CN105571512A - Vehicle information acquisition method based on integration of depth information and visual image information and device thereof - Google Patents
Vehicle information acquisition method based on integration of depth information and visual image information and device thereof Download PDFInfo
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- CN105571512A CN105571512A CN201510938080.XA CN201510938080A CN105571512A CN 105571512 A CN105571512 A CN 105571512A CN 201510938080 A CN201510938080 A CN 201510938080A CN 105571512 A CN105571512 A CN 105571512A
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- line
- area array
- information
- array cameras
- laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a vehicle information acquisition method based on integration of depth information and visual image information and a device thereof, and is suitable for structured light laser devices of different wavebands. Structured light is projected to the surface of an imaging object by a laser device, and intersected laser rays of structured light and the imaging object are acquired by an area array camera; visual image gray scale information of the imaging object is acquired by a linear array camera; the three dimensional coordinates of each point of the center line of the laser rays are calculated; and the three dimensional coordinates of each point of the center line of the laser rays are corresponding to visual images acquired by the linear array camera through perspective transformation so that the four-dimensional coordinates of each point can be formed. The advantages of the vehicle information acquisition method based on integration of the depth information and the visual image information and the device thereof are that three-dimensional information and the visual image information can be acquired simultaneously, the three-dimensional information has advantages in aspect of object measurement and the visual grey scale images have advantages of continuity of acquisition. Both advantages are combined by the method and the device, the method and the device can be used for bottom part, the side part or the top part of vehicles, and the visual image information and the depth information of the vehicles can be acquired.
Description
Technical field
The invention belongs to railroad train and run outward appearance field of fault detection, be specifically related to a kind of collecting vehicle information method of merging mutually based on depth information and visible image information and device.
Background technology
Along with the fast development of China railways cause, the application that employing automatic checkout system carries out train overhaul is more and more extensive, camera sensor is more and more applied, but camera sensor can only obtain the plane information of shot object, cannot obtain the depth information of object.And although the 3D harvester on market can collect the depth information of object, the plane information of object cannot be collected simultaneously.
Summary of the invention
The object of the invention is to propose a kind of collecting vehicle information method of merging mutually based on depth information and visible image information and device, can be used for the appearance information collection of vehicle or other field object in the fields such as railway, can compatible camera sensor and 3D harvester advantage that subject image is gathered, while the depth information gathering object, collect the plane information of object, make the information that collects abundanter.
The collecting vehicle information method merged mutually based on depth information and visible image information and a device, realized by following step:
Step 1: adjustment linear laser and line-scan digital camera, the line-structured light plane that linear laser is projected and the imaging plane of line-scan digital camera coplanar.
Step 2: by linear laser to imaging object surface projection structured light.
Step 3: the angle between the camera lens of adjusting range array camera and the projection optical axis of linear laser, makes area array cameras can obtain the structured light laser rays crossing with imaging object.
Step 4: set up formula
Determine the three-dimensional coordinate of any point P under area array cameras coordinate system in line-structured light plane; In formula: ρ is scale-up factor, A is the internal reference matrix of area array cameras, P
c=(x
c, y
c, z
c, 1)
t, for a p is at area array cameras coordinate system O
c(x
c, y
c, z
c) under homogeneous coordinates;
for a p is at image coordinate system O
u(x
u, y
u) under homogeneous coordinates; A, b, c, d represent four coefficients of the plane equation of line-structured light plane respectively.
Step 5: the adjustment brightness of linear laser and the time shutter of area array cameras, make laser rays can in measurement range blur-free imaging; Adjust the time shutter of line-scan digital camera simultaneously, avoid laser rays imaging overexposure in line-scan digital camera.
Step 6: visual image half-tone information (g) being gathered imaging object by line-scan digital camera.
Step 7: obtain the image comprising laser rays, then binary image by area array cameras shooting laser rays, extract laser rays profile.
Step 8: the position of center line of locating laser line profile, and the coordinate that on the center line obtaining laser rays, each point is fastened in image coordinate.
