双视角三维测量系统同时标定方法

赵涵卓; 高楠; 孟召宗; 张宗华

doi:10.12086/oee.2021.200127

双视角三维测量系统同时标定方法

doi: 10.12086/oee.2021.200127

基金项目:

国家重大科学仪器设备开发重点专项 2017YFF0106404

国家自然科学基金资助项目 51675160

河北省应用基础研究计划重点基础研究资助项目 15961701D

详细信息

作者简介:
赵涵卓(1992-)，女，硕士研究生，主要从事光学三维测量的研究。E-mail: 972466185@qq.com

通讯作者:
高楠(1982-)，男，博士研究生，副教授，主要从事光学测量与光谱检测方面的研究。E-mail: ngao@hebut.edu.cn

中图分类号: TH741
计量
- 文章访问数: 256
- HTML全文浏览量: 180
- PDF下载量: 12
- 被引次数: 0
出版历程
- 收稿日期: 2020-04-18
- 修回日期: 2020-09-14

Method of simultaneous calibration of dual view 3D measurement system

Funds:

Major Project of the Scientific Equipment Development of China 2017YFF0106404

National Natural Science Foundation of China 51675160

Major Basic Research Projects of Hebei Applied Basic Research Program 15961701D

More Information

Corresponding author: Gao Nan, E-mail: ngao@hebut.edu.cn

摘要

摘要: 针对现有标定方法在相机无公共视场情况下的局限性，本文提出使用双平面标定板对双相机进行同时标定的方法。通过推导两个相机与两个标定板间的坐标变换，将待标定相机与参考相机的相对位姿关系的求解转换为较为成熟的手眼标定方程求解。通过实验验证：该方法可实现双相机的同时标定，且方法的绝对误差不超过0.089 mm，较为可靠；在双视角三维测量系统中，与相位-深度的累积误差不超过0.116 mm，可为进一步的数据融合提供可靠的初值。此外，由于本方法灵活方便，可适用于多视角三维测量系统的同时标定。
- 双视角测量 /
- 全局标定 /
- 系统标定 /
- 条纹投影
Abstract: In view of the limitations of the existing methods when the camera has no common field of view, this paper proposes a method of using two plane calibration plates to calibrate two cameras at the same time. By deriving the coordinate transformation between the two cameras and two calibration plates, the solution of the relative pose relationship between any camera and the reference camera is transformed into a more mature hand-eye calibration equation. The experimental results show that this method can achieve simultaneous calibration of two cameras, and the absolute error is less than 0.089 mm. In the dual vision 3D measurement system, the cumulative error with phase height is less than 0.116 mm, which can provide a reliable initial value for the next step of data fusion.
- dual vision measurement /
- global calibration /
- system calibration /
- fringe projection

HTML全文

图 1 测量系统模型

Figure 1. Model of measurement system

下载: 全尺寸图片幻灯片

图 2 全局标定示意图

Figure 2. Global calibration diagram

下载: 全尺寸图片幻灯片

图 3 双视角三维测量系统

Figure 3. Double vision 3D measurement system

下载: 全尺寸图片幻灯片

图 4 双棋盘格标定板

Figure 4. Double checkerboard calibration board

下载: 全尺寸图片幻灯片

图 5 全局标定精度验证

Figure 5. Global calibration accuracy verification

下载: 全尺寸图片幻灯片

图 6 选取的验证距离

Figure 6. Selected verification distance

下载: 全尺寸图片幻灯片

图 7 双圆环标定板

Figure 7. Double ring targets

下载: 全尺寸图片幻灯片

图 8 视角1恢复的台阶三维形貌

Figure 8. Three dimensional topography of steps restored by perspective 1

下载: 全尺寸图片幻灯片

图 9 相机2视角恢复的台阶三维形貌

Figure 9. Three dimensional topography of steps restored by perspective 2

下载: 全尺寸图片幻灯片

图 10 两视角融合效果图

Figure 10. Fusion of two perspectives

下载: 全尺寸图片幻灯片

表 1 全局标定精度验证结果

Table 1. Verification results of global calibration accuracy

摆放位置	最大误差/mm	最小误差/mm	平均误差/mm
1	0.089	0.036	0.075
2	0.077	0.039	0.069
3	0.084	0.045	0.071

下载: 导出CSV

表 2 双视角测量结果(单位：mm)

Table 2. Measurement results of double view angle (unit: mm)

