CN115235379A - Monocular line laser three-dimensional vision sensor parameter in-situ calibration device and method - Google Patents
Monocular line laser three-dimensional vision sensor parameter in-situ calibration device and method Download PDFInfo
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Abstract
The invention discloses a monocular line laser three-dimensional vision sensor parameter in-place calibration device and a method, the method outputs opening line laser projection line laser by controlling a monocular line laser measuring sensor, adjusts the position of the in-place calibration device to enable the line laser to coincide with an identification line, keeps the relative position of the monocular line laser measuring sensor and the in-place calibration device fixed, closes the line laser to open a camera to shoot an image, and calculates the coordinate value of the center of a standard circle under an image coordinate system through image processing; and establishing a function mapping relation between the image coordinate system and the world coordinate system by using the homography matrix, and solving the homography matrix with 8 degrees of freedom through at least 4 groups of corresponding points of the world coordinate system and the image coordinate system, so that the on-site calibration of the parameters of the monocular laser measurement sensor based on the Simm theorem can be completed. The method is simple to operate, has stronger environmental adaptability, and is particularly suitable for the on-site calibration of the parameters of the monocular laser measurement sensor based on the Simmer theorem in the industrial field.
Description
Technical Field
The invention relates to a monocular line laser three-dimensional vision sensor parameter in-situ calibration device and method, belonging to the technical field of optical measurement and mechanical engineering.
Background
The monocular line laser three-dimensional vision sensor mainly comprises a line laser projector and a single industrial camera, and has remarkable advantages of simple structure, low cost, short measurement time, strong robustness and the like, so that the monocular line laser three-dimensional vision sensor has extremely wide application in the industrial field, such as: the welding line visual tracking system, the welding quality detection system, the white body clearance plane difference measurement, the reverse engineering and the like.
The parameter calibration precision of the monocular line laser three-dimensional vision sensor directly influences the measurement precision of the monocular line laser three-dimensional vision sensor, and the traditional monocular line laser three-dimensional vision sensor calibration parameters mainly comprise two parts of camera internal parameter calibration and light plane parameter calibration. In the prior art, f.zhou, g.zhang in the paper of Complete calibration of a structured light Vision sensor through plane target of unknown orientation (Image and Vision Computing,2005,23 (1): 59-67) proposed a monocular laser Vision sensor parameter calibration method based on a free moving plane target, which needs to take a picture of a plane calibration plate with clear focusing through a camera, and the harsh environment of an industrial field is difficult to meet the above requirements. The patent CN102980528 of Shanghai transportation university discloses a non-attitude-orientation-constraint-line laser monocular vision three-dimensional measurement sensor, which solves the ambiguity problem of line and column identification existing in a checkerboard target by adopting an intersection invariance principle, and the method also has the problem that a focused clear picture is difficult to obtain in the calibration process of an industrial field camera. Various Camera Calibration models based on the Scheimpflug principle are reviewed by Cong Sun in Review of Calibration Methods for Scheimpflug Camera (Journal of Sensors,2018, -3-27, 1-15), and no Calibration device and method suitable for severe environments in industrial fields are found.
Therefore, it is necessary to develop a device for calibrating parameters of a monocular line laser measurement sensor in place based on the samm theorem, and research a method for implementing the device to ensure the efficiency, stability and precision of the monocular line laser measurement sensor in place calibration based on the samm theorem in the severe environment of an industrial field.
Disclosure of Invention
Aiming at the defects in the existing system and method, the invention aims to provide a monocular line laser measurement sensor parameter in-situ calibration device based on the Simm theorem and an implementation method thereof.
The invention provides a monocular line laser measurement sensor parameter in-situ calibration device based on the Simm theorem, which comprises: the on-site calibration device adopts a symmetrical step surface structure, two standard circles are processed on each step surface, and the centers of the standard circles are coplanar; and marking lines are processed on two sides of each standard circle, the marking lines are intersecting lines of surfaces passing through all centers of circles and step surfaces, and a marking point is processed on the top surface in the middle of the symmetrical step surface structure and used for marking the + X-axis direction of the on-site calibration tool coordinate system.
