WO2017101150A1 - 结构光三维扫描***的标定方法及装置 - Google Patents
结构光三维扫描***的标定方法及装置 Download PDFInfo
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- WO2017101150A1 WO2017101150A1 PCT/CN2015/098936 CN2015098936W WO2017101150A1 WO 2017101150 A1 WO2017101150 A1 WO 2017101150A1 CN 2015098936 W CN2015098936 W CN 2015098936W WO 2017101150 A1 WO2017101150 A1 WO 2017101150A1
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- the invention relates to the technical field of three-dimensional scanning system calibration, in particular to a calibration method and device for a structured light three-dimensional scanning system.
- structured light 3D scanning system based on projector and camera architecture is the most extensive non-contact 3D measurement method.
- a specific coding optical pattern is projected by a projector, and a projected image is acquired by a camera.
- the image decoding method is used to acquire the projection feature, and then the matching relationship between the projector and the camera is established, and the three-dimensional reconstruction process is realized.
- the first key issue involved is the calibration problem of stereo vision system, namely how to obtain the internal parameters and external parameters of the projector, camera, and then, by this parameter Establish a triangulation function to calculate the three-dimensional coordinates.
- the first one is calibration using a three-dimensional calibration object, which has accurate known three-dimensional information, but the disadvantage of this method is that the three-dimensional calibration material needs special fabrication and high precision. Therefore, the application is less; the second method is to use the calibration checkerboard to mark the corners of the checkerboard.
- the method includes: first, calibrating the camera, and then projecting a number of projectors according to the calibration result of the camera.
- the basic strategy of the calibration method of structured light 3D scanning system based on checkerboard is to use the accurately printed checkerboard image and paste it on the surface of a standard plane object. First, put the checkerboard at a certain position and shoot the checkerboard by the camera. Image, extracting the corner information by the corner detection algorithm, and then projecting a checkerboard image by the projector, and then detecting the corner information of the projected checkerboard by the corner detection algorithm; then changing the posture of the checkerboard calibration object or The distance, so many times, is obtained to obtain enough calibration image information (usually 15 pairs of images with different poses or positions).
- the calibration process is first performed on the camera based on the printed checkerboard image, and then Estimating the spatial plane three-dimensional information of the checkerboard, and then calculating the three-dimensional information of the projected checkerboard corner point on the spatial plane, and using the known corner point information of the projected checkerboard plane on the projector plane, the projector can be completed. Calibration, as well as an estimate of the external parameters of the camera and projector.
- the Chinese patent application No. CN201410164584 discloses a high-precision projector-camera calibration system and calibration method.
- the main method of the invention is: using a camera calibration method to calibrate the camera to obtain parameters in the camera;
- the white pattern is superimposed with the pattern of the calibration plate to capture the image of the calibration area;
- the corner coordinates in the calibration area image are extracted by correcting the image distortion by using the parameters in the camera; and the correspondence between the camera image plane and the calibration plate plane is estimated according to the correspondence relationship of the corner points.
- the homography matrix sequentially project different specific checkerboard patterns to the calibration plate and respectively superimpose the patterns of the calibration plate to respectively capture the calibration area image; extract the corner coordinate on the calibration plate plane after the image is differentiated and filtered by the calibration area; After taking the average of the corner coordinates, apply the homography matrix to map the corner points to the calibration plate plane; repeat the above steps according to the acquisition of the corner points, and calibrate the projector by the camera calibration method.
- This calibration method has been widely used and studied in the industry and will not be described here.
- the main problems in the calibration method of structured light 3D scanning system based on checkerboard include: 1) The checkerboard needs accurate printing and production to ensure accurate size, and the detection error of the checkerboard corner detection process itself will also be The final calibration result has an effect; 2) the plane that pastes the checkerboard requires a higher degree of flatness, because this calibration method is based on the plane hypothesis; 3) the number of corner points contained in the checkerboard is limited, The coverage is difficult to cover the entire projection range and camera shooting range. The image area without corners is difficult to estimate. 4) The existing calibration method is based on the minimum remapping error of the corner point on the plane.
