CN105758383A - Precision analysis method for binocular vision measuring system - Google Patents
Precision analysis method for binocular vision measuring system Download PDFInfo
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- CN105758383A CN105758383A CN201511017788.8A CN201511017788A CN105758383A CN 105758383 A CN105758383 A CN 105758383A CN 201511017788 A CN201511017788 A CN 201511017788A CN 105758383 A CN105758383 A CN 105758383A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a precision analysis method for a binocular vision measuring system.Precision analysis is carried out aiming at the binocular vision measuring system, and by establishment of an analytic relation among camera parameters, placement baselines and system precision of the binocular vision measuring system, parameters including the camera parameters, placement angles, baselines and the like can be determined on the basis of the analytic relation according to system precision requirements, so that quantifiable system design is realized.The precision analysis method for the binocular vision measuring system is applicable to reexamination and reference of practical engineering calculation.
Description
Technical field
The invention belongs to technical field of image processing, relate to a kind of two CCD camera measure system precision analytical method.
Background technology
The ultimate principle of two CCD camera measure system is the two width digital pictures simultaneously being obtained surrounding scenes by two video cameras from different perspectives, and recovers object dimensional geological information based on principle of parallax, rebuilds 3D shape and the position of surrounding scenes.
Two CCD camera measure system is currently mainly applied to four fields: robot navigation, the parameter detecting of micro OS, three-dimensional measurement and virtual reality.Two CCD camera measure system is referred to as " eyes " of system by people visually, and it has automatization, objective, noncontact and high-precision feature, and the precision of two CCD camera measure system is directly connected to the work effect of system.
Summary of the invention
In order to solve technical problem of the prior art, the present invention provides a kind of two CCD camera measure system precision analytical method.
In order to solve above-mentioned technical problem, technical scheme is specific as follows:
A kind of two CCD camera measure system precision analytical method, its analytical equipment being suitable for includes: two cameras；The zero of vision measurement system is based upon the projection centre of a wherein camera；
If the effective focal length of two cameras respectively f1、f2, the projection centre of two cameras respectively O1、O2, viewing field of camera angle isDistance between projection centre is baseline distance B；The angle of baseline distance B and two optical axises of camera is α respectively1、α2；(x, y are z) P', O at the subpoint of xz plane to 1, space P1P、O2P and O1P′、O2The angle of P ' is designated as respectivelyO1P′、O2The angle of P ' and two camera optical axis is ω respectively1、ω2；
This analysis method comprises the following steps:
According to geometrical relationship, it is possible to obtain:
Z is the impact point P distance z to measurement system, geometrical relationship can also obtain relevantExpression formula:
By above two formulas, the three-dimensional coordinate of any 1 P in space can be expressed as
Further by geometrical relationship, can obtain about expression formula:
According to pin-hole imaging principle, it is known that:
Ask partial derivative computing system precision as follows:
To simplify the analysis, f is made1=f2=f, α1=α2=α is given on the perpendicular bisector of camera baseline the certainty of measurement of point, therefore ω here1=ω2=ω；Range measurement accuracy is as follows:
Wherein △ is that spatial point P is becoming the imaging deviation in plane, △=p here, it is believed that deviation is not more than 1 pixel.
In technique scheme, around x-axis running accuracy analyze particularly as follows:
Spatial point P around x-axis rotate η spend time；
Local derviation is asked to obtain (4) formula:
In technique scheme, around y-axis running accuracy analyze particularly as follows:
Spatial point P is when y-axis rotation β is spent；
Local derviation is asked to obtain (6) formula:
In technique scheme, around z-axis running accuracy analyze particularly as follows:
Spatial point P around z-axis rotate γ spend time；
Owing to γ is only small, now the variable quantity of Y-direction much larger than X-direction variable quantity, therefore can only consider Y-direction change, and wherein a/2 is the half of field coverage, then have
Around z-axis running accuracy it is:
The present invention has following beneficial effect:
The two CCD camera measure system precision analytical method of the present invention, can be used as checking and reference of practical engineering calculation.