Preferably, the dimensional accuracy of the step surface of the symmetrical step surface structure is controlled within 0.01mm, the roundness of the standard circle is controlled within 0.005, and the flatness of the center of the standard circle is controlled within 0.005.
The invention discloses a method for realizing monocular line laser measurement sensor parameter in-situ calibration based on the Simm theorem, which comprises the following steps:
step S1: measuring the position of each circle center under a high-precision calibration special tool coordinate system by utilizing three coordinates, wherein the origin of the calibration tool coordinate system (hereinafter, referred to as a world coordinate system) is the midpoint of the circle centers of two standard circles on the top surface, the X axis is parallel to a top surface marking line, the + X axis points to a marking point, sequencing is carried out according to the X component of the circle center coordinate, the circle center coordinate of the ith standard circle is recorded as W i The Y axis is a normal vector of the top surface, and the direction is perpendicular to the top surface and faces outwards;
step S2: opening a laser in the monocular line laser measuring sensor, and adjusting the relative position of the high-precision calibration special tool and the monocular line laser measuring sensor to enable a light plane formed by the laser to pass through all marking lines;
and step S3: keeping the relative position of the monocular line laser measuring sensor and the high-precision calibration special tool unchanged, closing the laser, opening an industrial camera in the monocular line laser measuring sensor and taking a picture;
and step S4: extracting coordinate values of the centers of the standard circles in the shot pictures under the image coordinate system, corresponding to the sequence of the centers of the circles under the calibration tooling coordinate system, and recording the center of the ith standard circle under the image coordinate systemIs C i ；
Step S5: using the coordinate value W of the standard circle in the world coordinate system i Coordinate value C of corresponding image coordinate system i And solving a homography matrix H, wherein the homography matrix H comprises all parameters needing to be calibrated of the monocular laser measuring sensor.
Preferably, in the step S1, centers of the standard circles are all on one plane, and as described in the step S1, a world coordinate system is established, where the center of the standard circle is located on an OXY plane of the world coordinate system, and Z values of coordinates of the centers of the standard circles are all 0;
preferably, in the step S5, the coordinate value W is determined from the coordinate value W in the world coordinate system i Coordinate value C of corresponding image coordinate system i Solving the homography matrix H, which is specifically realized as follows:
s5.1, because the world coordinate system and the corresponding image coordinate system both belong to a plane coordinate system, the homography matrix can be used for describing the coordinate transformation between the two coordinate systems, and the method specifically comprises the following steps:
W∝H*C
wherein W represents a coordinate value under the world coordinate system, C represents a coordinate value under the image coordinate system, H represents a homography matrix to be solved, and oc represents that a fixed proportional relation exists.
As the center coordinates of the standard circle are positioned on the XY plane, the world coordinate system belongs to the plane coordinate system, and the W matrix composed of n center points is expressed as follows:
a matrix C composed of coordinate values under the corresponding image coordinates is expressed as:
the homography matrix H is represented as:
step S5.2, coordinate point w under world coordinate system i Coordinate point c in the image coordinate system i And the transformation relation between the two is expressed by a homography matrix as follows:
w i ∝H*c i
where H is represented as a homography matrix.
Is unfolded to obtain
Because of w i And c i Is homogeneous coordinates, so the homography matrix H is independent of scale, so the degree of freedom of the homography matrix is 8, H is used 9 =1 the homography matrix is normalized.
Therefore, H has 8 unknowns and requires 8 equations to solve.
A pair of points in the world coordinate system and the image coordinate system provide 2 constraint equations, which are expanded as follows:
writing the above equation as an expression form of a linear system of equations, the constraint equations provided for 1 set of corresponding points are expressed as:
s5.3, theoretically providing 8 constraint equations for 4 point pairs, and solving a linear equation set to obtain a homography matrix H:
the high-precision special calibration tool designed by the invention can provide 10 pairs of corresponding point pairs, and a homography matrix H is calculated through least square optimization.