	台阶实际间距
	17.603	18.422	13.258	18.212
视角1测量间距	17.637	18.386	13.291	18.255
视角1测量误差	0.034	0.036	0.033	0.043
视角2测量间距	17.643	18.387	13.225	18.253
视角2测量误差	0.040	0.035	0.033	0.041
双视角测量结果	18.408	17.611	13.994	17.618
双视角测量误差	0.102	0.097	0.090	0.116

下载: 导出CSV

参考文献(20)

[1]	白雪飞, 张宗华. 基于彩色条纹投影术的三维形貌测量[J]. 仪器仪表学报, 2017, 38(8): 1912-1925. doi: 10.3969/j.issn.0254-3087.2017.08.009 Bai X F, Zhang Z H. 3D shape measurement based on colour fringe projection techniques[J]. Chin J Sci Instrum, 2017, 38(8): 1912-1925. doi: 10.3969/j.issn.0254-3087.2017.08.009
[2]	唐燕, 陈文静, 张强, 等. 神经网络获取三维面形研究[J]. 光电工程, 2007, 34(12): 61-65. doi: 10.3969/j.issn.1003-501X.2007.12.013 Tang Y, Chen W J, Zhang Q, et al. BP neural network applied to 3D object measurement based on fringe pattern projection[J]. Opto-Electron Eng, 2007, 34(12): 61-65. doi: 10.3969/j.issn.1003-501X.2007.12.013
[3]	Li B W, Zhang S. Superfast high-resolution absolute 3D recovery of a stabilized flapping flight process[J]. Opt Express, 2017, 25(22): 27270-27282. doi: 10.1364/OE.25.027270
[4]	范生宏, 刘昌儒, 亓晓彤, 等. 结构光三维测量系统精度分析及验证[J]. 光电工程, 2014, 41(5): 52-56. doi: 10.3969/j.issn.1003-501X.2014.05.009 Fan S H, Liu C R, Qi X T, et al. Accuracy analysis and verification of structured light 3D measurement system[J]. Opto-Electron Eng, 2014, 41(5): 52-56. doi: 10.3969/j.issn.1003-501X.2014.05.009
[5]	罗剑, 袁家虎. 光栅投影式三维摄影测量仪的几何标定方法[J]. 光电工程, 2005, 32(11): 43-48, 67. doi: 10.3969/j.issn.1003-501X.2005.11.012 Luo J, Yuan J H. Geometric calibration method of 3D photogrammetric instruments using grating projection[J]. Opto-Electron Eng, 2005, 32(11): 43-48, 67. doi: 10.3969/j.issn.1003-501X.2005.11.012
[6]	Chen M Y, Tang Y C, Zhou X J, et al. High-accuracy multi-camera reconstruction enhanced by adaptive point cloud correction algorithm[J]. Opt Lasers Eng, 2019, 122: 170-183. doi: 10.1016/j.optlaseng.2019.06.011
[7]	苏显渝, 程晓雪, 郭履容. 三维物体360°面形自动测量方法[J]. 光学学报, 1989, 9(7): 670-672. doi: 10.3321/j.issn:0253-2239.1989.07.017 Su X Y, Cheng X X, Guo L R. An automated method for 360° surface measurement of 3-D objects[J]. Acta Opt Sin, 1989, 9(7): 670-672. doi: 10.3321/j.issn:0253-2239.1989.07.017
[8]	鲁亚楠, 万子敬, 王向军. 一种无公共视场相机位置关系的求解方法[J]. 应用光学, 2017, 38(3): 400-405. https://www.cnki.com.cn/Article/CJFDTOTAL-YYGX201703010.htm Lu Y N, Wan Z J, Wang X J. Solution to relative position of cameras without public FOV[J]. J Appl Opt, 2017, 38(3): 400-405. https://www.cnki.com.cn/Article/CJFDTOTAL-YYGX201703010.htm
[9]	Liu Z, Meng Z Z, Gao N, et al. Calibration of the relative orientation between multiple depth cameras based on a three-dimensional target[J]. Sensors(Basel), 2019, 19(13): 3008. doi: 10.3390/s19133008
[10]	Besl P J, McKay N D. A method for registration of 3-D shapes[J]. IEEE Trans Pattern Anal Mach Intell, 1992, 14(2): 239-256. doi: 10.1109/34.121791