Step 9: bring in the formula of step 4 at the coordinate that image coordinate is fastened by each point on the center line of laser rays, calculates the three-dimensional coordinate (x ', y ', z ') of laser rays center line each point on image that area array cameras obtains.
Step 10: on laser rays center line step 9 obtained by perspective transform, the three-dimensional coordinate of each point corresponds on the visual image that line-scan digital camera collects, formed each point four-dimensional coordinate (x ', y ', z ', g).
Perpendicular line structured light uniform plane translation imaging object, by area array cameras, imaging object surface laser line is taken continuously, thus the three-dimensional information of diverse location and half-tone information on acquisition imaging object, then obtain four-dimensional information by 10 steps, after splicing, obtain the three-D profile of imaging object.
The invention has the advantages that:
1, collecting vehicle information method of the present invention and device, three-dimensional information and visible image information can be gathered simultaneously, 3 dimension information have advantage in the measurement etc. of object, and visual gray level image has the continuity advantage of collection, present invention incorporates advantage between the two, can be used for vehicle bottom, sidepiece or top etc., simultaneously the visible image information of collection vehicle and depth information.
2, in collecting vehicle information method of the present invention and device, line-scan digital camera, area array cameras sharing structure ray laser light source; And structured light LASER Light Source can adopt single light source or multiple light courcess according to demand;
3, in collecting vehicle information method of the present invention and device, linear laser can adopt different wave bands, is applicable to the object of different reflecting surfaces, and can effective guarantee Iimaging Stability; ;
4, in collecting vehicle information method of the present invention and device, the impact of environmental factor on imaging can be eliminated by adding optical filter at area array cameras;
5, vehicle information collecting device of the present invention, structure is simple, has shockproof and rain proofness, can make standalone module.
Accompanying drawing explanation
Fig. 1 is collecting vehicle information method flow diagram of the present invention;
Fig. 2 is in collecting vehicle information method of the present invention, position relationship schematic diagram between laser line generator, line-scan digital camera, area array cameras and testee;
Fig. 3 is vehicle information collecting device one-piece construction schematic diagram of the present invention;
Fig. 4 is the connected mode schematic diagram between vehicle information collecting device neutral line laser instrument of the present invention, line-scan digital camera, area array cameras.
1-linear laser 2-area array cameras 3-line-scan digital camera 4-imaging object
5-projection plane 6-line-structured light plane 7-shell 8-connection bracket
9-mounting bracket 10-area array cameras support 11-rotating shaft
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention is based on the collecting vehicle information method that depth information merges mutually with visible image information, realize especially by following step:
Step 1: adjustment linear laser 1 and line-scan digital camera 3, the line-structured light plane 6 that linear laser 1 is projected is coplanar with the imaging plane of line-scan digital camera 3.
Step 2: by linear laser 1 to imaging object 4 surface projection structured light.
Step 3: according to the size of imaging object 4, scope and shooting precision setting, the angle between the camera lens of adjusting range array camera 2 and the projection optical axis of linear laser 1, makes area array cameras 2 can obtain the structured light laser rays crossing with imaging object 4; If imaging object 4 surface is without height change, then laser rays is straight line; Otherwise if imaging object 4 surface exists height change, then laser rays is curve.
Step 4: parameter and the line-structured light plane 5 of demarcating area array cameras 2.
If any point P is at the projection plane x of area array cameras 2 in line-structured light plane 6
uo
uy
uon subpoint be p, some p at image coordinate system O
u(x
u, y
u) under homogeneous coordinates be
point p is at area array cameras 2 coordinate system O
c(x
c, y
c, z
c) under homogeneous coordinates be P
c=(x
c, y
c, z
c, 1)
t, some p is at world coordinate system O
w(x
w, y
w, z
w) under homogeneous coordinates be P
w=(x
w, y
w, z
w, 1)
t.
Thus, can obtain according to area array cameras 2 imaging model:
In formula (1), ρ is scale-up factor, and A is the internal reference matrix of area array cameras 2, and R, t are respectively rotation matrix and the translation vector that world coordinates is tied to area array cameras 2 coordinate system, and M is the projection matrix of area array cameras 2.
