comprising: determining parameters of a multidimensional polynomial correction approximation equation; and obtaining a correction correction value for a measured value from the obtained multidimensional polynomial correction approximation equation.
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| JP31123699A JP3668654B2 (en) | 1999-11-01 | 1999-11-01 | Distortion correction method |
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| JP3668654B2 JP3668654B2 (en) | 2005-07-06 |
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| JP2004354234A (en) * | 2003-05-29 | 2004-12-16 | Ishikawajima Harima Heavy Ind Co Ltd | Camera calibration method for photogrammetry |
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Cited By (11)
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|---|---|---|---|---|
| JP2004354234A (en) * | 2003-05-29 | 2004-12-16 | Ishikawajima Harima Heavy Ind Co Ltd | Camera calibration method for photogrammetry |
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