WO1998005922A1 - Technique d'etalonnage - Google Patents

Technique d'etalonnage Download PDF

Info

Publication number
WO1998005922A1
WO1998005922A1 PCT/JP1997/002752 JP9702752W WO9805922A1 WO 1998005922 A1 WO1998005922 A1 WO 1998005922A1 JP 9702752 W JP9702752 W JP 9702752W WO 9805922 A1 WO9805922 A1 WO 9805922A1
Authority
WO
WIPO (PCT)
Prior art keywords
pixel
distance image
value
image
light
Prior art date
Application number
PCT/JP1997/002752
Other languages
English (en)
Japanese (ja)
Inventor
Kosuke Sato
Takayuki Kataoka
Shozo Hirose
Motohide Yasukawa
Original Assignee
Komatsu Ltd.
Osaka Gas Information System Research Institute Co., Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd., Osaka Gas Information System Research Institute Co., Ltd. filed Critical Komatsu Ltd.
Publication of WO1998005922A1 publication Critical patent/WO1998005922A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • 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

Definitions

  • the present invention relates to a calibration method for a three-dimensional measuring device required for measuring a three-dimensional position of an object to be measured by an imaging means such as a camera.
  • a method shown in FIG. 19 has been known as a calibration method in this type of three-dimensional measuring apparatus (for example, see Japanese Patent Application Laid-Open No. H5-2481988).
  • This method uses a measuring plate 52 engraved with grid lines 51 (or many points) indicating coordinates as a calibration object, and the measuring plate 52 is controlled by a controller 53.
  • the calibration data is obtained by recognizing the grid line 51 with the three-dimensional visual sensor 54 while moving it back and forth, and processing it with the computer 55.
  • an image processing method called binarization processing is used.
  • the grid 51 when the grid 51 is extracted by image processing, the grid 51 can be faintly extracted due to a change in the amount of light in the surrounding environment. Or, the center of grid line 51 could not be extracted and a deviated line was extracted, and the resulting coordinate values deviated from the correct position, resulting in accurate calibration. There is a problem that can not be performed.
  • the present invention has been made in order to solve such a problem, and it is an object of the present invention to provide a calibration method capable of removing errors due to a binarization process and achieving higher accuracy. And for the purpose. Disclosure of the invention
  • the calibration method according to the present invention comprises:
  • the surface of the device under test is irradiated with light by the light projecting device, and the reflected light is imaged by the image capturing device.
  • the information of the imaged reflected light is used to calculate the reflected light based on the principle of triangulation.
  • a calibration method for a three-dimensional measuring device for measuring a position
  • a distance image at each moving point when the calibration object is moved one rotation, a pitch rotation, and a back and forth movement with respect to the imaging means is taken by the imaging means, and the taken distance image is taken.
  • the processing is performed to obtain three-dimensional coordinate values for each distance value of each pixel, and a calibration value is obtained from the obtained three-dimensional coordinate values.
  • a calibration target such as a measuring plate is rotated once, a pitch or a back and forth by a fixed amount with respect to an imaging means such as a camera. Then, the distance image at each moving point is acquired by the imaging means. Then, by processing the acquired distance image, a three-dimensional coordinate value of each pixel for each distance value is obtained, and a calibration value is obtained from the obtained three-dimensional coordinate value.
  • a median around a specific pixel for one image is processed.
  • the value is set as the distance value of the pixel, and the obtained distance value is set multiple times at each position, and the median values of the multiple times are set as the distance value of the pixel. It is preferable to set.
  • an average value of the circumference of a specific pixel in one image is set as a distance value of the pixel.
  • the distance value thus obtained can be set a plurality of times at each position, and the average value of the plurality of times can be set as the value of the distance value of the pixel.
  • the imaging means may be configured to replace the acquired distance image information with light / dark information and output the information.
  • the imaging means acquires a three-dimensional image of the measured object from reflected light of the coded pattern light projected on the surface of the measured object by the light projecting means.
