CN113983933B - Calibration method of multi-line laser sensor - Google Patents
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a calibration method of a multi-line laser sensor, which comprises the following steps: 1) calibrating internal and external parameters of a camera and placing a calibration plate; 2) projecting a laser bar and collecting an image; resolving three-dimensional coordinates of the feature points, and constructing a space plane; 3) and (3) processing the points on the central line of any image and any light bar as follows: finding out a corresponding polar line in another image acquired simultaneously, and determining the intersection points of the polar line and all the laser bars; solving space coordinates by using the intersection points and the corresponding points, and searching points on the construction plane in the step 1); if not, performing step 4); thirdly, forming a space straight line corresponding to the laser bar by the obtained points; 4) other laser bars were treated in the same way; 5) changing the pose, and repeating the steps 2) -4), and acquiring the corresponding spatial straight lines of the laser bars under all the poses; 6) and (5) screening spatial straight lines corresponding to the same laser bar, fitting a plane, and finishing calibration. The method does not need human intervention, can mark all light planes simultaneously, and realizes the rapid automatic calibration of the multi-line laser.
Description
Technical Field
The invention relates to the field of sensor calibration, in particular to a calibration method of a multi-line laser sensor.
Background
With the development of optical measurement technology, the line laser vision system has high test efficiency and is portable, so that the line laser vision system is widely applied to dimension measurement and reverse engineering. The system comprises a camera and a laser, and the calibration comprises the following two parts: calibrating a binocular camera and calibrating a light plane. At present, a plurality of mature methods are provided for calibrating a binocular camera, and the detailed description is omitted; the calibration of the light plane is mostly performed only for a single light plane, specifically: a laser in a vision system projects light bars to a target, a camera shoots the target and light bar images on the target, space coordinates of light bar points are extracted, the position of the target is changed, the target and the light bar images are collected for multiple times, and a light-emitting plane is fitted according to the space coordinates of the light bar points acquired under each pose. When a plurality of laser stripes exist in an image at the same time, a plurality of light planes all need to be fitted, at the moment, if a calibration strategy of single-line structured light is adopted in the calibration method, firstly, single-line detection, indexing and estimation are carried out one by one on characteristic points on an image of an intersection line of each light plane and a target, then, a light plane equation is obtained, the steps are complicated, and the maximum calibration precision of the system depends on the calibration error of the single light plane.
If a plurality of optical planes are calibrated simultaneously, the calibration error is reduced, and the difficulty is as follows: the laser bars cannot be distinguished, and manual intervention and distinction of the laser bars are required. Because the number of lines that the multi-line structured light projector can project is more (from 7 lines to 81 lines, generally, odd lines), and the calibration process involves a plurality of target poses, the calibration mode of manual differentiation is low in efficiency and easy to miss, and the calibration process is long in time consumption.
Disclosure of Invention
In order to solve the technical problem, the invention provides a novel calibration method for a binocular multi-line laser sensor, which can calibrate all light planes simultaneously without human intervention, thereby realizing the rapid automatic calibration of a multi-line laser.
Therefore, the technical scheme of the invention is as follows:
a calibration method of a multi-line laser sensor comprises binocular cameras and a multi-line laser, wherein one of the binocular cameras is marked as a camera A, and the other camera is marked as a camera B; the method comprises the following steps:
firstly, calibrating internal and external parameters of a binocular camera; placing a calibration plate in the measurement volume of the multi-line laser sensor, wherein the calibration plate is provided with a plurality of characteristic points;
secondly, a laser projects a laser bar on a calibration plate, a binocular camera collects an image, and the image at least comprises three non-collinear feature points and part or all of the laser bar; resolving three-dimensional coordinates of the feature points in the image, constructing a space plane according to the three-dimensional coordinates, and marking the space plane as a plane P;
step three, respectively processing the points on the central line of the optical strip of any laser strip in the image acquired by the camera A as follows: the point on the centerline of the light bar is denoted as point D i ，i=1,2,3,4 … … n, n being the number of points on the centerline of the light bar;
1) respectively search for points D i Forming a cross point set by the polar lines on the image acquired by the camera B and the cross points of all the laser bars in the image acquired by the camera B;
2) all the points in the intersection set are respectively connected with the point D i And (4) matching and resolving space coordinates, if no space coordinate is positioned on the plane P, skipping to the fourth step, otherwise, taking the space coordinate on the plane P as a point D i The spatial coordinates of (a);
3) n points D i The straight line formed by the space coordinates is marked as a space straight line L corresponding to the laser bar;
step four, respectively carrying out step three on other laser bars in the image acquired by the camera A, and recording all the acquired space straight lines L as a set Q;
fifthly, changing the relative position relation between the multi-line laser sensor and the calibration plate, repeating the steps for two to four times (N is preferably more than or equal to 10 in order to ensure that the fitted light plane is more accurate), and acquiring a set Q under all poses to form a set W;
the set W comprises spatial straight lines L corresponding to all laser bars projected by the lasers;
respectively screening spatial straight lines L corresponding to the same laser bar projected by the laser in the set W; and (4) utilizing the fitted light plane to obtain the light planes corresponding to all the laser bars projected by the laser, thereby completing calibration.
