CN111508020A - Cable three-dimensional position calculation method and device fusing image and laser radar - Google Patents
Cable three-dimensional position calculation method and device fusing image and laser radar Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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Abstract
The invention discloses a method and a device for calculating a three-dimensional position of a cable by fusing an image and a laser radar, wherein the method comprises the following steps: acquiring a cable image in a target space range; presenting a location of the cable in the cable image; projecting the position area of the target cable in the cable image to a three-dimensional space by taking the position area of the target cable in the cable image as a basic plane area; and calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space as the three-dimensional position of the target cable. By adopting the scheme, the accuracy of the measurement result can be improved; the images are matched with the laser radar, and manual auxiliary work is not needed; the integral measurement of one or more sections of cables can be realized, and the integral information such as the attitude, the trend and the like of the cables can be obtained through calculation.
Description
Technical Field
The invention relates to the field of three-dimensional position detection, in particular to a method and a device for calculating a three-dimensional position of a cable by fusing an image and a laser radar.
Background
The cable detection is a key for various cable operations, and is to determine the spatial position and the posture trend of an operation cable in an operation environment through a sensor, establish a three-dimensional model of the cable and further provide accurate, real-time, stable and reliable cable measurement information for operation equipment to carry out various operations related to the cable.
In the prior art, a laser radar is adopted to collect position information of the surface of a cable, and then the spatial position of the cable is determined manually, so that the position coordinate of the cable is obtained.
The method has the problems that the used single-line laser radar can only measure the cross section of a certain point of the cable, the number of sampling points is too small, and the measuring result is inaccurate; the position information of the cross section of a certain point of the cable in the space is needed to be combined with manual assistance; it is difficult to realize the integral measurement of one or more cables, so that the integral information such as the posture, the trend and the like of the cables cannot be given.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a method and a device for calculating a three-dimensional cable position by fusing an image and a laser radar.
The technical scheme is as follows: the embodiment of the invention provides a cable three-dimensional position calculation method fusing an image and a laser radar, which comprises the following steps: acquiring a cable image in a target space range; presenting a location of the cable in the cable image; projecting the position area of the target cable in the cable image to a three-dimensional space by taking the position area of the target cable in the cable image as a basic plane area; and calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space as the three-dimensional position of the target cable.
Specifically, the cable position in the cable image acquired by the image capturing device is identified and marked.
Specifically, the plane position of the cable measured by the laser radar is correspondingly projected into the cable image acquired by the image shooting device and marked.
Specifically, the position and neighborhood of the target cable determined in the marked position are used as a basic plane area; and extending each pixel point serving as a ray starting point in the basic plane area to form a conical three-dimensional space or a trapezoidal three-dimensional space.
Specifically, a point group of an intersection point of a plane position of the target cable and a three-dimensional area of the target cable is determined; calculating to obtain point cloud clusters in the point groups through a clustering algorithm; and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
Specifically, adjusting the measurement mode of the laser radar, and calculating to obtain another three-dimensional position of the target cable; and connecting the obtained three-dimensional positions of the target cables to obtain the integral three-dimensional position of the target cable.
The embodiment of the invention also provides a device for calculating the three-dimensional position of the cable fusing the image and the laser radar, which comprises: the device comprises an acquisition unit, a display unit, a projection unit and a calculation unit, wherein: the acquisition unit is used for acquiring a cable image in a target space range; the display unit is used for presenting the position of the cable in the cable image; the projection unit is used for projecting the position area of the target cable in the cable image to a three-dimensional space by taking the position area of the target cable as a basic plane area; and the calculating unit is used for calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space as the three-dimensional position of the target cable.
Specifically, the acquiring unit is further configured to correspondingly project the plane position of the target cable, which is measured by the laser radar, into a cable image acquired by the image capturing device, and mark the cable image.
Specifically, the projection unit is further configured to use the position and the neighborhood of the target cable determined in the marked position as a base plane region; and extending each pixel point serving as a ray starting point in the basic plane area to form a conical three-dimensional space or a trapezoidal three-dimensional space.