And S5.4, performing three-dimensional measurement by using the calculated homography matrix H, wherein the three-dimensional measurement is represented as:
w i ∝H*c i
wherein the coordinate value w in the world coordinate system i Expressed as:
compared with the prior art, the invention has the following beneficial effects:
1. the invention designs a monocular line laser measurement sensor parameter in-place calibration device and an implementation method based on the Schlemm's theorem, the monocular line laser measurement sensor parameter in-place calibration device does not need to shoot a calibration plate image to calibrate a camera and then calibrate a laser, only needs to shoot an image, and can adapt to the monocular line laser measurement sensor parameter in-place calibration under the severe environment on site, and is rapid, convenient and high-precision;
2. the calibration method adopts the homography matrix to carry out parameter modeling on the monocular laser measuring sensor, simplifies the calibration operation flow and reduces the operation time;
3. compared with the traditional camera, the camera based on the Schlemm's theorem is more difficult to acquire a plurality of groups of clearly focused images, the method based on the three-dimensional calibration tool has more remarkable advantage in-situ calibration of the parameters of the monocular line laser measurement sensor based on the Schlemm's theorem, and meanwhile, the method can also be used for in-situ calibration of the parameters of the traditional monocular line laser measurement sensor.
The conception, specific structure and technical effects of the present invention will be further described in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of an in-situ calibration device of a monocular line laser measurement sensor based on the Simm theorem in the present invention;
FIG. 2 is a schematic diagram of the implementation of monocular line laser measurement sensor parameter in-situ calibration based on the Simm theorem in the present invention;
FIG. 3 is a flow chart of a method for implementing monocular line laser measurement sensor parameter in-situ calibration based on the Simmer theorem in the present invention;
description of reference numerals:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a monocular line laser measurement sensor parameter in-situ calibration device based on the Simm theorem, which comprises:
as shown in fig. 1, the in-place calibration device 4 adopts a symmetrical step surface structure, and two standard circles 1 are processed on each step surface to ensure that the centers of all the standard circles 1 are coplanar; and processing marking lines 3 on two sides of each standard circle 1, wherein the marking lines 3 are intersecting lines of surfaces passing through all centers of circles and step surfaces, and a marking point 2 is processed on the top surface and used for marking the + X-axis direction of the in-place calibration tool coordinate system.
Preferably, the machining precision of the in-situ calibration tool directly influences the in-situ calibration precision of parameters of the monocular laser measurement sensor, the dimensional precision of the step surface is controlled within 0.01mm, the roundness of a standard circle is controlled within 0.005, the flatness of the circle center is controlled within 0.005, and the actual position of each circle center of the in-situ calibration tool needs to be measured and recorded by three coordinates.
As shown in fig. 2, the implementation method for in-situ calibration of monocular laser measurement sensor parameters based on the samm theorem, which is introduced in the present invention, includes the following steps:
step S1: measuring the position of each circle center under a high-precision calibration special tool coordinate system by utilizing three coordinates, wherein the origin of the calibration tool coordinate system (hereinafter, referred to as a world coordinate system) is the midpoint of the circle centers of two standard circles on the top surface, the X axis is parallel to a top surface marking line, the + X axis points to a marking point, sequencing is carried out according to the X component of the circle center coordinate, the circle center coordinate of the ith standard circle is recorded as W i The Y axis is the normal vector of the top surface, and the direction is perpendicular to the top surface and outwards;
step S2: opening a laser 6 in the monocular line laser measuring sensor, and adjusting the relative position of the high-precision calibration special tool and the monocular line laser measuring sensor, so that a light plane 5 formed by the laser 6 passes through all the marking lines 3;
and step S3: keeping the relative position of the monocular line laser measuring sensor and the high-precision calibration special tool unchanged, closing the laser 6, opening the industrial camera 7 in the monocular line laser measuring sensor and taking a picture;
and step S4: extracting the coordinate value of the center of a standard circle in the shot picture under the image coordinate system, corresponding to the sequencing of the centers of circles under the calibration tooling coordinate system, and recording the coordinate value of the center of the ith standard circle under the image coordinate system as C i ；
Step S5: using a standardCoordinate value W of circle in world coordinate system i Coordinate value C of corresponding image coordinate system i Solving a homography matrix H, wherein the homography matrix H comprises all parameters needing to be calibrated of the monocular laser measurement sensor;
in this embodiment, in step S1, centers of the standard circles are all on one plane, and as described in step S1, a world coordinate system is established, where the center of the standard circle is located on an OXY plane of the world coordinate system, and Z values of coordinates of the centers of the standard circles are all 0;
in this embodiment, in the step S5, the coordinate value W in the world coordinate system is used as the basis i Coordinate value C of corresponding image coordinate system i Solving the homography matrix H, which is specifically realized as follows:
s5.1, because the world coordinate system and the corresponding image coordinate system both belong to a plane coordinate system, the homography matrix can be used for describing the coordinate transformation between the two coordinate systems, and the method specifically comprises the following steps:
W∝H*C
wherein W represents coordinate values under the world coordinate system, C represents coordinate values under the image coordinate system, H represents a homography matrix to be solved, and oc represents the existence of a fixed proportional relation.
