CN105758383A - Precision analysis method for binocular vision measuring system - Google Patents
Precision analysis method for binocular vision measuring system Download PDFInfo
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- camera
- around
- follows
- axis
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004458 analytical method Methods 0.000 title claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000003384 imaging method Methods 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
本发明的双目视觉测量系统精度分析方法，针对双目视觉测量系统开展系统精度分析，通过建立了双目测量系统相机参数、摆放基线与系统精度之间的解析关系，利用该解析关系，我们可以根据系统的精度要求，确定相机参数、摆放角度和基线等参数，从而实现了可量化的系统设计。本发明的双目视觉测量系统精度分析方法，可用作实际工程计算的复核与参考。
The accuracy analysis method of the binocular vision measurement system of the present invention carries out the system accuracy analysis for the binocular vision measurement system, and establishes the analytical relationship between the camera parameters of the binocular measurement system, the placement baseline and the system accuracy, and utilizes the analytical relationship, According to the accuracy requirements of the system, we can determine the camera parameters, placement angle, baseline and other parameters, thus realizing a quantifiable system design. The accuracy analysis method of the binocular vision measurement system of the present invention can be used as a review and reference for actual engineering calculations.
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:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511017788.8A CN105758383A (en) | 2015-12-30 | 2015-12-30 | Precision analysis method for binocular vision measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511017788.8A CN105758383A (en) | 2015-12-30 | 2015-12-30 | Precision analysis method for binocular vision measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105758383A true CN105758383A (en) | 2016-07-13 |
Family
ID=56342260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511017788.8A Pending CN105758383A (en) | 2015-12-30 | 2015-12-30 | Precision analysis method for binocular vision measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105758383A (en) |
Cited By (4)
| 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 |
| 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102519434A (en) * | 2011-12-08 | 2012-06-27 | 北京控制工程研究所 | Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data |
| CN104091345A (en) * | 2014-07-24 | 2014-10-08 | 中国空气动力研究与发展中心高速空气动力研究所 | Five-point relative orientation method based on forward intersection constraints |
| CN105043259A (en) * | 2015-08-25 | 2015-11-11 | 大连理工大学 | Numerical control machine tool rotating shaft error detection method based on binocular vision |
-
2015
- 2015-12-30 CN CN201511017788.8A patent/CN105758383A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102519434A (en) * | 2011-12-08 | 2012-06-27 | 北京控制工程研究所 | Test verification method for measuring precision of stereoscopic vision three-dimensional recovery data |
| CN104091345A (en) * | 2014-07-24 | 2014-10-08 | 中国空气动力研究与发展中心高速空气动力研究所 | Five-point relative orientation method based on forward intersection constraints |
| CN105043259A (en) * | 2015-08-25 | 2015-11-11 | 大连理工大学 | Numerical control machine tool rotating shaft error detection method based on binocular vision |
Non-Patent Citations (2)
| Title |
|---|
| 刘佳音等: "一种双目立体视觉系统的误差分析方法", 《光学技术》 * |
| 吴彰良等: "双目立体视觉传感器精度分析与参数设计", 《郑州轻工业学院学报》 * |
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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang | Camera calibration with one-dimensional objects | |
| Zhang et al. | A robust and rapid camera calibration method by one captured image | |
| US20150062123A1 (en) | Augmented reality (ar) annotation computer system and computer-readable medium and method for creating an annotated 3d graphics model | |
| CN100417231C (en) | Stereo vision hardware-in-the-loop simulation system and method | |
| CN103983186B (en) | Binocular vision system bearing calibration and calibration equipment | |
| CN101586943B (en) | Method for calibrating structure light vision transducer based on one-dimensional target drone | |
| CN107358633A (en) | Join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things | |
| Nguyen et al. | Accuracy assessment of fringe projection profilometry and digital image correlation techniques for three-dimensional shape measurements | |
| CN110044374A (en) | A kind of method and odometer of the monocular vision measurement mileage based on characteristics of image | |
| Feng et al. | Inertial measurement unit aided extrinsic parameters calibration for stereo vision systems | |
| CN109238235A (en) | Monocular sequence image realizes rigid body pose parameter continuity measurement method | |
| Liu et al. | Epipolar rectification method for a stereovision system with telecentric cameras | |
| CN105758383A (en) | Precision analysis method for binocular vision measuring system | |
| Patel et al. | Distance measurement system using binocular stereo vision approach | |
| Liu et al. | On-site calibration method for outdoor binocular stereo vision sensors | |
| Wu et al. | A camera calibration method based on OpenCV | |
| CN109493378B (en) | Verticality detection method based on combination of monocular vision and binocular vision | |
| KR101130482B1 (en) | Method for 3d measurement of the structural vibration by photogrammetry | |
| Lim et al. | Virtual camera rectification with geometrical approach on single-lens stereovision using a biprism | |
| CN108257184A (en) | Camera attitude measurement method based on square lattice cooperative target | |
| Zhao et al. | Geometrical-analysis-based algorithm for stereo matching of single-lens binocular and multi-ocular stereovision system | |
| Gao et al. | Analysis of ranging error of parallel binocular vision system | |
| Zhang | Augmented reality on longwall face for unmanned mining | |
| Chen et al. | A novel camera calibration method based on known rotations and translations | |
| Li et al. | Method for horizontal alignment deviation measurement using binocular camera without common target |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160713 |
|
| WD01 | Invention patent application deemed withdrawn after publication |