CN110966956A - Binocular vision-based three-dimensional detection device and method - Google Patents
Binocular vision-based three-dimensional detection device and method Download PDFInfo
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Abstract
A binocular vision-based three-dimensional detection device comprises a binocular stereo camera, a line laser emitter, a glass panel, an image processor and a central controller, wherein the line laser emitter controls the emission of line laser when the binocular stereo camera is started; the central controller comprises a control module, a matching module and a coordinate calculation module, the central control module matches the corrected images to obtain laser imaging matching point pairs after the images are preprocessed by the image processor, and the coordinate calculation module calculates left and right view parallax of the glass or transparent object through which light rays pass to obtain three-dimensional information of the object to be detected. The invention utilizes the characteristic of light transmission in the transparent object, adopts binocular multi-angle to receive the transmitted light, can accurately and quickly acquire three-dimensional curved surface three-dimensional information for the transparent object, quickly detects the shape, the flatness, the curvature change and the surface quality of the glass panel, and has high measurement precision, high speed and high cost benefit.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a binocular vision-based three-dimensional detection device and method.
Background
The rapid development of the robot technology expands the application of the robot from traditional fixed target high-precision repeated operation to flexible operation with variable operation objects and variable operation object positions, and the robot urgently needs the cooperation of machine vision to obtain the three-dimensional information of the operation objects.
In the depth machine vision, the binocular stereo vision based on two cameras simulates the binocular working mode of people, and the three-dimensional information of an object can be extracted. However, the current binocular stereo vision can not reliably and stably extract the three-dimensional information of the target for objects without textures or with weak textures and fuzzy boundaries, the accuracy of analysis and processing is not high, in addition, the data processing amount in the process of analyzing and processing visual images is large, the processing efficiency is low, and meanwhile, in the industrial production and manufacturing process, the objects can not be stably imaged in the photosensitive wavelength range of visible light under the condition that some objects need to penetrate through glass media for scanning and measuring or objects to be measured on transparent glass need to be scanned, so that the measurement result can not accurately reflect the real information of the objects to be measured, and due to the transparency of the glass, the high-precision smoothness and defect detection can not be carried out on the surface of the glass by using a common laser detection means.
Disclosure of Invention
The invention aims to solve the technical problem of providing a binocular vision-based three-dimensional detection device and method aiming at the defects in the background technology.
The purpose of the invention and the technical problem to be solved are realized by adopting the following technical scheme:
the utility model provides a three-dimensional detection device based on binocular vision, includes binocular stereo camera, line laser emitter, glass panels, image processor and central controller, wherein: the line laser emitter controls the emission of line laser when the binocular stereo camera is started;
the image processor is used for preprocessing the shot laser line and the image of the object to be detected;
the central controller comprises a control module, a matching module and a coordinate calculation module, the central control module matches the corrected images to obtain laser imaging matching point pairs after the images are preprocessed by the image processor, and the coordinate calculation module calculates left and right view parallax of the glass or transparent object through which light rays pass to obtain three-dimensional information of the object to be detected.
Preferably, the line laser emitter and the glass panel include but are not limited to a vertical installation, the binocular stereo camera is installed at a side of a horizontal plane perpendicular to the glass panel, the binocular stereo camera is installed at one side of the glass panel to be measured, and the line laser emitter is installed at the other side.
Preferably, the control module is connected with the binocular stereo camera, the line laser emitter and the image processor through communication signals.
Preferably, the binocular vision three-dimensional detection device further comprises a display, and the display displays contour image information of the object to be detected, including but not limited to a three-dimensional contour reconstruction image generated in use, coordinates of each point on the contour reconstruction image, length, width, height, perimeter, area and volume data of the object.
The invention also provides a binocular vision-based three-dimensional detection method, which comprises the following steps:
s1: erecting a binocular stereo camera and a line laser emitter, respectively erecting the binocular stereo camera and the line laser emitter on two sides of a glass panel or a transparent object to be measured, controlling line laser emitted by the line laser emitter to be projected onto the object to be measured, and shooting the laser line transmitted by the glass panel by the binocular stereo camera;
s2: respectively acquiring a left image and a right image of an object to be detected through a left camera and a right camera of a binocular stereo camera; performing stereo correction on the left image and the right image;
s3: matching the corrected left view and the corrected right view to obtain a linear laser imaging matching point pair;
s4: and obtaining left and right view parallax according to the line laser matching point pairs, and calculating to obtain three-dimensional point information of the object to be detected according to the left and right view parallax.