Specifically, point cloud clusters in the point groups are obtained through calculation of a clustering algorithm; and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: the accuracy of the measurement result is improved; the images are matched with the laser radar, and manual auxiliary work is not needed; the integral measurement of one or more sections of cables can be realized, and the integral information such as the attitude, the trend and the like of the cables can be obtained through calculation.
Drawings
Fig. 1 is a schematic flow chart of a method for calculating a three-dimensional cable position by fusing an image and a lidar, provided in an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
Fig. 1 is a schematic flow chart of a method for calculating a three-dimensional cable position of a fused image and a lidar according to an embodiment of the present invention, which includes specific steps.
And step S101, acquiring a cable image in a target space range.
In the specific implementation, the target space refers to the space where the cable required to perform measurement calculation is located. The cable image may be acquired by an image capture device, which may be a camera, video camera, or the like.
In concrete implementation, the relative position between the image shooting device and the laser radar can be fixed and can be used as a whole for measurement, so that the deviation caused by the combination of the cable position information in the image and the cable position information measured by the laser radar in the process of calculating and measuring due to the change of the relative position between the image shooting device and the laser radar is avoided, and the accuracy of calculating and measuring is improved. Meanwhile, the laser radar may be a single line laser radar.
Step S102, the position of the cable is presented in the cable image.
In the specific implementation, the cable image contains too much information, the image display effect of the cable is not obvious, and therefore, the position of the cable can be identified from the image according to the information such as color, shape, brightness and the like through an image identification algorithm. Secondly, the position of the target cable needing to be measured and calculated can be better determined by presenting the position of the cable after identification. Meanwhile, manual auxiliary work is not needed.
In the embodiment of the invention, the cable position in the cable image acquired by the image shooting device is identified and marked.
In a specific implementation, after identifying the cables in the cable image, the image identification algorithm may further determine the positional relationship of the cables, such as distance, height, and the like, based on the image imaging principle, and display the positional relationship in a labeling manner (for example, the farther the cable is, the lighter the color is). The distance, the up-down position and the like of the cable are information which is difficult to acquire from a plane image manually, manual auxiliary work is not needed, errors caused by manual work are avoided, a target cable needing to be measured and calculated can be selected more easily, and therefore the accuracy of cable measurement and calculation can be improved.
In the embodiment of the invention, the plane position of the target cable measured by the laser radar is correspondingly projected into the cable image acquired by the image shooting device and marked.
In a specific implementation, the lidar measurements appear as positional information of various objects in a plane, which may typically be a horizontal plane. The laser radar measures position information of the cable on a plane, and the measurement of the position information of the cable in a vertical direction (a direction perpendicular to the ground) is difficult to realize, which is one of the reasons for the need of combining manual assistance work in the prior art. The plane position of the cable measured by the laser radar can be correspondingly projected to the cable image by matching with the distance and other position relations among the cables in the cable image, the cable position can be obtained by matching with the inspection image identification, and the accuracy of cable measurement calculation is further improved.
Step S103, projecting the position area of the target cable in the cable image to a three-dimensional space by taking the position area of the target cable as a basic plane area.
In the embodiment of the invention, the position and the neighborhood of the target cable determined in the marked position are used as a basic plane area; and extending each pixel point serving as a ray starting point in the basic plane area to form a conical three-dimensional space or a trapezoidal three-dimensional space.
In a specific implementation, based on the imaging principle of the image, a conical three-dimensional space (conical three-dimensional space) or a trapezoidal three-dimensional space (trapezoidal three-dimensional space) can be obtained by projecting the base plane area as a bottom surface. In a conical three-dimensional space or a trapezoidal three-dimensional space, a certain position on a ray corresponding to each pixel point is an actual position of the pixel point in the space, and distance information (plane position information) is unknown at the moment, so that the actual position of the pixel point in the space can be determined by matching with a laser radar subsequently.
In specific implementation, the determined position and neighborhood of the target cable are selected, so that the measurement and calculation range can be expanded to a certain degree, the measurement and calculation deviation caused by the limitation of image imaging is avoided, and the measurement and calculation accuracy is further improved.
And step S104, calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space as the three-dimensional position of the target cable.
