多相机坐标测量技术的研究

发布时间：2017-12-31 08:26

本文关键词：多相机坐标测量技术的研究　出处：《中国科学技术大学》2017年硕士论文　论文类型：学位论文

【摘要】：摄影测量一直都是将视觉技术应用到工程实践中的一个重要方向,近些年来,随着科学技术的不断发展,对测量水平和精度的要求都比之前有了极大的提升。摄影测量以其获取的数据量大,操作简单便捷,同时是非接触式测量的诸多优点,被广泛而深入的研究。传统的比较经典的摄影测量方式主要有单目相机测量和双目相机测量两种方式。现今,对单目测量和双目测量方式的研究已经趋于成熟,他们的优缺点以及适用范围也相对比较固定,但是当涉及到大视场测量领域的时候,这两种相对比较传统的测量方式还是有一定的局限性的。这就需要我们引入其他的摄影测量模型来处理这类问题。在这篇毕业论文中,我们提出了一种新的基于多相机的坐标测量技术。这种技术依托一个关键的中转站系统部分,实现了对大视场对象的测量,并且操作简单,精度也符合工业界使用要求。同时,我们还开发了一个配套的软件测量控制系统,用来方便的实现对目标对象的测量工作。本文依次从项目的研究背景,多视图几何,最优化理论,相机标定技术,手眼标定技术,中转站系统,测量系统整体架构,软件系统搭建以及实验仿真等各个部分对我们的这个系统进行阐述。在多视图几何部分我们会介绍相机的坐标系,相机模型,绝对二次曲线,对极几何和三维重构的相关理论。在最优化理论部分,我们会依次介绍比较经典的借助梯度信息的最速下降法,利用迭代求解的高斯牛顿法和结合两者优点的LM算法的由来及其相应特点。在相机标定部分,我们会着重介绍依赖棋盘格点信息的张氏标定算法和机器人机械手领域中的手眼标定算法的相关研究。中转站系统部分,我们会阐述中转站系统的由来及其推导过程。然后在整体系统部分,我们将介绍多相机测量控制系统的软硬件体系及其核心技术。在仿真实验部分,我们会给出相关的实验数据支撑我们的理论和系统。
[Abstract]:Photogrammetry has always been an important direction in the application of visual technology in engineering practice. In recent years, with the development of science and technology. The requirement of measurement level and accuracy has been greatly improved. Photogrammetry has many advantages such as large amount of data, simple and convenient operation, and non-contact measurement. Traditional photogrammetry methods are mainly monocular camera measurement and binocular camera measurement. Nowadays, the research on monocular measurement and binocular measurement has become mature. Their advantages and disadvantages as well as the scope of application are relatively fixed, but when it comes to the field of large field of view measurement. These two relatively traditional measurement methods still have some limitations, which requires us to introduce other photogrammetric models to deal with this kind of problems. We propose a new coordinate measurement technology based on multi-camera, which is based on a key transfer station system, which can measure large field of view object, and the operation is simple. At the same time, we also developed a software measurement control system, which is used to realize the measurement of the target object conveniently. This paper starts with the research background of the project. Multi-view geometry, optimization theory, camera calibration technology, hand-eye calibration technology, transfer station system, measurement system architecture. In the part of multi-view geometry, we will introduce the camera coordinate system, camera model, absolute conic curve. In the part of optimization theory, we will introduce the classical steepest descent method with gradient information. The origin and characteristics of the iterative Gao Si Newton method and the LM algorithm combining the advantages of the two methods are used in the camera calibration part. We will focus on the related research of Zhang's calibration algorithm and hand-eye calibration algorithm in the field of robot manipulator, which depend on the information of checkerboard lattice. We will explain the origin and derivation process of the transfer station system. Then in the whole system part, we will introduce the hardware and software system of the multi-camera measurement control system and its core technology. We will provide relevant experimental data to support our theory and system.
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41

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