- the existing calibration methods mainly include: 1) There are many problems in the calibration process that need attention, such as the production of the calibration plate, the position of the calibration process, the number of calibration images, etc. If the experience is insufficient, It is easy to get poor calibration parameters; 2) calibration parameter optimization is based on the detection of the minimum coordinate error of the mapped 2D image from the corner point to the calibration plane, while the actual measurement is based on the three-dimensional scale such as the three-dimensional coordinate distance. Therefore, the calibration optimization error is difficult to reflect the actual calibration parameters. Therefore, the existing calibration method is used to calibrate the structured light three-dimensional scanning system, and the calibration result is not accurate.
- Embodiments of the present invention provide a calibration method for a structured light three-dimensional scanning system for improving the accuracy of calibration results, and the method includes:
- the calibration plane is scanned to obtain three-dimensional point cloud data of the calibration plane; the calibration plane is provided with a plurality of uniformly distributed marker points;
- the first indicator is: calculating according to the three-dimensional point cloud data corresponding to the marked point Obtaining an average of a distance between two points of each of the adjacent points and an actual distance between the two points
- the second indicator is: calculating according to the three-dimensional point cloud data corresponding to the points An average value of the angle between the angle between the two straight lines formed by connecting each of the marked points and its adjacent two marked points and the actual angle between the two straight lines
- the third index The difference between the calculated flatness of the calibration plane and the actual flatness of the calibration plane is calculated according to the three-dimensional point cloud data of the calibration plane.
- the embodiment of the invention further provides a calibration device for a structured light three-dimensional scanning system for improving the accuracy of the calibration result, the device comprising:
- a three-dimensional point cloud data acquiring module configured to scan the calibration plane according to the initial calibration parameter to obtain three-dimensional point cloud data of the calibration plane; and the calibration plane is provided with a plurality of uniformly distributed marking points;
- An optimal calibration parameter calculation module is configured to find an optimal calibration parameter of the structured light three-dimensional scanning system according to the relationship between the first indicator, the second indicator, and the third indicator and the calibration parameter;
- the first indicator is: according to the label The corresponding three-dimensional point cloud data, the calculated average value of the distance between two adjacent marked points and the actual distance difference between the two marked points;
- the second indicator is: according to the marking The corresponding three-dimensional point cloud data, the calculated angle between the angle between the two points formed by connecting each marked point and its two adjacent points, and the actual angle difference between the two straight lines
- the third index is: a difference between the calculated flatness of the calibration plane and the actual flatness of the calibration plane according to the three-dimensional point cloud data of the calibration plane.
- the technical solution provided by the embodiment of the present invention has at least the following beneficial technical effects:
- the technical solution of the present invention does not need to obtain sufficient calibration image information as in the prior art, and only needs to obtain initial calibration parameters. Based on the initial calibration parameters, according to the first indicator, the second indicator, and the first The relationship between the three indicators and the calibration parameters can be found to find the optimal calibration parameters of the structured light three-dimensional scanning system, so that the technical solution of the invention is not only efficient and simple, but also accurate and reliable.
- a calibration plane a plurality of uniformly distributed marker points are arranged on the calibration plane, and the calibration plane is subjected to a one-time complete scan using the initial calibration parameters to obtain three-dimensional point cloud data on the calibration plane; Find the 3D point cloud data corresponding to each marker point in the 3D point cloud data; then, according to the first indicator, The relationship between the second indicator and the third indicator and the calibration parameter finds the optimal calibration parameter of the structured light three-dimensional scanning system.
- the first indicator and the second indicator are obtained according to the three-dimensional point cloud data corresponding to the marker point, and the third indicator is also based on The three-dimensional point cloud data of the calibration plane is calculated, that is, the process of finding the optimal calibration parameters is performed in three-dimensional space, which can improve the accuracy of the calibration result; in addition, the most accurate three-dimensional scanning system for structural light is sought.
- the optimal calibration parameters take into account the following three indicators: the first indicator: the average of the difference between the distance between two points and the actual distance between the two points; the second indicator: each point The angle between the angle between the two straight lines formed by the two adjacent points connected to it and the actual angle difference between the two straight lines; and the third index: the flatness of the calibration plane The difference in the actual flatness of the calibration plane ensures that the optimal system calibration parameters are obtained.
