CN205209488U - Three -dimensional reconfiguration system of rotatory laser image of multiple dimensioned biax - Google Patents

Abstract

The utility model discloses a three-dimensional reconstruction system of a multi-scale dual-axis rotating laser image. The reconstruction system includes a rotation control platform, an image acquisition system, a calibration plate, a line structure laser, and a computer reconstruction processing system; the rotation control platform includes an electric control system. The rotating table and the telescopic rotating bracket installed on the electronically controlled rotating table, the telescopic rotating bracket is a T-shaped structure, and the rotating table is installed at the ends of the two arms; the image acquisition system includes two image sensors, and the image sensors are respectively installed on two on the rotating platform at the end of the support arm; the line-structured laser is installed at the rotation center of the electronically controlled rotating platform, and the emitted line laser is perpendicular to the horizontal plane. straight line on the horizontal plane. The computer reconstruction processing system is used for camera system calibration, image matching and three-dimensional reconstruction calculation. The utility model can solve the problem that non-corner points are difficult to reconstruct, and can be applied to multi-scale range measurement.

Description

Multi-scale dual-axis rotating laser image 3D reconstruction system

technical field

The utility model belongs to the technical field of image acquisition processing and three-dimensional reconstruction, in particular to a multi-scale two-axis rotating laser image three-dimensional reconstruction system.

Background technique

Three-dimensional reconstruction refers to the establishment of a mathematical model suitable for computer representation and processing of three-dimensional objects, which is the basis for processing, operating and analyzing its properties in a computer environment, and is also a key technology for establishing a virtual reality that expresses the objective world in a computer .

An important function of 3D reconstruction of the scene is to obtain the 3D information of the scene. In traditional 3D reconstruction, corner extraction is often used for 3D reconstruction, but for objects without obvious corner points, its 3D reconstruction is difficult to achieve. In addition, the 3D reconstruction instruments generally used for indoor scene reconstruction have a certain working distance, and it is difficult to realize fully automatic one-step indoor scene reconstruction.

The purpose of the above discussion is to introduce readers to various aspects of technology that may be related to various aspects of the utility model that will be described and/or claimed below. It is believed that the discussion will help provide background information for readers, so as to facilitate better In order to understand the various aspects of the present disclosure, it is to be understood that the discussion is read in this light, and not as admissions of prior art.

Utility model content

The purpose of this utility model is to avoid the deficiencies in the prior art and provide a multi-scale two-axis rotating laser image three-dimensional reconstruction system, which can not only solve the problem of difficult reconstruction of non-corner points, but also be applied to multi-scale range measurement .

The purpose of this utility model is achieved through the following technical solutions:

Provide a multi-scale two-axis rotating laser image three-dimensional reconstruction system, including a rotating control platform, an image acquisition system, a calibration plate, a line-structured laser, and a computer reconstruction processing system;

The rotary control platform includes an electric control rotary platform and a telescopic rotary bracket installed on the electronic control rotary platform. The telescopic rotary bracket is a T-shaped structure. tower;

The image acquisition system includes two image sensors, and the two image sensors are respectively installed on the rotary tables at the ends of the two arms;

The line-structure laser is installed at the rotation center of the electronically controlled turntable, and the emitted line laser is perpendicular to the horizontal plane. The plane where the line laser is located and the image planes captured by the two image sensors intersect on a straight line perpendicular to the horizontal plane.

The computer reconstruction processing system is used for camera system calibration, image matching and three-dimensional reconstruction calculation.

Wherein, the length of the support arm is adjustable.

Wherein, the two image sensors are placed horizontally and form a certain angle with each other.

Wherein, the two image sensors are of the same type, and each sensor is equipped with a variable-focus FA lens of the same type.