In the specific implementation, the intersection point of the plane position of the target cable and the three-dimensional area of the target cable in the three-dimensional space is matched with the plane two-dimensional position measured by the laser radar, so that the three-dimensional position information of the intersection point can be determined, and the intersection point also corresponds to the point of the target cable in the actual three-dimensional space.
In a specific implementation, the three-dimensional region of the target cable is a corresponding region of the target cable in a three-dimensional space.
In the embodiment of the invention, a point group of an intersection point of a plane position of a target cable and a three-dimensional area of the target cable is determined; calculating to obtain point cloud clusters in the point groups through a clustering algorithm; and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
In a specific implementation, the object detected by the lidar may be a cross section of a certain point or a certain section on the cable, and the two-dimensional position of the plane detected by the lidar may be more than one point, may be a point group or an area formed by a plurality of points, and may also have the existence of interference noise. Therefore, when intersecting with the three-dimensional region of the target cable in the tapered three-dimensional space, a plurality of point groups of intersections can be obtained. Calculating to obtain point cloud clusters in the point groups through a clustering algorithm; the point cloud cluster center point with the largest number of intersection points in the point cloud clusters is taken as the three-dimensional position of the target cable, the influence of interference noise can be solved through the steps, and the accuracy of cable measurement and calculation is further improved.
In the embodiment of the invention, the measuring mode of the laser radar is adjusted, and the other three-dimensional position of the target cable is obtained through calculation; and connecting the obtained three-dimensional positions of the target cables to obtain the integral three-dimensional position of the target cable.
In specific implementation, when a longer cable or a plurality of cables with different postures and trends are calculated, corresponding adjustment can be performed on the image shooting device by adjusting the measurement mode of the laser radar, including adjusting the measurement direction, the measurement angle and the like of the laser radar, namely, the image shooting device and the laser radar which are fixed relative to each other are used as the measurement whole to perform the same measurement mode adjustment simultaneously.
In the specific implementation, the cross section of other points or sections of the cable is obtained through laser radar measurement, and the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space is calculated again to obtain another three-dimensional position of the target cable. Connecting the three-dimensional positions of a plurality of target cables to obtain the integral three-dimensional position of a longer cable or a plurality of cables with different postures. Through the cooperation of the image and the laser radar, manual auxiliary work is not needed, and meanwhile, the accuracy of measurement and calculation is high.
In a specific implementation, on the presentation combined with the software, a cable image of the target area is acquired and displayed through a graphical interactive interface, and the position of the cable including the label can be displayed on the graphical interactive interface. And taking the cable selected on the graphical interaction interface as a target cable, forming a ROS-compatible special message format by the two-dimensional coordinates of the target cable, sending the ROS-compatible special message format to a cable measurement and calculation server, and determining the three-dimensional coordinates of the target cable through calculation. The calculation process of the cable measurement calculation server is a process of calculating the intersection point of the plane position of the target cable and the three-dimensional area of the target cable in the three-dimensional space.
The embodiment of the invention also provides a device for calculating the three-dimensional position of the cable fusing the image and the laser radar, which comprises: the device comprises an acquisition unit, a display unit, a projection unit and a calculation unit, wherein:
the acquisition unit is used for acquiring a cable image in a target space range;
the display unit is used for presenting the position of the cable in the cable image;
the projection unit is used for projecting the position area of the target cable in the cable image to a three-dimensional space by taking the position area of the target cable as a basic plane area;
and the calculating unit is used for calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space as the three-dimensional position of the target cable.
In the embodiment of the invention, the display unit is further used for identifying and marking the cable position in the cable image acquired by the image shooting device.
In the embodiment of the present invention, the display unit is further configured to correspondingly project the plane position of the cable measured by the laser radar to the cable image obtained by the image capturing device, and mark the cable image.
In the embodiment of the present invention, the projection unit is further configured to use the position and the neighborhood of the target cable determined in the marked position as a base plane region;
and extending each pixel point serving as a ray starting point in the basic plane area to form a conical three-dimensional space or a trapezoidal three-dimensional space.