- the technical solution provided by the embodiment of the present invention improves the accuracy of the calibration result, thereby improving the three-dimensional measurement accuracy and reliability of the structured light three-dimensional scanning system.
- FIG. 1 is a schematic flow chart of a calibration method of a structured light three-dimensional scanning system according to an embodiment of the present invention
- Figure 2 is a schematic illustration of a calibration plane used in an embodiment of the present invention.
- FIG. 3 is a schematic structural view of a calibration device for a structured light three-dimensional scanning system according to an embodiment of the present invention.
- the present invention proposes a calibration method for a structured light three-dimensional scanning system, and the optimization target used is a standard plane (such as a glass whiteboard), and a plurality of marking points are marked in advance on the plane, and the marking is performed. The size between the points is accurately printed.
- the three-dimensional point cloud data is obtained through the initial calibration parameters, and the relationship between the first index, the second index and the third index and the calibration parameters is obtained.
- the optimal calibration parameters of the structured light 3D scanning system are found.
- the whole process is simple and easy.
- the obtained optimal calibration parameters can ensure the improvement of the measurement accuracy of the whole scanning system.
- the result is stable and reliable, and the accuracy of the initial calibration parameters.
- the requirements are not high and can be widely applied to the existing structural light system calibration process to improve the accuracy and stability of the calibration results. The details will be described below.
- FIG. 1 is a schematic flow chart of a calibration method of a structured light three-dimensional scanning system according to an embodiment of the present invention; as shown in FIG. 1, the method includes the following steps:
- Step 101 Scan the calibration plane according to the initial calibration parameter to obtain three-dimensional point cloud data of the calibration plane; and set a plurality of uniformly distributed marker points on the calibration plane;
- Step 102 Find an optimal calibration parameter of the structured light three-dimensional scanning system according to the relationship between the first indicator, the second indicator, and the third indicator and the calibration parameter;
- the first indicator is: a three-dimensional point cloud corresponding to the marked point Data, the calculated average value of the distance between two adjacent points of each adjacent point and the actual distance between the two points;
- the second indicator is: a three-dimensional point cloud corresponding to the point Data, an average value of the angle between the angle between the calculated two points and the two lines formed by the adjacent two points, and the actual angle difference between the two lines;
- the third indicator is: a difference between the calculated flatness of the calibration plane and the actual flatness of the calibration plane according to the three-dimensional point cloud data of the calibration plane.
- an initial calibration parameter of the structured light three-dimensional scanning system is obtained, which can be implemented by the following steps:
- M image coordinates, M-three-dimensional coordinates, (M is relative to the camera, Mp relative to the projector);
- Mc (p) [X c(p) , Y c(p) , Z c(p) ] T to represent the three-dimensional coordinates of a point on the object, where subscript c(p), c represents Relative to the camera (camera) coordinate system, p represents the relative to the projector coordinate system.
- K is the internal parameter matrix of the camera/projector, ie:
- f c(p) x, f c(p) y which represents the pixel scale factor in the xy direction
- r represents the angular distortion factor of the pixel plane XY axis
- c c(p) x, c c(p) y which represents the center point of the image coordinate.
- the above formula describes the model and parameters of the camera-projector in the basic structured light system.
- the position of the three-dimensional space point can be obtained by using the trigonometric principle for the corresponding point to be found:
- equation (5) we can calculate its X, Y coordinates.
- a complete scan of the calibration plane is completed.
- the three-dimensional point cloud data of the calibration plane can be acquired; the image coordinates of all the markers in FIG. 2 are detected from the scanned image, and found in the three-dimensional scan data.
- the initial calibration parameter is taken as the initial value of the global optimization function, and the upper and lower limit range thresholds of the relevant calibration parameters are given, and the global optimization function is executed until the error index is minimized by one or any combination of all the error indicators, so that the optimal calibration parameter can be obtained.
- the optimal calibration parameter of the structured light three-dimensional scanning system is found, and the global optimization function may be established by using the above-mentioned method.
- the method is obtained, for example:
- the technical solution provided by the embodiment of the present invention does not need to obtain sufficient calibration image information as in the prior art, and only needs to obtain initial calibration parameters, and based on the initial calibration parameters, according to the established global optimization function. Further calibration parameter optimization, find one of the three indicators or the combination of the minimum calibration parameters as the optimal calibration parameters, so that the technical solution of the present invention is not only efficient and simple, but also accurate and reliable.