Preferably, in the step S1, the installation positions of the binocular stereo camera and the line laser transmitter are kept relatively fixed.
Preferably, in step S1, the binocular stereo camera is started and starts the line laser emitter to emit line laser, the laser line is emitted on the glass panel or the transparent object, the incident line is refracted, the emergent line is emitted out of the glass panel, and the binocular stereo camera captures an image of the emergent laser line;
the angle at which the laser line is directed at the glass panel or transparent object includes, but is not limited to, normal incidence.
Preferably, in step S2, the parameters of the left camera and the right camera are the same.
Advantageous effects
According to the invention, the line laser and the binocular stereo camera are arranged on two sides of the glass panel, the characteristics of light transmission on the surface of the transparent object are utilized, the transmitted light is received by adopting a binocular multi-angle mode, the three-dimensional curved surface stereo information can be accurately and quickly obtained for the transparent object, the shape, the flatness, the curvature change and the surface quality of the glass panel are quickly detected, accurate measurement results are obtained from different visual angles, the measurement precision is high, the speed is high, the environment interference resistance is strong, the structural configuration is simple, and the cost benefit is high.
Drawings
Fig. 1 is a schematic view of an implementation structure of a binocular vision-based three-dimensional detection device.
Description of reference numerals: 1-binocular stereo camera, 2-line laser emitter, 3-glass panel and 4-laser line.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings. It is obvious that the described embodiments are only a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by those skilled in the art without inventive efforts belong to the protection scope of the present invention.
It should be understood that in the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally used in the product of the present invention, which are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, although the terms first, second, third, etc. may be used herein to describe various elements, components and/or sections, these elements, components and/or sections should not be limited by these terms.
In this embodiment, referring to fig. 1, a binocular vision-based three-dimensional detection apparatus includes a binocular stereo camera 1, a line laser emitter 2, a glass panel 3, an image processor, and a central controller, wherein: the line laser emitter 2 controls to emit line laser when the binocular stereo camera is started;
the image processor is used for preprocessing the shot laser line 4 and the image of the object to be detected;
the central controller comprises a control module, a matching module and a coordinate calculation module, the central control module matches the corrected images to obtain laser imaging matching point pairs after the images are preprocessed by the image processor, and the coordinate calculation module calculates left and right view parallax of the glass or transparent object through which light rays pass to obtain three-dimensional information of the object to be detected.
Preferably, the line laser emitter 2 and the glass panel 3 include but are not limited to a vertical installation, the binocular stereo camera 1 is installed at a side of a horizontal plane perpendicular to the glass panel 3, the binocular stereo camera 1 is installed at one side of the glass panel 3 to be measured, and the line laser emitter 2 is installed at the other side.
Preferably, the control module is connected with the binocular stereo camera, the line laser emitter 2 and the image processor through communication signals.
Preferably, the binocular vision three-dimensional detection device further comprises a display, and the display displays contour image information of the object to be detected, including but not limited to a three-dimensional contour reconstruction image generated in use, coordinates of each point on the contour reconstruction image, length, width, height, perimeter, area and volume data of the object.
The invention also provides a binocular vision-based three-dimensional detection method, which comprises the following steps:
s1: erecting a binocular stereo camera and a line laser emitter, respectively erecting the binocular stereo camera and the line laser emitter on two sides of a glass panel or a transparent object to be measured, controlling line laser emitted by the line laser emitter to be projected onto the object to be measured, and shooting the laser line transmitted by the glass panel by the binocular stereo camera;
s2: respectively acquiring a left image and a right image of an object to be detected through a left camera and a right camera of a binocular stereo camera; performing stereo correction on the left image and the right image;
s3: matching the corrected left view and the corrected right view to obtain a linear laser imaging matching point pair;
s4: and obtaining left and right view parallax according to the line laser matching point pairs, and calculating to obtain three-dimensional point information of the object to be detected according to the left and right view parallax.
Preferably, in step S1, the installation positions of the binocular stereo camera and the line laser transmitter are kept relatively fixed.