The two CCD camera measure system precision analytical method of the present invention, system accuracy analysis is carried out for two CCD camera measure system, by the parsing relation establishing binocular measuring system camera parameter, put between baseline and system accuracy, utilize this parsing relation, we can according to the required precision of system, determine the parameters such as camera parameter, angles and baseline, it is achieved thereby that the design of quantifiable system.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is binocular stereo vision imaging model schematic diagram.
Fig. 2 is the imaging schematic diagram when x-axis rotates.
Fig. 3 is the imaging schematic diagram when y-axis rotates.
Fig. 4 is the imaging schematic diagram when z-axis rotates.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.
1. positional accuracy measurement analysis
In order to analyze binocular stereo vision configuration and the parameter impact on precision, set up such as the precision analysis model of Fig. 1.
Conveniently, the zero of vision measurement system is based upon the projection centre of a wherein camera.If the effective focal length of two cameras respectively f1、f2, the projection centre of two cameras respectively O1、O2, viewing field of camera angle is
Distance between projection centre is baseline distance B.The angle of baseline distance B and two optical axises of camera is α respectively1、α2.(x, y are z) P', O at the subpoint of xz plane to 1, space P1P、O2P and O1P′、O2The angle of P ' is designated as respectivelyO1P′、O2The angle of P ' and two camera optical axis is ω respectively1、ω2。
According to the geometrical relationship in Fig. 1, it is possible to obtain:
Z is the impact point P distance z to measurement system, geometrical relationship can also obtain relevantExpression formula:
By above two formulas, the three-dimensional coordinate of any 1 P in space can be expressed as
Further by the geometrical relationship of Fig. 1, can obtain about expression formula:
According to pin-hole imaging principle, it is known that:
Ask partial derivative computing system precision as follows:
To simplify the analysis, f is made1=f2=f, α1=α2=α is given on the perpendicular bisector of camera baseline the certainty of measurement of point, therefore ω here1=ω2=ω.Range measurement accuracy is as follows:
Wherein △ is that spatial point P is becoming the imaging deviation in plane, △=p here, it is believed that deviation is not more than 1 pixel.
2. analyze around x-axis running accuracy
Spatial point P around x-axis rotate η spend time, the imaging schematic diagram of P' is as shown in Figure 2.
Local derviation is asked to obtain (4) formula:
3. analyze around y-axis running accuracy
Spatial point P is when y-axis rotation β is spent, and the imaging schematic diagram of P' is as shown in Figure 3.
Local derviation is asked to obtain (6) formula:
4. analyze around z-axis running accuracy
Spatial point P around z-axis rotate γ spend time, the imaging schematic diagram of P' is as shown in Figure 4.
Owing to γ is only small, now the variable quantity of Y-direction much larger than X-direction variable quantity, therefore can only consider Y-direction change, and wherein a/2 is the half of field coverage, then have
Around z-axis running accuracy it is:
The checkout procedure of the two CCD camera measure system precision analytical method of the present invention is as follows:
1. hardware environment: matlab2013.
2. step
1) software arrangements
Title: Stereo_precision.m
Position: this file is arranged in the precision analysis position of system
Function: can according to camera parameter computing system precision.
Step: see below
Interface: input as camera parameter, is output as translation running accuracy.
2) step
A) camera parameter information is set
(1) camera focus f=12mm；
(2) pixel dimension p=4.8um；
(3) viewing field of camera angle is 42 ° × 27 °；
(4) binocular camera baseline B=200mm；
(5) camera optical axis and horizontal sextant angle α=79 °.
B) parameter in a) substitutes into (11)～(13), (16), (19), (22) formula obtain the translation precision in X, Y, Z axis direction and around the running accuracy of X, Y, Z axis.
According to formula (11)～(13), (16), (19), (22) calculate the distance under different distance and running accuracy is as shown in table 1.
Table 1 distance and running accuracy
Can be seen that from above-mentioned experimental result, utilize the two CCD camera measure system precision analysis device of the present invention, can according to the required precision of system, determine the parameters such as the parameter of camera, angles and baseline, it is achieved thereby that the design of quantifiable system, the analysis method that the present invention provides and analysis result can be used as checking of practical engineering calculation.