- the foregoing “using the initial calibration parameter as an initial value of the global optimization function, and iteratively finding an optimal calibration parameter” may include:
- the advantages of the upper and lower limits of the set optimization calibration parameter range are: it can effectively avoid the optimization to enter the local minimum and improve the operation efficiency.
- the calibration plane may be constructed in various manners.
- the calibration plane may include: a planar object and a surface object that is adhered to the planar object and satisfies the scanning range of the structured light three-dimensional scanning system.
- White paper the white paper is provided with a plurality of evenly distributed marking points.
- the manufacturing process may be: designing a white grid point image according to the scanning range of the structured light system to be calibrated, and printing and pasting on the plane object, the main purpose of which is to mark the white surface.
- the calibration plane can also be a specially made glass whiteboard provided with a plurality of evenly distributed marking points.
- the shape of the marking point may be a circle.
- the advantage that the shape of the marker point can be a circle is: when calculating the above three indicators, taking the distance between the two marker points as an example, the distance between the center points of the two marker points needs to be calculated. In the same way, when calculating the other two indicators, it is also calculated based on the center point.
- the center point of the circle is the center of the circle, and the inside of the three-dimensional space is the center of the circle, which is convenient for finding the center point.
- other shapes of marking points can also be selected, as long as it is convenient to accurately calculate three indicators.
- the calibration parameters mentioned in the embodiments of the present invention may include internal parameters of the camera and the camera and all external parameters in the structured light three-dimensional scanning system.
- the global optimization function in the embodiment of the present invention includes all the internal parameters of the camera and the projector, and 12 external parameters (9 rotation matrices, 3 translation vectors), and the optimization objective function minimization criterion includes three indicators. The following three indicators are described in detail:
- the specific calculation process of flatness can be: due to the huge number of reconstructed point clouds, up to several million, in order to improve the running speed of the optimization function, the specific implementation can be calculated according to the three-dimensional point cloud data uniformly sampled from the calibration plane.
- the difference between the obtained flatness of the calibration plane and the actual flatness of the calibration plane may be: random sampling or uniform sampling of the point cloud to obtain sparse point cloud data, and least squares the point cloud data. Plane fitting, obtaining the flatness error E1 of the calibration plane;
- the specific calculation process can be: since the size of the marked points on the calibration plane is precisely known (the dimensional data designed when the calibration plane is made), we calculate the distance error between all the marked points, take the average, and calculate The error between the distance value and the true distance value E2;
- the difference between the cosine value of the angle (calculated according to the three-dimensional point cloud data) and the standard angle (the actual angle of the angle, such as 90 degrees) can be used as the angle error value:
- E3 ⁇
- ⁇ satisfy: E d ⁇ E p ⁇ E a ;
- E d is the first index (size error): the distance between two marked points per phase and the two marked points The average value of the actual distance difference between the two;
- E a is the second index (angle error): according to the three-dimensional point cloud data corresponding to the marked point, each calculated point is connected with two adjacent points of the mark The average angle difference between the angle between the two straight lines and the actual angle between the two straight lines;
- E p is the third index (flatness error): calculated according to the 3D point cloud data of the calibration plane The difference between the obtained flatness of the calibration plane and the actual flatness of the calibration plane.
- the global optimization function (8) is a typical nonlinear, multi-objective optimization problem, which can be performed by using existing optimization tools (for example, MATLAB tools). Optimize and finally obtain the optimal calibration parameters that meet the three optimization criteria (three indicators).
- three indicators we comprehensively consider three indicators, specific implementation, or select individual or arbitrary indicators for optimization according to actual needs.
- the technical solution provided by the implementation of the present invention does not need to obtain sufficient calibration image information as in the prior art, and only needs to obtain initial calibration parameters, and based on the initial calibration parameters, according to the established global optimization.
- the function performs further calibration parameter optimization, and finds the calibration parameter corresponding to one or more of the three indicators as the optimal calibration parameter, so that the technical solution of the invention is not only efficient and simple, but also accurate and reliable;
- the technical solution provided by the implementation of the invention provides a calibration plane by setting a plurality of uniformly distributed marking points on the calibration plane, and performing a one-time complete scanning on the calibration plane by using initial calibration parameters to obtain all points on the calibration plane.