Preferably, in step S1, the binocular stereo camera is started and starts the line laser emitter to emit line laser, the laser line is emitted on the glass panel or the transparent object, the incident line is refracted, the emergent line is emitted out of the glass panel, and the binocular stereo camera captures an image of the emergent laser line;
the angle at which the laser line is directed at the glass panel or transparent object includes, but is not limited to, normal incidence.
Before the step S1 of projecting the line laser emitted by the control line laser onto the object to be measured, the method further includes: and carrying out three-dimensional calibration on a left camera and a camera of the binocular three-dimensional camera to obtain an internal reference matrix A of the binocular three-dimensional camera, and a rotation matrix R and a translation vector T between the left camera and the right camera.
Respectively calibrating a left camera and a right camera of a binocular stereo camera to obtain an internal reference matrix A of the binocular stereo camera, a rotation matrix R1 of the left camera and a rotation matrix Rr of the right camera, and a translation vector T1 of the left camera and a translation vector Tr of the right camera;
calculating a rotation matrix R and a translation vector T between the left camera and the right camera according to the following formula:
in step S2, the parameters of the left camera and the right camera are the same, and the distance between the object to be measured and the edge of the image in the left image and the right image is smaller than a first set value;
and performing stereo correction on the left image and the right image to ensure that the line alignment of the corrected left image and the corrected right image and the re-projection distortion of the left image and the right image are less than a second set value.
In step S3, matching the corrected left view and the corrected right view to obtain a line laser imaging matching point pair, and determining a processing area ROI of the image according to the installation positions of the line laser emitter and the binocular camera and the position of the circuit board;
preprocessing the corrected left image and the corrected right image, and respectively converting the preprocessed left image and the corrected right image into a left gray image and a right gray image;
respectively carrying out horizontal scanning on the parts of the left gray-scale image and the right gray-scale image, which are positioned in the ROI, and calculating the window energy of each scanning point:
wherein, (x, y) represents the scanning point coordinate, and is also the center coordinate of the calculation window; n represents the distance from the center to the edge of the selected window of the left gray map, and I (x + I, y + j) represents the gray value of the image at the image coordinates (x + I, y + j);
the maximum value of each scanning line E (x, y) is the imaging position of the line laser, M extreme values are obtained according to the number M of the line lasers, and the extreme values are sorted from left to right according to the x coordinate and are marked as (x, y)k，k＝1，2，...M；
Scanning a horizontal polar line formed by horizontal scanning lines with the same coordinates y of the left gray-scale image and the right gray-scale image to obtain line laser imaging points (x) of the left gray-scale image and the right gray-scale imageL，y)kAnd (x)R，y)kL and R denote a left gray map and a right gray map, respectively, and points where k is the same in the left and right sequences constitute a matching point pair.
In step S4, obtaining left and right image parallaxes according to the line laser imaging matching point pairs, and calculating three-dimensional data of the object to be measured according to the left and right image parallaxes includes:
the parallax of the line laser imaging on the horizontal polar line of the y-th line is calculated by the following formula:
dyk＝xL-xR，k＝1，2，...M，
wherein d isykThe parallax of the k-th laser imaging point of the polar line with the ordinate of y;
and (3) calculating three-dimensional coordinates (Z, X, Y) of each point of the outline of the circuit board in the space according to the internal reference matrix A and the external reference matrix [ R T ] of the binocular camera and the following formula:
where f is the extrinsic parameter matrix [ R T]The focal length of the middle binocular camera, B is the distance between the left camera and the right camera in the internal reference matrix A, and is given by calibration information; xL-XRDisparity between the left gray scale image and the right gray scale image for a point in space is given by matching information; (x, y) is a circuit board contour pointCoordinates on the imaging plane.
Advantageous effects
According to the invention, the line laser and the binocular stereo camera are arranged on two sides of the glass panel, the characteristics of light transmission on the surface of the transparent object are utilized, the transmitted light is received by adopting a binocular multi-angle mode, the three-dimensional curved surface stereo information can be accurately and quickly obtained for the transparent object, the shape, the flatness, the curvature change and the surface quality of the glass panel are quickly detected, accurate measurement results are obtained from different visual angles, the measurement precision is high, the speed is high, the environment interference resistance is strong, the structural configuration is simple, and the cost benefit is high.