  • a method of acquiring a three-dimensional image of the measured object by imaging the reflected light of the light projected on the surface of the measured object by the two light emitting means by the light projecting means It may be.
  • FIG. 1 is a system configuration diagram of a three-dimensional measuring apparatus according to one embodiment of the present invention
  • Figure 2 shows a flow chart for creating a look-up table in the X direction.
  • Figure 3 shows the flow for creating an X-direction look-up table. Char.
  • Figure 4 is a flowchart 3 for creating a look-up table in the X direction.
  • Figure 5 is a flow chart for creating a look-up table in the X direction.
  • Figure 6 shows a flow chart for creating an X-direction lookup table.
  • Figure 7 shows a flow chart for creating a lookup table in the Y direction.
  • Figure 8 is a flow chart for creating a look-up table in the Y direction.
  • Figure 9 is a flow chart for creating a look-up table in the Y direction.
  • FIG. 10 shows a flowchart for creating a lookup table in the Y direction.
  • Figure 11 is a flow chart for creating a look-up table in the Y direction.
  • Figure 12 is a flow chart for creating a Z-direction look-up table
  • Figure 13 shows a flow chart for creating a Z-direction look-up table
  • Fig. 14 shows flow charts (3) and (3) for creating a look-up table in the Z direction.
  • Figure 15 is an illustration of the movement of the measuring plate for acquiring a distance image in the X direction.
  • FIG. 16 is an explanatory diagram of a calculation method of the distance image data in the X direction.
  • Figure 17 shows the movement of the measuring plate for acquiring the distance image in the Y direction.
  • Fig. 18 is an illustration of the movement of the measurement plate for acquiring a distance image in the Z direction.
  • FIG. 19 is an explanatory diagram of a conventional calibration method. BEST MODE FOR CARRYING OUT THE INVENTION
  • FIG. 1 shows a system configuration diagram of a three-dimensional measuring apparatus according to one embodiment of the present invention.
  • the three-dimensional measuring apparatus of the present embodiment includes a measuring plate 1 as a calibration object constituted by a plain plate, a measuring plate moving device 2 for moving the measuring plate 1 to a desired position, A measuring plate control device 3 for controlling the measuring plate moving device 2; a three-dimensional visual sensor 4 provided opposite to the measuring plate 1; and a control device for controlling the measuring plate control device 3.
  • a computer 5 for storing and processing the distance image obtained by the three-dimensional visual sensor 4 in accordance with the moving position of the measuring device 1.
  • the three-dimensional visual sensor 4 is configured to irradiate a laser beam (coded pattern light) onto the surface of the measurement plate 1, and to capture an image of light reflected from the surface of the measurement plate 1.
  • a CCD camera is provided as imaging means, and an image obtained by the CCD camera is sent to the computer 5. In this way, the distance image at each moving point is three-dimensionally visualized while moving the measuring plate 1 by a fixed amount based on the control signal from the computer 5. Acquired by sensor 4.
  • the three-dimensional visual sensor 4 outputs the distance between the three-dimensional visual sensor 4 and the measuring plate 1 by converting the information into bright and dark information such that a bright area is displayed near and a dark area is displayed far away. Then, what three-dimensional coordinates actually correspond to the value indicating the light and darkness is taught by performing the calibration.
  • FIG. 15 to 18 flowcharts shown in FIGS. 2 to 14.
  • the distance image data of the measurement plate 1 is acquired by the CCD camera of the three-dimensional vision sensor 4, and the acquired image is used as a media to remove noise due to reflection of the surface of the measurement plate 1 or the like. Correct with an unfilter (smoothing filter). Note that this median filter replaces the median value of the pixel to be measured with the median value (median value) of an area near the pixel (for example, 3 ⁇ 3). This process is repeated until the image at each position is acquired three times.
  • Distance image data is acquired in the same manner as described above by shifting the front and rear positions of the measurement plate 1 backward by a fixed pitch (for example, 0.1 mm). This data is acquired for all distance image files. (1500 times) Repeatedly write the distance image file XP 0. kmt to xp 149. 9 kmt when the X axis rotates forward. In this way, for example, all range image data during the forward rotation of the X axis in the measurement range of 75 mm to 22 mm are acquired.
  • a fixed pitch for example, 0.1 mm