P point also meets the plane equation of place line-structured light plane 6 simultaneously, if line-structured light plane 6 is at area array cameras 2 coordinate system O
c(x
c, y
c, z
c) under meet equation:
ax
c+by
c+cz
c+d＝0(2)
In formula (2), a, b, c, d represent four coefficients of the plane equation of line-structured light plane 6 respectively.
Simultaneous formula (1), formula (2) can obtain:
At world coordinate system O
w(x
w, y
w, z
w) in, by area array cameras 2 imaging model determination ray O
cthe equation of p, is determined the plane equation of structured light plane 5, thus, by O by formula (2)
cthe intersection point of p and structured light plane 5 uniquely can determine the three-dimensional coordinate of a P under area array cameras 2 coordinate system.
Step 5: the adjustment brightness of the linear laser 1 and time shutter of area array cameras 2, avoids laser rays imaging overexposure, make laser rays can in measurement range blur-free imaging.Thus when binary image, what area array cameras 2 can be stable extracts laser rays profile; Adjust the time shutter of line-scan digital camera 3 simultaneously, avoid laser rays imaging overexposure in line-scan digital camera 3.
Step 6: visual image half-tone information (g) being gathered imaging object 4 by line-scan digital camera 3;
Step 7: take laser rays by area array cameras 2 and obtain the image comprising laser rays, then binary image, extract laser rays profile;
Step 8: because laser rays has one fixed width, by the position of center line of image procossing locating laser line profile in the present invention, and the coordinate that on the center line obtaining laser rays, each point is fastened in image coordinate;
Step 9: by step 4 Chinese style (3), calculates the three-dimensional coordinate (x ', y ', z ') of laser rays center line each point on image that area array cameras 2 obtains;
Step 10: according to the position relationship between line-scan digital camera 3 and area array cameras 2, pass through perspective transform:
P
Line＝P
c×M(4)
On laser rays center line step 9 obtained, the three-dimensional coordinate of each point corresponds on the visual image (gray level image) that line-scan digital camera 3 collects, formed each point four-dimensional coordinate (x ', y ', z ', g).In formula (4), P
linefor the coordinate on the image that laser rays gathers at line-scan digital camera 3, P
cfor the three-dimensional coordinate (x ', y ', z ') of each point on laser rays, M is 4x3 perspective transformation matrix.
The even translation imaging object 4 of perpendicular line structured light plane 6, taken continuously by area array cameras 2 pairs of imaging object 4 surface laser lines, thus obtain three-dimensional information and the half-tone information of diverse location on imaging object 4, then obtain four-dimensional information by step 9, the three-D profile of imaging object 4 after splicing, can be obtained.
For said method, the present invention also proposes a kind of vehicle information collecting device merged mutually based on depth information and visible image information, comprises linear laser 1, area array cameras 2, line-scan digital camera 3, shell 7 and connection bracket 8; Wherein, line-scan digital camera 3 and linear laser 1 share same mounting bracket 9 and support.Area array cameras 2 is installed on area array cameras support 10.Be connected by L-type connection bracket 8 between mounting bracket 9 with area array cameras support 10, be specially: connection bracket 7 one side and mounting bracket 9 fixing, another side to be coupling area array cameras support 10 by rotating shaft 10.The lens axis of above-mentioned area array cameras 2 and the coplanar A of projection optical axis of linear laser 1, and area array cameras support 10 is rotatable, and then the adjustment of angle between the projection optical axis realizing area array cameras 2 lens axis and linear laser 1.
Above-mentioned mounting bracket 9 is fixedly mounted in shell 7, is realized the encapsulation of linear laser 1, area array cameras 2 and line-scan digital camera 3 by shell 7; And at the camera lens of linear laser 1 towards side, be positioned at linear laser 1 and have opening with the camera lens corresponding position of area array cameras 2, and sealed by clear glass; Have opening in the camera lens corresponding position of line-scan digital camera 3 simultaneously, sealed by clear glass equally.