As the center coordinates of the standard circle are positioned on the XY plane, the world coordinate system belongs to the plane coordinate system, and the W matrix composed of n center points is expressed as follows:
a matrix C composed of coordinate values at the corresponding image coordinates is expressed as:
the homography matrix H is represented as:
step S5.2, coordinate point w under world coordinate system i Coordinate point c in the image coordinate system i And the transformation relation between the two is expressed by a homography matrix as follows:
w i ∝H*c i
where H is represented as a homography matrix.
Is unfolded to obtain
Because of w i And c i Is homogeneous coordinates, so the homography matrix H is independent of scale, so the degree of freedom of the homography matrix is 8, H is used 9 The homography matrix is normalized by = 1.
Therefore, H has 8 unknowns and requires 8 equations to solve.
A pair of points in the world coordinate system and the image coordinate system provide 2 constraint equations, which are expanded as follows:
writing the above equation as an expression form of a linear equation set, the constraint equation provided for 1 set of corresponding points is expressed as:
s5.3, theoretically providing 8 constraint equations for the 4 point pairs, and solving a linear equation set to obtain a homography matrix H:
the high-precision special calibration tool designed by the invention can provide 10 pairs of corresponding point pairs, and calculates the homography matrix H through least square optimization.
And S5.4, performing three-dimensional measurement by using the calculated homography matrix H, wherein the three-dimensional measurement is expressed as follows:
w i ∝H*c i
wherein the coordinate value w in the world coordinate system i Expressed as:
the foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.
Claims (5)
1. The utility model provides a monocular line laser survey sensor parameter calibration device in situ based on samm's theorem which characterized in that includes: the on-site calibration device adopts a symmetrical step surface structure, two standard circles are processed on each step surface, and the centers of the standard circles are coplanar; the utility model discloses a calibration tool, including every standard circle, the symmetry step face structure, every standard circle both sides processing mark line, the mark line is the intersect of the face of all centers of the circle and step face, a mark point of top surface processing in the middle of the symmetry step face structure is used for the mark to mark the + X axle direction of calibration tool coordinate system on throne.
2. The monocular line laser measuring sensor parameter in-situ calibration device based on Samm's theorem according to claim 1, wherein the dimensional accuracy of the step surface of the symmetrical step surface structure is controlled within 0.01mm, the roundness of the standard circle is controlled within 0.005, and the flatness of the center of the standard circle is controlled within 0.005.
3. A monocular line laser measurement sensor parameter in-situ calibration implementation method based on the Simm theorem is characterized by comprising the following steps:
step S1: measuring the position of each circle center under a high-precision calibration special tool coordinate system by using three coordinates, wherein the origin of the calibration tool coordinate system is the middle point of the centers of two standard circles on the top surface, the X axis is parallel to a top surface marking line, the + X axis points to a marking point, sequencing is carried out according to the X component of the circle center coordinate, and the circle center coordinate of the ith standard circle is marked as W i The Y axis is the normal vector of the top surface, and the direction is perpendicular to the top surface and outwards;
step S2: opening a laser in the monocular line laser measuring sensor, and adjusting the relative position of the high-precision calibration special tool and the monocular line laser measuring sensor to enable a light plane formed by the laser to coincide with the marking line;
and step S3: keeping the relative position of the monocular line laser measuring sensor and the high-precision calibration special tool unchanged, closing the laser, opening an industrial camera in the monocular line laser measuring sensor and taking a picture;
and step S4: extracting the coordinate value of the center of the standard circle in the shot picture under the image coordinate system, corresponding to the order of the centers of the circles under the calibration tooling coordinate system, and recording the coordinate value of the center of the ith standard circle under the image coordinate system as C i ；
Step S5: using the coordinate value W of the standard circle in the world coordinate system i Coordinate value C of image coordinate system i And solving a homography matrix H, wherein the homography matrix H comprises all parameters needing to be calibrated of the monocular laser measuring sensor.