Due to the adoption of the above structure, the utility model is compared with the traditional binocular three-dimensional reconstruction system. The telescopic rotating bracket added by the utility model makes the relative error of the detected area adjustable, and the one-time calibration of the calibration board is used to achieve different rotation angles. Each camera system is calibrated, and then the scene area is scanned with a line-structured laser, and the image acquisition system acquires the image covered by the line laser, and performs image matching and 3D reconstruction operations to reconstruct the 3D structure of the area. The utility model can realize three-dimensional reconstruction of multi-scale space scenes, that is, the spherical radius is applicable in the space range of tens of centimeters to sub-ten meters, and the reconstruction effect is excellent and the error is small. In the proposed reconstruction method, the calibration of the camera system with different rotation angles is completed by one calibration combined with matrix operation, which simplifies the operation; the reconstruction by line laser scanning avoids the systematic error caused by the general feature point acquisition algorithm, and realizes The precise matching of images solves the problem that non-corner points cannot be reconstructed.

Description of drawings

Utilize accompanying drawing to further illustrate the utility model, but the embodiment in the accompanying drawing does not constitute any restriction to the utility model, for those of ordinary skill in the art, under the premise of not paying creative work, also can obtain according to following accompanying drawing Additional drawings.

Fig. 1 is a structural diagram of the reconstruction system of the present invention.

Fig. 2 is a schematic diagram of the image acquisition system of the present invention when rotating.

Fig. 3 is a flowchart of three-dimensional reconstruction using the reconstruction system of the present invention.

detailed description

In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the The embodiments and the features in the embodiments can be combined with each other.

As shown in Figures 1 and 2, the multi-scale dual-axis rotating laser image three-dimensional reconstruction system described in the present invention includes: a rotating control platform, an image acquisition system, a calibration plate, a line-structured laser, and a computer reconstruction processing system.

Among them, the rotary control platform includes an electric control rotary table 1 and a telescopic rotary support 2, the telescopic support is installed on the electric control rotary table, the telescopic rotary support is a T-shaped structure, and the telescopic rotary support has two support arms 4, 5, the support arms The length is adjustable, and the outer end of the support arm is equipped with a rotating table, which can realize 360-degree rotation;

Among them, the image acquisition system includes two image sensors 6 and 7 of the same type, and each sensor is equipped with a variable focus FA lens of the same type. into a certain angle;

Wherein, the line structure laser 3 is installed at the center of rotation of the electronically controlled rotary table, and the line laser light emitted is perpendicular to the horizontal plane. a straight line in the horizontal plane;

Among them, the computer reconstruction processing system can perform camera system calibration, image matching and three-dimensional reconstruction operations.

As shown in Figure 3, using the reconstruction method based on the multi-scale dual-axis rotation laser image three-dimensional reconstruction system described above includes the following steps:

S1: Select an appropriate scale according to the size of the measurement scene;

S2: Calibration of the image acquisition system;

S3: Combining line laser rotation scanning to collect images;

S4: Process the image in the computer reconstruction processing system to reconstruct the 3D scene.

For step S1, selecting an appropriate scale according to the size of the measurement scene includes the following steps:

S1-1: Adjust the length of both ends of the bracket and the angle between the two image sensors, so that the distance from the intersection of the optical axes of the two image sensors to the center of rotation is approximately equal to the radius of the measured scene;

S1-2: Adjust the variable focus FA lens to set a suitable focal length;

As preferably, for step S2, the calibration of the image acquisition system includes the following steps:

S2-1: Change the posture of the calibration board 8, and use the image acquisition system to take two images of the calibration board under different postures;

S2-2: Extract the pixel coordinates of the calibration points from the two captured images, perform camera system calibration in the computer reconstruction processing system, and obtain the camera matrices M1-0 and M2- of the two image sensors at the rotation angle respectively. 0;

S2-3: Calculate the two image sensor camera matrices M1-1 and M2-1, M1-2 and M2-2, ..., M1-359 corresponding to each rotation of the image acquisition system by performing matrix operations on the camera matrix With M2-359, that is, the calibration is completed, and the matrix calculation process is as follows:

As shown in Figure 2, the orientation of each axis of the world coordinate system is set with a rotation angle of 0° during calibration, where the X-axis is parallel to the horizontal plane to the right, the Y-axis is vertical to the horizontal plane downward, and the Z-axis is parallel to the horizontal plane and points to the intersection of the imaging planes of the two cameras. Wire.