In vehicle information collecting device of the present invention, the linear laser 1 (comprising 808nm ± 20nm, the wave bands such as 650nm ± 20nm) of different-waveband can be adopted, be applicable to the object of different reflecting surfaces; And the mode of area array cameras 2 (ccd, cmos chip etc.) and optical filter combination can be adopted, be applicable to the scene that other light such as natural light are comparatively responsible for; Meanwhile, linear laser 1 can adopt single light source or multiple light courcess, is applicable to different illumination scenes.
Claims (3)
1. the collecting vehicle information method merged mutually based on depth information and visible image information and a device, be is characterized in that: realized by following step:
Step 1: adjustment linear laser and line-scan digital camera, the line-structured light plane that linear laser is projected and the imaging plane of line-scan digital camera coplanar;
Step 2: by linear laser to imaging object surface projection structured light;
Step 3: the angle between the camera lens of adjusting range array camera and the projection optical axis of linear laser, makes area array cameras can obtain the structured light laser rays crossing with imaging object;
Step 4: set up formula
determine the three-dimensional coordinate of any point P under area array cameras coordinate system in line-structured light plane; In formula: ρ is scale-up factor, A is the internal reference matrix of area array cameras, P
c=(x
c, y
c, z
c, 1)
t, for a p is at area array cameras coordinate system O
c(x
c, y
c, z
c) under homogeneous coordinates;
for a p is at image coordinate system O
u(x
u, y
u) under homogeneous coordinates; A, b, c, d represent four coefficients of the plane equation of line-structured light plane respectively;
Step 5: the adjustment brightness of linear laser and the time shutter of area array cameras, make laser rays can in measurement range blur-free imaging; Adjust the time shutter of line-scan digital camera simultaneously, avoid laser rays imaging overexposure in line-scan digital camera;
Step 6: visual image half-tone information (g) being gathered imaging object by line-scan digital camera;
Step 7: obtain the image comprising laser rays, then binary image by area array cameras shooting laser rays, extract laser rays profile;
Step 8: the position of center line of locating laser line profile, and the coordinate that on the center line obtaining laser rays, each point is fastened in image coordinate;
Step 9: bring in the formula of step 4 at the coordinate that image coordinate is fastened by each point on the center line of laser rays, calculates the three-dimensional coordinate (x ', y ', z ') of laser rays center line each point on image that area array cameras obtains;
Step 10: on laser rays center line step 9 obtained by perspective transform, the three-dimensional coordinate of each point corresponds on the visual image that line-scan digital camera collects, formed each point four-dimensional coordinate (x ', y ', z ', g);
Perpendicular line structured light uniform plane translation imaging object, by area array cameras, imaging object surface laser line is taken continuously, thus the three-dimensional information of diverse location and half-tone information on acquisition imaging object, then obtain four-dimensional information by 10 steps, after splicing, obtain the three-D profile of imaging object.
2., for the vehicle information collecting device merged mutually based on depth information and visible image information a kind of described in claim 1, it is characterized in that: comprise linear laser, area array cameras, line-scan digital camera, shell and connection bracket; Wherein, line-scan digital camera and linear laser share same mounting bracket and support.Area array cameras is installed on area array cameras support.Be connected by connection bracket between mounting bracket with area array cameras support, make the coplanar A of the projection optical axis of the lens axis of area array cameras and linear laser; Above-mentioned linear laser, line-scan digital camera and area array cameras are encapsulated by shell.
3. a kind of collecting vehicle information method merged mutually based on depth information and visible image information as claimed in claim 2, is characterized in that: described line-scan digital camera and area array cameras share a linear laser.
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| CN201510938080.XA CN105571512B (en) | 2015-12-15 | 2015-12-15 | A kind of collecting vehicle information method and device blended based on depth information and visible image information |
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Address after: 9th floor, No. 61 Zhichun Road, Haidian District, Beijing, 100190 Patentee after: Beijing Aerospace Shenzhou Intelligent Equipment Technology Co.,Ltd. Address before: 100080 No. 61, Haidian District, Beijing, Zhichun Road Patentee before: BEIJING CTROWELL INFRARED TECHNOLOGY Co.,Ltd. |
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