[11]	楚圣辉, 张慧萌, 陈硕, 等. 大场景下多目立体视觉标定方法的研究[J]. 现代计算机(专业版), 2017(15): 33-38. https://www.cnki.com.cn/Article/CJFDTOTAL-XDJS201715008.htm Chu S H, Zhang H M, Chen S, et al. Research on the calibration method of multi eye stereo vision in large scenes[J]. Mod Comput, 2017(15): 33-38. https://www.cnki.com.cn/Article/CJFDTOTAL-XDJS201715008.htm
[12]	潘华伟, 杨振先, 高春鸣, 等. 一种基于平面模板的多摄像机标定方法[J]. 计算机应用研究, 2011, 28(11): 4357-4360. doi: 10.3969/j.issn.1001-3695.2011.11.096 Pan H W, Yang Z X, Gao C M, et al. Multi-camera calibration method using planar patterns[J]. Appl Res Comput, 2011, 28(11): 4357-4360. doi: 10.3969/j.issn.1001-3695.2011.11.096
[13]	郎威, 薛俊鹏, 李承杭, 等. 基于旋转台参数标定实现多视角点云拼接[J]. 中国激光, 2019, 46(11): 1104003. https://www.cnki.com.cn/Article/CJFDTOTAL-JJZZ201911031.htm Lang W, Xue J P, Li C H, et al. Splicing of multi-view point clouds based on calibrated parameters of turntable[J]. Chinese J Lasers, 2019, 46(11): 1104003. https://www.cnki.com.cn/Article/CJFDTOTAL-JJZZ201911031.htm
[14]	Zhang Z, Zhang D, Peng X. Performance analysis of a 3D full-field sensor based on fringe projection[J]. Opt Lasers Eng, 2004, 42(3): 341-353. doi: 10.1016/j.optlaseng.2003.11.004
[15]	周灿林, 司书春, 高成勇, 等. 基于格莱姆-施密特正交化两步相移轮廓术[J]. 光电工程, 2013, 40(6): 37-42. doi: 10.3969/j.issn.1003-501X.2013.06.007 Zhou C L, Si S C, Gao C Y, et al. Two-step phase-shifting profilometry based on Gram-Schmidt orthonormalization[J]. Opto-Electron Eng, 2013, 40(6): 37-42. doi: 10.3969/j.issn.1003-501X.2013.06.007
[16]	Tsai R Y, Lenz R K. A new technique for fully autonomous and efficient 3D robotics hand/eye calibration[J]. IEEE Trans Robot Autom, 1989, 5(3): 345-358. doi: 10.1109/70.34770
[17]	毛剑飞, 邵黄芳, 蒋莉, 等. 求解方程R_aR_x=R_xR_b的四元数几何研究[J]. 中国图象图形学报, 2010, 15(6): 951-957. doi: 10.11834/jig.20100615 Mao J F, Shao H F, Jiang L, et al. Quaternion geometrical analysis on solving equation R_aR_x=R_xR_b[J]. J Image Graph, 2010, 15(6): 951-957. doi: 10.11834/jig.20100615
[18]	王昌云, 李立君. 基于四元数的机器人手眼标定算法[J]. 传感器与微系统, 2019, 38(12): 133-135. https://www.cnki.com.cn/Article/CJFDTOTAL-CGQJ201912036.htm Wang C Y, Li L J. Hand-eye calibration algorithm for robot based on quaternion[J]. Transducer Microsyst Technol, 2019, 38(12): 133-135. https://www.cnki.com.cn/Article/CJFDTOTAL-CGQJ201912036.htm
[19]	胡为, 刘冲, 傅莉, 等. 一种高精度的机器人手眼标定算法[J]. 火力与指挥控制, 2018, 43(9): 19-24. doi: 10.3969/j.issn.1002-0640.2018.09.005 Hu W, Liu C, Fu L, et al. An algorithm for robot hand eye calibration with high accuracy[J]. Fire Control Comm Control, 2018, 43(9): 19-24. doi: 10.3969/j.issn.1002-0640.2018.09.005
[20]	魏振忠, 高明, 周富强, 等. 基于辅助摄像机的机器人延伸手眼标定方法[J]. 光电工程, 2008, 35(9): 76-80, 121. doi: 10.3969/j.issn.1003-501X.2008.09.016 Wei Z Z, Gao M, Zhou F Q, et al. Robot extended eye-in-hand calibration method based on an assistant camera[J]. Opto-Electron Eng, 2008, 35(9): 76-80, 121. doi: 10.3969/j.issn.1003-501X.2008.09.016