  • S12 to S18 Performs the same processing as S3 to S9 described above, for example, to obtain all the range image data during the negative rotation of the X axis in the measurement range of 75 mm to 25 mm.
  • the acquired data is written to the distance image file xn O .kmt ⁇ xnl 4 9 9.kmt at the time of negative rotation of the X axis,
  • Initial setting is first performed to create a look-up table in the X direction.
  • an undefined value is set to 1 ut -X (when the X axis is positively rotated) and 1 ut -w (when the X axis is negatively rotated) indicating the X coordinate of the lookup table.
  • S29 i; 256 pixels, j; 242
  • the processing of S23 to S28 is performed for all pixels.
  • (ip-in) represents the difference between the image position at the time of the X-axis positive rotation and the image position at the time of the X-axis negative rotation. Therefore, the X coordinate of point A, which represents the same pixel value when the measurement plate 1 rotates forward and when it rotates negatively, is expressed by the following equation.
  • the X coordinate of this point A is stored in the above-mentioned memory 1ut-X [i] [j] [z] to save memory.
  • S50 Performs the above-described processing of S44 to S49 for all pixels i; 256 pixels, j; 24 pixels, completes the look-up table in the X direction, and completes the flow. finish.
  • a look-up table in the Y direction for storing the position data in the Y direction is created in accordance with each of steps T1 to T50 shown in FIGS. 7 to 11.
  • the flow for creating the ⁇ -direction look-up table is as follows.
  • the measurement plate 1 is installed with a pitch angle of ⁇ 20 ° (see step 17).
  • the distance image data in the Y-direction is acquired by using the distance image data in the Y direction, and the distance image data is acquired as the distance image data yp O.
  • Kmt to ypl 4 9 9. kmt and yn O.
  • Kmt to yn 1 4 9 9.Except for writing to kmt, This is the same as the processing in each of steps S1 to S50. Therefore, the detailed description of this flow is omitted.
  • U 1 All axes of the movement axis of the measuring plate 1 with respect to the three-dimensional visual sensor 4, in other words, the vertical rotation axis (Y axis), the horizontal rotation axis (X axis), and the front-rear movement axis (Z axis) Move each axis to the origin as a measurement reference.
  • U2 to U4 Obtain the distance image data of the measurement plate 1 by the CCD camera of the three-dimensional visual sensor 4, and correct the obtained image by a median filter (smoothing filter). This process is repeated until the image at each position is acquired three times.
  • a median filter smoothing filter
  • U7 to U8 Obtain distance image data in the same manner as above by shifting the front and rear position of the measurement plate 1 backward by a fixed pitch (for example, 0.1 mm). Acquire this data for all distance image files. (100 times) Repeatedly write to the Z-axis range image file zO.kmt to z99.kmt. Thus, for example, 100 mn! Acquire all the Z-axis range image data within the measurement range of ⁇ 200 mm.
  • a fixed pitch for example, 0.1 mm
  • U 9 Initial settings are made to create a Z-direction look-up table. In this initial setting, an undefined value is set to 1 ut-z indicating the Z coordinate of the lookup table.
  • U10 to U11 Read the pixel position z0.kmt of the z-axis range image file created as described above.
  • U12 to U15 Perform processing to eliminate noise in the range image data obtained in the same manner as steps S23 to S26 in FIGS. That is, first, each pixel of i and j (i: 256 pixels, j; 242 pixels) is compared with the immediately preceding image data, and the pixel is within 50 mm from the head, and If the difference between the pixels is greater than 128, the value of 1 ut-z for that pixel is made indefinite to invalidate this data.
  • U18 i; 256 pixels and j; 242 pixels U11 to U17 are processed for all pixels.
  • U26 Performs the processing of U22 to U25 described above for all pixels i; 256 and j; 242 pixels, completes the Z-direction look-up table and ends the flow I do.
  • a correspondence table (lookup table) between the brightness information of each pixel and the three-dimensional coordinate value is created using a plain plate, and the conventional grid lines are formed by image processing. Significantly higher accuracy can be achieved compared to what is extracted.
  • the correction when the distance image is processed, the correction is performed using the median value.
  • the correction may be performed using the average value instead of the median value. It is also possible to combine these corrections with the median value and the correction with the average value, such that the first correction is performed with the median value and the second correction is performed with the average value. It is possible.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Analysis (AREA)