- 3D point cloud data then, the 3D point cloud data corresponding to each marker point is found in the 3D point cloud data; then, a global optimization function is established, the initial calibration parameter is the initial value of the global optimization function, and the iterative calculation finds three indicators.
- One or more minimum time corresponding calibration parameters are used as the optimal calibration parameters.
- the calculation of the three indicators is based on the three-dimensional point cloud data of all points on the calibration plane and the three-dimensional point cloud data corresponding to each marked point, that is, the process of optimizing the calibration parameters is performed in three-dimensional space, so that Improve the accuracy of the calibration results;
- the objective function of the global optimization function includes one or any combination of the following three key geometric attribute indicators: the flatness of the calibration plane, the distance between each two adjacent points and the location The difference between the actual distance between the two marked points, the angle between the two straight lines formed by the connection of each marked point and its adjacent two marked points, and the actual angle between the two straight lines Differences, this ensures that the optimal system calibration parameters are obtained.
- the technical solution provided by the embodiment of the present invention improves the accuracy of the calibration result, thereby improving the three-dimensional measurement accuracy and reliability of the structured light three-dimensional scanning system.
- an embodiment of the present invention further provides a calibration device for a structured light three-dimensional scanning system, such as the following embodiment. Since the principle of solving the problem of the calibration device of the structured light three-dimensional scanning system is similar to the calibration method of the structured light three-dimensional scanning system, the implementation of the calibration device of the structured light three-dimensional scanning system can be referred to the implementation of the calibration method of the structured light three-dimensional scanning system, and repeated I won't go into details here.
- the terms "unit”, “device” or “module” may implement a combination of software and/or hardware of a predetermined function.
- the apparatus described in the following embodiments may be implemented in software, hardware, or a combination of software and hardware, and is also possible and conceivable.
- FIG. 3 is a schematic structural diagram of a calibration apparatus for a structured light three-dimensional scanning system according to an embodiment of the present invention. As shown in FIG. 3, the apparatus includes:
- the three-dimensional point cloud data acquiring module 10 is configured to scan the calibration plane according to the initial calibration parameter to obtain three-dimensional point cloud data of the calibration plane; and the calibration plane is provided with a plurality of uniformly distributed marker points;
- the optimal calibration parameter calculation module 20 is configured to find an optimal calibration parameter of the structured light three-dimensional scanning system according to the relationship between the first indicator, the second indicator, and the third indicator and the calibration parameter;
- the first indicator is: according to the The three-dimensional point cloud data corresponding to the marked point, the calculated average value of the distance between two adjacent marked points and the actual distance between the two marked points;
- the second indicator is: according to the The three-dimensional point cloud data corresponding to the marked point, the calculated angle between the angle between each of the marked points and the two straight lines formed by the adjacent two marked points and the actual angle between the two straight lines
- the average value of the difference is: the difference between the calculated flatness of the calibration plane and the actual flatness of the calibration plane according to the three-dimensional point cloud data of the calibration plane.
- the optimal calibration parameter calculation module is specifically configured to:
- a global parameter optimization algorithm is proposed. Based on the given calibration plane and marker parameters, a global optimization function including three objective functions of flatness, size and angle is established. Optimization of all parameters.
- the optimization method of the present invention is performed in the measured three-dimensional space, and the optimization parameters include all system parameters to ensure that the optimal system calibration parameters can be obtained. Minimize system measurement errors.
- modules, devices or steps of the embodiments of the invention described above may be implemented by a general-purpose computing device, which may be centralized on a single computing device or distributed across multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device such that they may be stored in the storage device by the computing device and, in some cases, may be different.
- the steps shown or described herein are performed sequentially, or they are separately fabricated into individual integrated circuit modules, or a plurality of modules or steps thereof are fabricated as a single integrated circuit module.
- embodiments of the invention are not limited to any specific combination of hardware and software.