The preferred embodiments of the present disclosure have been disclosed to assist in describing the disclosure, and alternative embodiments have not been set forth in detail to avoid obscuring the invention in the particular embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the specification and its practical application, to thereby enable others skilled in the art to best understand the specification and its practical application. The specification is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides a three-dimensional detection device based on binocular vision which characterized in that, includes binocular stereo camera, line laser emitter, glass panels, image processor and central controller, wherein: the line laser emitter controls the emission of line laser when the binocular stereo camera is started;
the image processor is used for preprocessing the shot laser line and the image of the object to be detected;
the central controller comprises a control module, a matching module and a coordinate calculation module, the central control module matches the corrected images to obtain laser imaging matching point pairs after the images are preprocessed by the image processor, and the coordinate calculation module calculates left and right view parallax of the glass or transparent object through which light rays pass to obtain three-dimensional information of the object to be detected.
2. The binocular vision based three-dimensional detection device according to claim 1, wherein the line laser emitter is mounted on the glass panel in a vertical state, the binocular stereo camera is mounted on one side of a horizontal plane perpendicular to the glass panel, the binocular stereo camera is mounted on the other side of the glass panel to be detected, and the line laser emitter is mounted on the other side.
3. The binocular vision based three-dimensional detection device of claim 1, wherein the control module is connected with the binocular stereo camera, the line laser emitter and the image processor through communication signals.
4. The binocular vision based three-dimensional detection device according to claim 1, further comprising a display, wherein the display displays contour image information of the object to be detected, including but not limited to three-dimensional contour reconstruction images generated in use, coordinates of points on the contour reconstruction images, object length, width, height, perimeter, area, and volume data.
5. A binocular vision-based three-dimensional detection method is characterized by comprising the following steps:
s1: erecting a binocular stereo camera and a line laser emitter, respectively erecting the binocular stereo camera and the line laser emitter on two sides of a glass panel or a transparent object to be measured, controlling line laser emitted by the line laser emitter to be projected onto the object to be measured, and shooting the laser line transmitted by the glass panel by the binocular stereo camera;
s2: respectively acquiring a left image and a right image of an object to be detected through a left camera and a right camera of a binocular stereo camera; performing stereo correction on the left image and the right image;
s3: matching the corrected left view and the corrected right view to obtain a linear laser imaging matching point pair;
s4: and obtaining left and right view parallax according to the line laser matching point pairs, and calculating to obtain three-dimensional point information of the object to be detected according to the left and right view parallax.
6. The binocular vision based three-dimensional detection method of claim 5, wherein in the step S1, the installation positions of the binocular stereo camera and the line laser transmitter are kept relatively fixed.
7. The binocular vision based three-dimensional detection method according to claim 5, wherein in the step S1, the binocular stereo camera starts and simultaneously starts the line laser emitter to emit line laser, the laser line is irradiated on the glass panel or the transparent object, the incident line is refracted, the emergent line is emitted out of the glass panel, and the binocular stereo camera captures an image of the emergent laser line;
the angle at which the laser line is directed at the glass panel or transparent object includes, but is not limited to, normal incidence.
8. The binocular vision based three-dimensional detection method of claim 5, wherein in the step S2, the parameters of the left camera and the right camera are the same.
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| CN112797895A (en) * | 2020-12-24 | 2021-05-14 | 上海智殷自动化科技有限公司 | Frame body positioning device based on vision and laser |
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| CN112082608A (en) * | 2020-08-05 | 2020-12-15 | 陕西天诚合创智能控制工程有限责任公司 | Method for detecting solid particle flow on conveyer belt by using binocular vision |
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| CN114111574A (en) * | 2021-11-23 | 2022-03-01 | 西安理工大学 | Binocular line laser vision 3D measurement method for high temperature red-hot target |
| CN114234801A (en) * | 2021-12-02 | 2022-03-25 | 华侨大学 | Underwater three-dimensional automatic measurement system and method based on binocular vision |
| CN114234801B (en) * | 2021-12-02 | 2023-05-23 | 华侨大学 | Automatic underwater three-dimensional measurement system based on binocular vision |
| CN116703813A (en) * | 2022-12-27 | 2023-09-05 | 荣耀终端有限公司 | Image processing method and device |
| CN116703813B (en) * | 2022-12-27 | 2024-04-26 | 荣耀终端有限公司 | Image processing method and apparatus |
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