Taking the camera matrix M1-0 as an example, the matrix M1-0 obtained after calibration using the calibration board is a 3×4 matrix. When the image acquisition system rotates α° (here α=1 is selected), it is actually equivalent to the camera itself being rotated α°, and then translated by the distances L1 and L2 in the X-axis and Z-axis directions respectively.

Wherein L1=L·(1-cosα), L2=L·sinα;

According to the matrix operation of geometric transformation, the rotation matrix R and translation matrix T can be obtained:

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{cccc}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; \&part;</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; \&part;</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; \&part;</span>& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; \&part;</span>& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{cccc}\mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; 1</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}\end{array}\right]<span\; class="notranslate">\; ;</span>$

The new camera matrix M1-α=(M1-0)·R·T under the angle of rotation α can be obtained.

For step S3, the acquisition of images combined with line laser rotation scanning includes the following steps:

S3-1: Start the line structured light laser, so that the line laser is irradiated on the scene display;

S3-2: Start the electronically controlled rotary table, and collect an image pair every time it rotates 1°;

S3-3: store the collected image pairs in the computer reconstruction processing system after one rotation;

For step S4, processing the image in the computer reconstruction processing system includes the following steps:

S4-1: Carry out image segmentation on the image in the image, and propose pixel coordinates of several laser points;

S4-2: Perform image matching on laser points;

S4-3: Perform 3D reconstruction operations to obtain 3D information of the scene.

A lot of specific details have been set forth in the above description in order to fully understand the utility model. However, the utility model can also be implemented in other ways different from those described here. Therefore, it should not be understood as limiting the protection scope of the utility model.

In a word, although the utility model has exemplified the above-mentioned preferred embodiments, it should be noted that although those skilled in the art can make various changes and modifications, unless such changes and modifications deviate from the scope of the utility model, otherwise all It should be included in the protection scope of the present utility model.

Claims (4)

1. A multi-scale two-axis rotating laser image three-dimensional reconstruction system, characterized in that it includes a rotating control platform, an image acquisition system, a calibration plate, a line-structured laser, and a computer reconstruction processing system; The rotary control platform includes an electric control rotary table (1) and a telescopic rotary support (2) installed on the electric control rotary table (1), the telescopic rotary support (2) is a T-shaped structure, and the telescopic rotary support (2) The ends of the two support arms (4, 5) are equipped with a 360-degree rotating turntable; The image acquisition system includes two image sensors (6, 7), and the two image sensors (6, 7) are respectively installed on the rotary table at the ends of the two support arms (4, 5); The line-structure laser (3) is installed at the center of rotation of the electric control rotary table (1), and the emitted line laser is perpendicular to the horizontal plane, the plane where the line laser is located, and the image plane captured by the two image sensors (6, 7) intersect in a straight line perpendicular to the horizontal plane; The computer reconstruction processing system is used for camera system calibration, image matching and three-dimensional reconstruction calculation. 2. The multi-scale two-axis rotating laser image three-dimensional reconstruction system according to claim 1, characterized in that: the length of the support arms (4, 5) is adjustable. 3. The multi-scale dual-axis rotating laser image three-dimensional reconstruction system according to claim 2, characterized in that: the two image sensors (6, 7) are placed horizontally and form a certain angle with each other. 4. The multi-scale two-axis rotating laser image three-dimensional reconstruction system according to claim 2, characterized in that: the two image sensors (6, 7) are of the same type, and each sensor is equipped with the same type of variable focus FA lens.