4. The method as claimed in claim 3, wherein in step S1, the centers of the standard circles are all on a plane, and in step S1, the world coordinate system is established, where the centers of the standard circles are located on the xy plane of the world coordinate system, and the Z values of the coordinates of the centers of the standard circles are all 0.
5. The method for realizing the on-site calibration of the parameters of the monocular line laser measuring sensor based on the Simm' S theorem according to claim 3, wherein in the step S5, the parameters are calibrated according to a coordinate value W in a world coordinate system i Coordinate value C of corresponding image coordinate system i Solving the homography matrix H, which is specifically realized as follows:
and S5.1, describing coordinate transformation between the two coordinate systems by using a homography matrix, which specifically comprises the following steps:
W∝H*C
wherein W represents a coordinate value under a world coordinate system, C represents a coordinate value under an image coordinate system, H represents a homography matrix to be solved, and oc represents the existence of a fixed proportional relation;
as the center coordinates of the standard circle are positioned on the OXY plane, the world coordinate system belongs to a plane coordinate system, and a W matrix composed of n center points is expressed as follows:
a matrix C composed of coordinate values under the corresponding image coordinates is expressed as:
the homography matrix H is represented as:
step S5.2, coordinate point w under world coordinate system i Coordinate point c in the image coordinate system i And the transformation relation between the two is expressed by a homography matrix as follows:
w i ∝H*c i
wherein H is represented as a homography matrix;
is unfolded to obtain
Because of w i And c i Is homogeneous coordinates, so the homography matrix H is independent of scale, so the degree of freedom of the homography matrix is 8, H is used 9 =1, normalizing the homography matrix;
therefore, H has 8 unknowns, and 8 equations are needed for solving;
a pair of points in the world coordinate system and the image coordinate system provides 2 constraint equations, and the above equation is expanded as follows:
writing the above equation as an expression form of a linear system of equations, the constraint equations provided for 1 set of corresponding points are expressed as:
s5.3, theoretically providing 8 constraint equations for the 4 point pairs, and solving a linear equation set to obtain a homography matrix H:
the high-precision special calibration tool provides 10 pairs of corresponding point pairs, and a homography matrix H is calculated through least square optimization;
and S5.4, performing three-dimensional measurement by using the calculated homography matrix H, wherein the three-dimensional measurement is represented as:
w i ∝H*c i
wherein the coordinate value w in the world coordinate system i Expressed as:
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115457154A (en) * | 2022-11-11 | 2022-12-09 | 思看科技(杭州)股份有限公司 | Calibration method and device of three-dimensional scanner, computer equipment and storage medium |
| CN116182702A (en) * | 2023-01-31 | 2023-05-30 | 桂林电子科技大学 | Line structure light sensor calibration method and system based on principal component analysis |
| CN116973894A (en) * | 2023-07-31 | 2023-10-31 | 苏州如涵科技有限公司 | Calibration method and system of line laser ranging sensor |
| TWI823654B (en) * | 2022-11-01 | 2023-11-21 | 國立中央大學 | Structure surface defect identification and correction system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI823654B (en) * | 2022-11-01 | 2023-11-21 | 國立中央大學 | Structure surface defect identification and correction system |
| CN115457154A (en) * | 2022-11-11 | 2022-12-09 | 思看科技(杭州)股份有限公司 | Calibration method and device of three-dimensional scanner, computer equipment and storage medium |
| CN116182702A (en) * | 2023-01-31 | 2023-05-30 | 桂林电子科技大学 | Line structure light sensor calibration method and system based on principal component analysis |
| CN116182702B (en) * | 2023-01-31 | 2023-10-03 | 桂林电子科技大学 | Line structure light sensor calibration method and system based on principal component analysis |
| CN116973894A (en) * | 2023-07-31 | 2023-10-31 | 苏州如涵科技有限公司 | Calibration method and system of line laser ranging sensor |
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