Obviously, above-described embodiment is only for clearly demonstrating example, and is not the restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And the apparent change thus extended out or variation are still among the protection domain of the invention.
Claims (4)
1. a two CCD camera measure system precision analytical method, it is characterised in that
Its analytical equipment being suitable for includes: two cameras；The zero of vision measurement system is based upon the projection centre of a wherein camera；
If the effective focal length of two cameras respectively f1、f2, the projection centre of two cameras respectively O1、O2, viewing field of camera angle isDistance between projection centre is baseline distance B；The angle of baseline distance B and two optical axises of camera is α respectively1、α2；(x, y are z) P', O at the subpoint of xz plane to 1, space P1P、O2P and O1P′、O2The angle of P ' is designated as respectivelyO1P′、O2P′With the angle of two camera optical axises ω respectively1、ω2；
This analysis method comprises the following steps:
According to geometrical relationship, it is possible to obtain:
Z is the impact point P distance z to measurement system, geometrical relationship can also obtain relevantExpression formula:
By above two formulas, the three-dimensional coordinate of any 1 P in space can be expressed as
Further by geometrical relationship, can obtain about expression formula:
According to pin-hole imaging principle, it is known that:
Ask partial derivative computing system precision as follows:
To simplify the analysis, f is made1=f2=f, α1=α2=α is given on the perpendicular bisector of camera baseline the certainty of measurement of point, therefore ω here1=ω2=ω；Range measurement accuracy is as follows:
Wherein Δ is that spatial point P is becoming the imaging deviation in plane, Δ=p here, it is believed that deviation is not more than 1 pixel.
2. two CCD camera measure system precision analytical method according to claim 1, it is characterised in that around x-axis running accuracy analyze particularly as follows:
Spatial point P around x-axis rotate η spend time；
Local derviation is asked to obtain (4) formula:
3. two CCD camera measure system precision analytical method according to claim 1, it is characterised in that around y-axis running accuracy analyze particularly as follows:
Spatial point P is when y-axis rotation β is spent；
Local derviation is asked to obtain (6) formula:
4. two CCD camera measure system precision analytical method according to claim 1, it is characterised in that around z-axis running accuracy analyze particularly as follows:
Spatial point P around z-axis rotate γ spend time；
Owing to γ is only small, now the variable quantity of Y-direction much larger than X-direction variable quantity, therefore can only consider Y-direction change, and wherein a/2 is the half of field coverage, then have
Around z-axis running accuracy it is:
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106323337A (en) * | 2016-08-02 | 2017-01-11 | 上海航天控制技术研究所 | Stereoscopic-vision relative-measurement-system error analysis method |
| CN110332924A (en) * | 2019-08-19 | 2019-10-15 | 哈尔滨博觉科技有限公司 | Dilution instrument spatial vision deviations modification method based on twin-line array CCD |
| CN110555902A (en) * | 2019-09-10 | 2019-12-10 | 中国科学院长春光学精密机械与物理研究所 | monocular vision measurement cooperative target vision simulation system |
| WO2022134938A1 (en) * | 2020-12-24 | 2022-06-30 | 上海智能制造功能平台有限公司 | Binocular sensor visual measurement probe and binocular sensor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323337A (en) * | 2016-08-02 | 2017-01-11 | 上海航天控制技术研究所 | Stereoscopic-vision relative-measurement-system error analysis method |
| CN110332924A (en) * | 2019-08-19 | 2019-10-15 | 哈尔滨博觉科技有限公司 | Dilution instrument spatial vision deviations modification method based on twin-line array CCD |
| CN110555902A (en) * | 2019-09-10 | 2019-12-10 | 中国科学院长春光学精密机械与物理研究所 | monocular vision measurement cooperative target vision simulation system |
| CN110555902B (en) * | 2019-09-10 | 2021-03-16 | 中国科学院长春光学精密机械与物理研究所 | Monocular vision measurement cooperative target vision simulation system |
| WO2022134938A1 (en) * | 2020-12-24 | 2022-06-30 | 上海智能制造功能平台有限公司 | Binocular sensor visual measurement probe and binocular sensor |
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Application publication date: 20160713 |