In the embodiment of the present invention, the calculating unit is further configured to determine a point group of an intersection point of the plane position of the target cable and the three-dimensional region of the target cable; calculating to obtain point cloud clusters in the point groups through a clustering algorithm;
and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
In the embodiment of the invention, the calculation unit is further configured to adjust a measurement mode of the laser radar, and calculate to obtain another three-dimensional position of the target cable;
and connecting the obtained three-dimensional positions of the target cables to obtain the integral three-dimensional position of the target cable.
Claims (10)
1. A cable three-dimensional position calculation method fusing an image and a laser radar is characterized by comprising the following steps:
acquiring a cable image in a target space range;
presenting a location of the cable in the cable image;
projecting the position area of the target cable in the cable image to a three-dimensional space by taking the position area of the target cable in the cable image as a basic plane area;
and calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space as the three-dimensional position of the target cable.
2. The method for calculating the three-dimensional cable position by fusing the image and the lidar according to claim 1, wherein the presenting the cable position in the cable image comprises:
and identifying the cable position in the cable image acquired by the image shooting device and marking the cable position.
3. The method for calculating the three-dimensional cable position by fusing the image and the lidar according to claim 1, wherein the presenting the cable position in the cable image comprises:
and correspondingly projecting the plane position of the cable measured by the laser radar into the cable image acquired by the image shooting device, and marking the cable image.
4. The method for calculating the three-dimensional cable position by fusing image and lidar according to claim 2 or 3, wherein the projecting to the three-dimensional space with the position area of the target cable in the cable image as a base plane area comprises:
taking the position and the neighborhood of the target cable determined in the marked position as a basic plane area;
and extending each pixel point serving as a ray starting point in the basic plane area to form a conical three-dimensional space or a trapezoidal three-dimensional space.
5. The method for calculating the three-dimensional cable position by fusing an image with a lidar according to claim 4, wherein calculating an intersection point of the planar position of the target cable measured by the lidar and a three-dimensional region of the target cable in a three-dimensional space as the three-dimensional position of the target cable comprises:
determining a point group of an intersection point of the plane position of the target cable and the three-dimensional area of the target cable;
calculating to obtain point cloud clusters in the point groups through a clustering algorithm;
and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
6. The method for calculating the three-dimensional cable position by fusing image and lidar according to claim 5, further comprising, after the three-dimensional cable position is determined as a target cable position:
adjusting the measurement mode of the laser radar, and calculating to obtain another three-dimensional position of the target cable;
and connecting the obtained three-dimensional positions of the target cables to obtain the integral three-dimensional position of the target cable.
7. An image and lidar fused cable three-dimensional position calculation device, comprising: the device comprises an acquisition unit, a display unit, a projection unit and a calculation unit, wherein:
the acquisition unit is used for acquiring a cable image in a target space range;
the display unit is used for presenting the position of the cable in the cable image;
the projection unit is used for projecting the position area of the target cable in the cable image to a three-dimensional space by taking the position area of the target cable as a basic plane area;
and the calculating unit is used for calculating the intersection point of the plane position of the target cable measured by the laser radar and the three-dimensional area of the target cable in the three-dimensional space as the three-dimensional position of the target cable.
8. The device for calculating the three-dimensional cable position according to claim 7, wherein the acquiring unit is further configured to project the planar position of the target cable measured by the lidar to the cable image acquired by the image capturing device and label the planar position.
9. The apparatus for calculating the three-dimensional cable position of a fused image and lidar according to claim 8, wherein the projection unit is further configured to take the determined target cable position and the neighborhood in the marked position as a base plane region; and extending each pixel point serving as a ray starting point in the basic plane area to form a conical three-dimensional space or a trapezoidal three-dimensional space.
10. The apparatus according to claim 9, wherein the calculating unit is further configured to determine a point group of an intersection point of the plane position of the target cable and the three-dimensional region of the target cable;
calculating to obtain point cloud clusters in the point groups through a clustering algorithm;
and taking the point cloud cluster center point with the largest number of intersection points in the point cloud clusters as the three-dimensional position of the target cable.
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| CN113205581A (en) * | 2021-05-21 | 2021-08-03 | 广东电网有限责任公司 | Detection method and system for cable jacking pipe |
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