Further, in the process of repeating the steps two to four times for N timesThe frequency of each laser stripe appearing in the common view field of the binocular camera is more than or equal to Floor (
) Next, Floor denotes a round-down operation.
Furthermore, in the image collected in the second step, part or all of the laser bars are not parallel to the X axis of the image coordinate system.
In order to prevent the interference of the laser stripes on the fitting of the characteristic points, step two, acquiring an image pair I under the condition that the laser is not turned on under the condition that the multi-line laser sensor and the calibration plate are in the same relative pose; acquiring an image pair II under the condition of turning on a laser;
calculating the three-dimensional coordinates of the feature points by using the image in the image pair I to obtain a plane P; and step three is carried out on the image in the step II by utilizing the image.
Further, the color of the calibration plate, the color of the feature point, and the color of the laser bar are different from each other.
Further, the characteristic points are the centers of characteristic circles or the angular points of the checkerboard.
Further, the internal and external parameters of the binocular camera are solved by a Zhang calibration or light beam adjustment method.
Further, the spatial straight line L corresponding to the same laser stripe is obtained by the following method: selecting any one space straight line L from any set Q, sequentially selecting any one space straight line L from the sets Q acquired under different poses, fitting a plane by using the two space straight lines L, marking as a plane K, selecting the space straight lines L falling on the plane K in other sets Q, wherein all the selected space straight lines L are the space straight lines L corresponding to the same laser bar; if the spatial straight line L in the other set Q does not fall on the plane K, it indicates that the two spatial straight lines L used for fitting the plane are not the spatial straight lines L corresponding to the same laser bar.
Further, the spatial straight line L corresponding to the same laser stripe is obtained by the following method:
selecting a spatial straight line L of any set Q in the middle, fitting a spatial plane by using the spatial straight line L and any one spatial straight line L in other sets Q, marking the spatial straight line L as a plane J, selecting spatial straight lines L on the plane J in other sets Q, wherein all the selected spatial straight lines L are spatial straight lines L corresponding to the same laser bar, and marking the spatial straight lines L 'as spatial straight lines L';
determining the positions of light bars in the images collected by the cameras A and B corresponding to all the space straight lines L ', marking the light bars as light bars F, respectively calculating the average distance between the light bars on each image, pairing the light bars on the images collected by the cameras A and B according to the distance between each light bar and the light bar F on the same image, searching the corresponding space straight line L by using the pairing result, and sequentially obtaining the space straight line L with the known relative position with the space straight line L'; all the spatial straight lines L corresponding to the same laser bar can be obtained.
The method comprises the steps of fitting a space plane through characteristic points by using a calibration plate provided with a plurality of characteristic points, constraining coordinates of light bar points in the space by using the space plane, and accurately obtaining a space point set of laser bars to obtain a space straight line L; establishing the corresponding relation of a single laser bar in the left image and the right image; and transforming multiple poses to obtain a set W, and screening out a light strip straight line set corresponding to each laser strip in the set W to fit a light plane to finish light plane calibration because the space straight lines L of the same laser line under different poses are coplanar.
The method is simple to operate and short in time consumption, the sensor and the calibration plate do not have strict position requirements, the calibration plate is only required to be placed in the measurement volume of the sensor, the laser strips can be projected on the characteristic points and can also be projected among the characteristic points, the characteristic points on the calibration plate can be ordered or unordered, and only a unique space plane needs to be determined; under a single pose, the image collected by the public view field only needs to contain more light bars as much as possible. The method improves the calibration efficiency and can realize automatic calibration.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the specific embodiments.