Abstract

L'invention a trait à une technique d'étalonnage susceptible d'accroître la précision du fait de l'élimination d'une erreur due à un processus de binarisation. Lorsqu'une plaque de mesure (1) servant d'objet d'étalonnage est soumise à une révolution en lacet, à une révolution à pas et à un déplacement longitudinal par rapport à un détecteur visuel tridimensionnel (4), ce dernier acquiert une carte de profondeur à chaque point de mouvement. Cette carte de profondeur est alors traitée afin d'obtenir une valeur de coordonnées tridimensionnelles de chaque pixel pour chaque carte de profondeur, laquelle valeur permet alors d'obtenir une valeur d'étalonnage.
PCT/JP1997/002752 1996-08-07 1997-08-06 Technique d'etalonnage WO1998005922A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP8/208225 1996-08-07
JP20822596A JP3453734B2 (ja) 1996-08-07 1996-08-07 キャリブレーション方法

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WO1998005922A1 true WO1998005922A1 (fr) 1998-02-12

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2368740A (en) * 2000-04-11 2002-05-08 Roke Manor Research Self-calibration of sensors
EP2096460A3 (fr) * 2008-02-28 2011-06-22 Aisin Seiki Kabushiki Kaisha Dispositif d'étalonnage et procédé d'étalonnage pour capteur d'image de plage
CN104154875A (zh) * 2014-08-20 2014-11-19 深圳大学 基于两轴旋转平台的三维数据获取***及获取方法
US9995820B2 (en) 2014-05-08 2018-06-12 Sick Ag Distance-measuring sensor and method for detecting and determining the distance of objects
WO2019216297A1 (fr) * 2018-05-09 2019-11-14 日本電気株式会社 Dispositif d'étalonnage et procédé d'étalonnage
CN111798522A (zh) * 2020-05-20 2020-10-20 惠州市德赛西威汽车电子股份有限公司 一种测试样机的平面位置自动校验方法、***及设备
CN117109647A (zh) * 2023-08-25 2023-11-24 上海大学 一种动态视觉传感器性能测试装置及测试方法

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US6407656B1 (en) 1999-08-18 2002-06-18 Autonetworks Technologies, Ltd. Breaker device
TW561241B (en) 2002-08-22 2003-11-11 Ind Tech Res Inst Method and apparatus for calibrating laser three-dimensional digitizing sensor
JP4885584B2 (ja) * 2006-03-23 2012-02-29 株式会社スペースビジョン レンジファインダ校正方法及び装置
JP2010048553A (ja) * 2006-12-19 2010-03-04 Panasonic Corp 複眼測距装置の検査方法およびそれに用いるチャート
JP4943270B2 (ja) * 2007-08-09 2012-05-30 富士フイルム株式会社 三次元座標系の設定方法および装置
JP5228614B2 (ja) * 2008-05-15 2013-07-03 株式会社豊田中央研究所 パラメータ計算装置、パラメータ計算システムおよびプログラム
KR101626072B1 (ko) 2009-11-13 2016-06-13 삼성전자주식회사 영상 보정 장치 및 영상 보정 방법
CN103604367B (zh) * 2013-11-14 2016-10-12 上海交通大学 一种用于激光三角测量***的校准装置和方法
CN111207685A (zh) * 2020-01-14 2020-05-29 华中科技大学鄂州工业技术研究院 一种用于结构光深度测量的全自动标定***

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JPH05248819A (ja) * 1992-03-06 1993-09-28 Kobe Steel Ltd カメラによる測定対象物の三次元位置測定のための較正対象データの較正方法及び三次元位置測定方法
JPH0835828A (ja) * 1994-07-25 1996-02-06 Kobe Steel Ltd ３次元計測装置のキャリブレーション方法

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JPH01207393A (ja) * 1987-10-02 1989-08-21 Exxon Chem Patents Inc 内燃エンジン用の改良された潤滑油組成物
JPH05248819A (ja) * 1992-03-06 1993-09-28 Kobe Steel Ltd カメラによる測定対象物の三次元位置測定のための較正対象データの較正方法及び三次元位置測定方法
JPH0835828A (ja) * 1994-07-25 1996-02-06 Kobe Steel Ltd ３次元計測装置のキャリブレーション方法

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2368740A (en) * 2000-04-11 2002-05-08 Roke Manor Research Self-calibration of sensors
GB2368740B (en) * 2000-04-11 2005-01-12 Roke Manor Research Method of self-calibration of sensors
EP2096460A3 (fr) * 2008-02-28 2011-06-22 Aisin Seiki Kabushiki Kaisha Dispositif d'étalonnage et procédé d'étalonnage pour capteur d'image de plage
US9995820B2 (en) 2014-05-08 2018-06-12 Sick Ag Distance-measuring sensor and method for detecting and determining the distance of objects
CN104154875A (zh) * 2014-08-20 2014-11-19 深圳大学 基于两轴旋转平台的三维数据获取***及获取方法
WO2019216297A1 (fr) * 2018-05-09 2019-11-14 日本電気株式会社 Dispositif d'étalonnage et procédé d'étalonnage
JPWO2019216297A1 (ja) * 2018-05-09 2021-04-22 日本電気株式会社 較正装置および較正方法
CN111798522A (zh) * 2020-05-20 2020-10-20 惠州市德赛西威汽车电子股份有限公司 一种测试样机的平面位置自动校验方法、***及设备
CN117109647A (zh) * 2023-08-25 2023-11-24 上海大学 一种动态视觉传感器性能测试装置及测试方法
CN117109647B (zh) * 2023-08-25 2024-02-20 上海大学 一种动态视觉传感器性能测试装置及测试方法

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JP3453734B2 (ja) 2003-10-06

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