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Claims (10)
- 一种结构光三维扫描***的标定方法,其特征在于,包括:根据初始标定参数,对标定平面扫描,得到标定平面的三维点云数据;所述标定平面上设置有多个均匀分布的标记点;根据第一指标、第二指标和第三指标与标定参数的关系,找到结构光三维扫描***的最优标定参数;所述第一指标为:根据所述标记点对应的三维点云数据,计算得到的每相临两个标记点之间的距离与所述两个标记点之间的实际距离差异的平均值;所述第二指标为:根据所述标记点对应的三维点云数据,计算得到的每个标记点和它相临的两个标记点连接形成的两条直线之间的夹角角度与所述两条直线之间的实际夹角角度差异的平均值;所述第三指标为:根据标定平面的三维点云数据,计算得到的标定平面的平面度与所述标定平面的实际平面度的差异。
- 如权利要求1所述的结构光三维扫描***的标定方法,其特征在于,根据第一指标、第二指标和第三指标与标定参数的关系,找到结构光三维扫描***的最优标定参数,包括:建立所述第一指标、第二指标和第三指标与标定参数的全局优化函数;以所述初始标定参数为所述全局优化函数的初始值,迭代找到最优标定参数,对于每个迭代周期均执行以下操作:根据所述标记点对应的三维点云数据,计算所述第一指标和第二指标;根据标定平面的三维点云数据,计算所述第三指标;直到找到第一指标、第二指标和第三指标中一个或多个最小时对应的标定参数,作为结构光三维扫描***的最优标定参数。
- 如权利要求2所述的结构光三维扫描***的标定方法,其特征在于,以所述初始标定参数为所述全局优化函数的初始值,迭代找到最优标定参数,包括:以所述初始标定参数为全局优化函数的初始值,设定标定参数的范围阈值,迭代找到最优标定参数。
- 如权利要求1至3任一权利要求所述的结构光三维扫描***的标定方法,其特征在于,所述标记点的形状为圆形。
- 如权利要求1至3任一权利要求所述的结构光三维扫描***的标定方法,其特征在于,所述标定平面包括:平面物体以及粘贴在平面物体上的、满足结构光三维扫描***扫描范围的白纸;所述白纸上设置有多个均匀分布的标记点。
- 如权利要求1至3任一权利要求所述的结构光三维扫描***的标定方法,其特征在于,所述标定参数包括:结构光三维扫描***中相机和摄影机的内部参数和外部参数。
- 如权利要求1至3任一权利要求所述的结构光三维扫描***的标定方法,其特征在于,所述第三指标具体为:根据从标定平面上均匀采样的三维点云数据,计算得到的标定平面的平面度与所述标定平面的实际平面度的差异。
- 如权利要求2至3任一权利要求所述的结构光三维扫描***的标定方法,其特征在于,所述全局优化函数为:min Fobj(parasSLS)s.t.;
- 一种结构光三维扫描***的标定装置,其特征在于,包括:三维点云数据获取模块,用于根据初始标定参数,对标定平面扫描,得到标定平面的三维点云数据;所述标定平面上设置有多个均匀分布的标记点;最优标定参数计算模块,用于根据第一指标、第二指标和第三指标与标定参数的关系,找到结构光三维扫描***的最优标定参数;所述第一指标为:根据所述标记点对应的三维点云数据,计算得到的每相临两个标记点之间的距离与所述两个标记点之间的实际距离差异的平均值;所述第二指标为:根据所述标记点对应的三维点云数据,计算得到的每个标记点和它相临的两个标记点连接形成的两条直线之间的夹角角度与所述两条直线之间的实际夹角角度差异的平均值;所述第三指标为:根据标定平面的三维点云数据,计算得到的标定平面的平面度与所述标定平面的实际平面度的差异。
- 如权利要求9所述的结构光三维扫描***的标定装置,其特征在于,所述最优标定参数计算模块具体用于:建立所述第一指标、第二指标和第三指标与标定参数的全局优化函数;以所述初始标定参数为所述全局优化函数的初始值,迭代找到最优标定参数,对于每个迭代周期均执行以下操作:根据所述标记点对应的三维点云数据,计算所述第一指标和第二指标;根据标定平面的三维点云数据,计算所述第三指标;直到找到第一指标、第二指标和第三指标中一个或多个最小时对应的标定参数,作为结构光三维扫描***的最优标定参数。
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