A calibration method of a multi-line laser sensor comprises a binocular camera and a multi-line laser, wherein one of the binocular camera is marked as a camera A, and the other camera is marked as a camera B; the method comprises the following steps:
firstly, calibrating internal and external parameters of a binocular camera; placing a calibration plate in the measurement volume (the sum of the space ranges of two camera view cones) of the multi-line laser sensor, wherein the calibration plate is provided with a plurality of characteristic points;
secondly, a laser projects a laser bar on a calibration plate, a binocular camera collects an image, and the image at least comprises three non-collinear feature points and part or all of the laser bar; resolving three-dimensional coordinates of the feature points in the image, constructing a space plane according to the three-dimensional coordinates, and marking the space plane as a plane P;
step three, respectively processing the points on the central line of the optical strip of any laser strip in the image acquired by the camera A as follows: the point on the centerline of the light bar is denoted as point D i ，i=1,2,3,4 … … n, n being the number of points on the centerline of the light bar;
1) respectively search for points D i Forming a cross point set by the polar lines on the image acquired by the camera B and the cross points of all the laser bars in the image acquired by the camera B;
2) all the points in the intersection set are respectively connected with the point D i And (4) matching and resolving space coordinates, if no space coordinate is positioned on the plane P, skipping to the fourth step, otherwise, taking the space coordinate on the plane P as a point D i The spatial coordinates of (a);
3) n points D i The straight line formed by the space coordinates is marked as a space straight line L corresponding to the laser bar;
step four, respectively carrying out step three on other laser bars in the image acquired by the camera A, and recording all the acquired space straight lines L as a set Q;
fifthly, changing the relative position relation between the multi-line laser sensor and the calibration plate, repeating the steps for two to four times (N is preferably more than or equal to 10 in order to ensure that the fitted light plane is more accurate), and acquiring a set Q under all poses to form a set W;
in specific implementation, preferably, the frequency of each laser stripe appearing in the common view field of the binocular camera is greater than or equal to Floor (N/2), wherein Floor represents a downward rounding operation;
the set W comprises spatial straight lines L corresponding to all laser bars projected by the lasers;
respectively screening spatial straight lines L corresponding to the same laser bar projected by the laser in the set W; and (4) utilizing the fitted light plane to obtain the light planes corresponding to all the laser bars projected by the laser, thereby completing calibration.
Specifically, the method comprises the following steps: the spatial straight line L corresponding to the same laser bar is obtained by the following method: selecting any one space straight line L from any set Q, sequentially selecting any one space straight line L from the sets Q acquired under different poses, fitting a plane by using the two space straight lines L, marking as a plane K, selecting the space straight lines L falling on the plane K in other sets Q, wherein all the selected space straight lines L are the space straight lines L corresponding to the same laser bar; if the spatial straight line L in the other set Q does not fall on the plane K, it indicates that the two spatial straight lines L used for fitting the plane are not the spatial straight lines L corresponding to the same laser bar.
Or, the spatial straight line L corresponding to the same laser bar is obtained by the following method:
selecting a spatial straight line L of any set Q in the middle, fitting a spatial plane by using the spatial straight line L and any one spatial straight line L in other sets Q, marking the spatial straight line L as a plane J, selecting spatial straight lines L on the plane J in other sets Q, wherein all the selected spatial straight lines L are spatial straight lines L corresponding to the same laser bar, and marking the spatial straight lines L 'as spatial straight lines L';
determining the positions of light bars in the images collected by the cameras A and B corresponding to all the space straight lines L ', marking the light bars as light bars F, respectively calculating the average distance between the light bars on each image, pairing the light bars on the images collected by the cameras A and B according to the distance between each light bar and the light bar F on the same image, searching the corresponding space straight line L by using the pairing result, and sequentially obtaining the space straight line L with the known relative position with the space straight line L'; all the spatial straight lines L corresponding to the same laser bar can be obtained.
Only two implementations are presented here and those skilled in the art can incorporate mathematical knowledge to infer derivation in other ways.
As an improvement to the above scheme, in order to prevent interference of the laser stripe on feature point fitting, step two, the multiline laser sensor and the calibration plate acquire an image pair I under the condition of not opening the laser in the same relative pose; acquiring an image pair II under the condition of turning on a laser; calculating the three-dimensional coordinates of the feature points by using the image in the image pair I to obtain a plane P; and step three is carried out on the image in the step II by utilizing the image.
In order to optimize the calibration result or simplify the calculation process, preferably, in the image acquired in step two, part or all of the laser bars are not parallel to the X-axis of the image coordinate system.
Preferably, the color of the calibration plate, the color of the feature point, and the color of the laser bar are different from each other.
Preferably, the characteristic point is the center of a characteristic circle or a checkerboard corner.
Preferably, the internal and external parameters of the binocular camera are solved by a Zhang calibration or light beam adjustment method.
