基于单应性矩阵的线结构光系统简易标定方法

平乙杉; 刘元坤

doi:doi:10.12086/oee.2019.180677

光电工程, 2019, 46 (12): 180677, 网络出版: 2020-01-09

基于单应性矩阵的线结构光系统简易标定方法

An easy line-structured light system calibration method based on homography matrix

论文大纲

平乙杉刘元坤 ^*

作者单位

四川大学电子信息学院，四川成都 610065

机器视觉线结构光单应性矩阵标定光刀平面 machine vision line-structured light homography matrix calibration light plane

摘要

提出通过构造光刀平面，采用单应性矩阵的计算方法，完成线结构光系统标定。该方法通过在相机景深范围内平移标定靶，获取不同位置的光刀图像和靶标图像，从同一位置的两幅图中提取出特征点图像，构成一个光刀平面。按照相机针孔成像模型，可以建立光刀平面与相机系统的单应性矩阵关系，并计算出该矩阵，从而完成标定。在测量时，只需根据提取出的光刀图像像素坐标，结合单应性矩阵即可得到待测物体坐标，再结合平移设备，便可完成对整个物体的测量。实验证明，线结构光系统标定最大残差小于0.05 mm，标准差小于0.02 mm，两个面之间的测量距离相对误差低于1.3%。整个系统标定过程简单，适用于快速标定线结构光系统和工业化测量。

Abstract

An easy line-structured light system calibration method is proposed, which is based on the constructed light plane and homography matrix. In this method, the sequential images of the light plane and calibration target are obtained at different positions by shifting a translating target plane within the depth of camera’s field, then a series of feature points would be extracted from these images to form a light plane. Then, a homography matrix, which is the mapping relationship between the light plane and the image plane of camera, can be calculated. In the experiment, the 3D data can be obtained by using this homography matrix when image coordinates of the light plane are extracted in an arbitrary image. Then the entire object can be measured by using a translation device. For the real data of calibration, the maximum residual error is less than 0.05 mm, standard deviation is less than 0.02 mm, the relative error of the measured distance between the two planes is less than 1.3%. The proposed method can make the entire calibration process easy and flexible to use.

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平乙杉, 刘元坤. 基于单应性矩阵的线结构光系统简易标定方法[J]. 光电工程, 2019, 46(12): 180677. Ping Yishan, Liu Yuankun. An easy line-structured light system calibration method based on homography matrix[J]. Opto-Electronic Engineering, 2019, 46(12): 180677.

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