基于立体定向靶标的探针式多视场三维视觉测量系统

李云雷; 张曦

doi:10.3788/OPE.20192701.0034

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基于立体定向靶标的探针式多视场三维视觉测量系统

现代应用光学 | 更新时间：2020-08-13

- 基于立体定向靶标的探针式多视场三维视觉测量系统
- Probe-based multi-view field 3D vision measurement system based on three-dimensional orientation target
- 光学精密工程 2019年27卷第1期页码：34-44
- 作者机构：
  
  1.上海大学机电工程与自动化学院，上海 200072
  2.山东理工大学机械工程学院，山东淄博 255049
- 作者简介：
  
  [ "李云雷(1978-)，男，山东平原人，博士研究生，2002年、2005年于山东理工大学分别获得学士和硕士学位，主要从事近景工业摄影测量和机器视觉检测。E-mail:yunleili@163.com" ]
  张曦(1977-)，男，江苏徐州人，博士，副教授，1999年、2002年于中国矿业大学分别获得学士和硕士学位，2006年于北京航空航天大学获得博士学位，主要从事机器视觉检测。E-mail: xizhang@shu.edu.cn ZHANG Xi, E-mail: xizhang@shu.edu.cn
- 基金信息：
  
  国家自然科学基金面上项目(41376169);国家自然科学基金资助项目(61673252);国家自然科学基金面上项目(51205243)
- DOI：10.3788/OPE.20192701.0034
  中图分类号： TP391; TH741
- 收稿日期：2018-08-06，
  
  录用日期：2018-10-8，
  
  纸质出版日期：2019-01-15
- 稿件说明：
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李云雷, 张曦. 基于立体定向靶标的探针式多视场三维视觉测量系统[J]. 光学精密工程, 2019,27(1):34-44.

Yun-lei LI, Xi ZHANG. Probe-based multi-view field 3D vision measurement system based on three-dimensional orientation target[J]. Optics and precision engineering, 2019, 27(1): 34-44.
李云雷, 张曦. 基于立体定向靶标的探针式多视场三维视觉测量系统[J]. 光学精密工程, 2019,27(1):34-44. DOI： 10.3788/OPE.20192701.0034.

Yun-lei LI, Xi ZHANG. Probe-based multi-view field 3D vision measurement system based on three-dimensional orientation target[J]. Optics and precision engineering, 2019, 27(1): 34-44. DOI： 10.3788/OPE.20192701.0034.

摘要

针对含有遮挡区域、深孔及凹槽等特征的多面体或回转体物体，设计了一套基于立体定向靶标的探针式多视场三维视觉测量系统。首先，基于近景摄影测量技术建立立体定向靶标的6个单元模型，计算靶标各侧面角点在各自单元模型内的坐标，单元模型的链接和光束平差，获取全部角点的精确全局坐标，作为立体定向靶标的全局控制点。然后，设计了利用共面角点辅助定位的探针，仍基于近景摄影测量技术解算出角点和测头在探针坐标系中的精确坐标。最后，利用共面的棋盘格角点与其像平面之间的单应性矩阵，推导全局坐标系、探针坐标系各自与相机坐标系的位姿关系，进而求得探针测头的全局坐标。以量块(量棒)的标准长度作为评价指标，在2 m×1.5 m的视场范围内测量精度优于0.1 mm。测量实验表明，多视场三维视觉测量系统用于测量具有回转体结构特征的水壶，能够获取水壶表面全部区域的点云数据。

Abstract

To meet the shape measurement of a polyhedral or rotary body

whose surface includes shadowed areas

deep holes

or grooves

a probe Multi-View Field (MVF) 3D vision measurement system based on 3D orientation target was proposed. We introduce the structure and principle of the vision measurement system. First

based on close range photogrammetry

six element models of the orientation target were built and the local coordinates of the corners in each model were obtained. Based on the above results

stitching six element models and bundle adjustments were further used to calculate the precise global coordinates of all corners. Next

a probe with assistant locating coplanar corners was designed and close range photogrammetry technology was used to compute the precise coordinates of the coplanar corners and probe head in the probe coordinate system. Finally

using the homography matrix between the coplanar chessboard corners and its image plane

the position and orientation between the global or probe coordinate system and camera were derived

respectively

by which the global coordinates of the probe head were determined. Taking the standard length of the gauge block and length bar as the evaluation index

accuracy better than 0.1 mm was achieved in a field of 2 m × 1.5 m. The real experiment to measure 3D data was performed on a kettle

whose shape has the characteristics of a rotating body

and the results demonstrate that the MVF 3D vision measurement system can acquire point clouds in all areas of the kettle surface.

关键词

Keywords

references

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