The method is simple to operate and short in time consumption, the sensor and the calibration plate do not have strict position requirements, the calibration plate is only required to be placed in the measurement volume of the sensor, the laser bar can be projected on the characteristic points and can also be projected among the characteristic points, the characteristic points on the calibration plate can be ordered or unordered, and only a unique space plane needs to be determined; under a single pose, the image collected by the public view field only needs to contain more light bars as far as possible. The method improves the calibration efficiency and can realize automatic calibration.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable others skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (10)
1. A calibration method of a multi-line laser sensor comprises binocular cameras and a multi-line laser, wherein one of the binocular cameras is marked as a camera A, and the other camera is marked as a camera B;
it is characterized by comprising:
firstly, calibrating internal and external parameters of a binocular camera; placing a calibration plate in the measurement volume of the multi-line laser sensor, wherein the calibration plate is provided with a plurality of characteristic points;
secondly, a laser projects a laser bar on a calibration plate, a binocular camera collects an image, and the image at least comprises three non-collinear feature points and part or all of the laser bar; resolving three-dimensional coordinates of the feature points in the image, constructing a space plane according to the three-dimensional coordinates, and marking the space plane as a plane P;
step three, respectively processing the points on the central line of the optical strip of any laser strip in the image acquired by the camera A as follows: the point on the centerline of the light bar is denoted as point D i ，i=1,2,3,4 … … n, n being the number of points on the centerline of the light bar;
1) respectively search for points D i Forming a cross point set by the polar lines on the image acquired by the camera B and the cross points of all the laser bars in the image acquired by the camera B;
2) all the points in the intersection set are respectively connected with the point D i And (4) matching and resolving space coordinates, if no space coordinate is positioned on the plane P, skipping to the fourth step, otherwise, taking the space coordinate on the plane P as a point D i The spatial coordinates of (a);
3) n points D i The straight line formed by the space coordinates is marked as a space straight line L corresponding to the laser bar;
step four, respectively carrying out step three on other laser bars in the image acquired by the camera A, and recording all the acquired space straight lines L as a set Q;
fifthly, changing the relative position relation between the multi-line laser sensor and the calibration plate, repeating the steps two-four N times, obtaining a set Q under all poses, and forming a set W;
the set W comprises spatial straight lines L corresponding to all laser bars projected by the lasers;
respectively screening spatial straight lines L corresponding to the same laser bar projected by the laser in the set W; and (4) utilizing the fitted light plane to obtain the light planes corresponding to all the laser bars projected by the laser, thereby completing calibration.
2. A method for calibrating a multiline laser sensor as defined in claim 1, further comprising: in the fifth step: n is more than or equal to 10.
3. A method for calibrating a multiline laser sensor as claimed in claim 1 or 2, wherein: in the process of repeating the steps two to four times, the frequency of each laser stripe appearing in the common view field of the binocular camera is more than or equal to Floor (
) Next, Floor denotes a round-down operation.
4. A method for calibrating a multiline laser sensor as defined in claim 1, further comprising: in the image collected in the second step, part or all of the laser bars are not parallel to the X axis of the image coordinate system.
5. A method for calibrating a multiline laser sensor as defined in claim 1, further comprising: secondly, acquiring an image pair I under the condition that the laser is not turned on under the condition that the multi-line laser sensor and the calibration plate are in the same relative pose; acquiring an image pair II under the condition of turning on a laser;
calculating the three-dimensional coordinates of the feature points by using the image in the image pair I to obtain a plane P; and step three is carried out on the image in the step II by utilizing the image.
6. A method for calibrating a multiline laser sensor as defined in claim 1, further comprising: the color of the calibration plate, the color of the characteristic points and the color of the laser bar are different from each other.
7. A method for calibrating a multiline laser sensor as defined in claim 1, further comprising: the characteristic points are the centers of the characteristic circles or the angular points of the checkerboard.
8. A method for calibrating a multiline laser sensor as defined in claim 1, further comprising: the internal and external parameters of the binocular camera are solved by a Zhang's calibration or light beam adjustment method.
9. A method for calibrating a multiline laser sensor as defined in claim 1, further comprising: the spatial straight line L corresponding to the same laser bar is obtained by the following method: selecting any one space straight line L from any set Q, sequentially selecting any one space straight line L from the sets Q acquired under different poses, fitting a plane by using the two space straight lines L, marking as a plane K, selecting the space straight lines L falling on the plane K in other sets Q, wherein all the selected space straight lines L are the space straight lines L corresponding to the same laser bar; if the spatial straight line L in the other set Q does not fall on the plane K, it indicates that the two spatial straight lines L used for fitting the plane are not the spatial straight lines L corresponding to the same laser bar.
10. A method for calibrating a multiline laser sensor as defined in claim 1, further comprising: the spatial straight line L corresponding to the same laser bar is obtained by the following method:
selecting a spatial straight line L of any set Q in the middle, fitting a spatial plane by using the spatial straight line L and any one spatial straight line L in other sets Q, marking the spatial straight line L as a plane J, selecting spatial straight lines L on the plane J in other sets Q, wherein all the selected spatial straight lines L are spatial straight lines L corresponding to the same laser bar, and marking the spatial straight lines L 'as spatial straight lines L';
determining the positions of light bars in the images collected by the cameras A and B corresponding to all the space straight lines L ', marking the light bars as light bars F, respectively calculating the average distance between the light bars on each image, pairing the light bars on the images collected by the cameras A and B according to the distance between each light bar and the light bar F on the same image, searching the corresponding space straight line L by using the pairing result, and sequentially obtaining the space straight line L with the known relative position with the space straight line L'; all the spatial straight lines L corresponding to the same laser bar can be obtained.
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