海浪数字化测量系统中多线结构光视觉测量标定方法研究

发布时间：2018-01-21 06:37

本文关键词： 线结构光相机标定三维阵列立柱式靶标平面方程　出处：《天津大学》2016年硕士论文　论文类型：学位论文

【摘要】：针对海面形貌三维测量的实际需求,本文利用多线结构光单目视觉测量方法,实现了海面波形的三维在线测量。在分析国内外现状的基础上,提出一种基于多线结构光的快速标定方法,方法中延续了前期成果中的内参外参分离标定思路,特别是在外参标定方法上进行了创新,该方法的实现使得在外场非合作条件下,通过摆放一次靶标就可以实现多线结构光视觉测量系统的标定;也使得目前造波池无法实现中心区域高精度测量的问题得到解决。方法具体描述为相机内参采用张氏标定法提前标好,外参标定采用设计的三维阵列立柱靶标配合实现。在已知三维阵列立柱靶标各立柱端面中心点对应物像坐标后,可得到二者间的旋转和平移矩阵;在线结构光投射到对应不同高度立柱端面上后,根据以上物像关系可得到端面光条坐标,利用该坐标可拟合出激光平面方程,进而可建立起各激光面与相机之间的变换关系,完成系统标定。室内试验实验结果表明:该方法相对误差为0.57%,室外实验结果表明:该方法的相对误差为0.75%。本文主要研究内容包括:1.对本课题的背景与测量环境进行介绍,并对国内外的研究现状进行了简单的介绍,根据本课题的测量环境与测量要求,选择其中基于线结构光的视觉测量方法,并阐述了其中的主要的问题与难点。2.简要介绍了基于单目视觉测量原理,根据测量环境与测量范围,选用不考虑畸变的相机线性模型。在该模型基础上,在右手笛卡尔坐标系下,介绍了视觉测量中所有坐标系之间的关系。最终求得在线结构光测量中,由成像平面的像素坐标到世界坐标的转换关系。3.介绍几种成熟的相机标定方法,根据测量环境与要求,采用张氏标定法实现相机内参标定。介绍基于单线结构光的快速标定方法,并参考该方法,提出基于多线结构光的快速标定方法。4.在保证满足测量要求的条件下,完成海浪数字化测量系统布局设计,包括测量设备布局设计、激光器高度设计、相机高度设计。5.完成了基于本文提出的多线结构光快速标定方法程序的编写。在室内搭建实验环境,完成室内试验,对该标定方法完成可行性验证与精度验证,然后完成室外实验,实验结果表明,测量精度满足要求。6.对本文提出的多线结构光快速标定方法的优缺点进行总结,并给出了以后的研究方向。
[Abstract]:According to the actual demand of 3D sea surface topography measurement, this paper uses multi-line structured light monocular vision measurement method to realize the 3D on-line measurement of sea surface waveform. Based on the analysis of the present situation at home and abroad. A fast calibration method based on multi-line structured light is proposed, which extends the idea of separation of internal and external parameters from previous results, especially the innovation of external parameter calibration method. The realization of this method makes it possible to realize the calibration of multi-line structured light vision measurement system by placing a single target under the condition of non-cooperative field. It also solves the problem that the current wave-making cell can not achieve high precision measurement in the center area. The method is described as the camera inner parameters are calibrated in advance by using the Zhang's calibration method. The calibration of external parameters is realized by using the designed three-dimensional array column target. After the corresponding image coordinates of the center points of each column end surface of the three-dimensional array column target are known, the rotation and translation matrix between them can be obtained. The laser plane equation can be fitted according to the relationship between the above images and the light strip coordinate of the end surface. The laser plane equation can be fitted by using the on-line structured light projection onto the end surface of the column with different heights. Furthermore, the transformation relationship between the laser surfaces and the camera can be established, and the calibration of the system can be completed. The experimental results show that the relative error of the method is 0.57%. The results of outdoor experiments show that the relative error of this method is 0.75. The main research contents of this paper include: 1. The background and measurement environment of this project are introduced. And the research status at home and abroad is briefly introduced. According to the measurement environment and measurement requirements of this topic, the vision measurement method based on line structured light is selected. The main problems and difficulties are described. 2. The principle of monocular vision measurement is briefly introduced. According to the measurement environment and measurement range, the camera linear model without distortion is selected. On the basis of this model. In the right-hand Cartesian coordinate system, the relationship between all coordinate systems in visual measurement is introduced. Finally, the on-line structured light measurement is obtained. The transformation relationship from pixel coordinates of imaging plane to world coordinates. 3. Several mature camera calibration methods are introduced according to the measurement environment and requirements. This paper introduces a fast calibration method based on single-line structured light, and refers to the method. A fast calibration method based on multi-line structured light is proposed. Under the condition of satisfying the requirement of measurement, the layout design of wave digital measurement system is completed, including the layout design of measuring equipment and the design of laser height. Camera height design .5. completed the program of fast calibration method based on the multi-line structured light proposed in this paper. Build the experimental environment in the indoor to complete the indoor test. The feasibility and accuracy of the calibration method are verified, and then the outdoor experiment is completed. The experimental results show that. The advantages and disadvantages of the fast calibration method proposed in this paper are summarized, and the future research directions are given.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：P714;TP391.41

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