技术领域technical field
本发明设计一种依据单目摄像头所拍摄的图像进行物体测高和侧面积的方法，尤其设计一种基于单目三维测距模型的物体测高测面积的方法。The present invention designs a method for measuring height and side area of an object based on images captured by a monocular camera, especially a method for measuring height and area of an object based on a monocular three-dimensional ranging model.
背景技术Background technique
视觉测距作为机器视觉领域内基础技术之一而受到广泛的关注，其在机器人领域内占有重要的地位，广泛应用于机器视觉定位、目标跟踪、视觉避障等，尤其是作为视觉导航和伺服控制中不可或缺的基础技术。机器视觉测量主要分为：单目视觉测量、双目视觉测量、结构光视觉测量等。结构光由于光源的限制，应用的场合比较固定；双目视觉难点在于特征点的匹配，影响了测量的精度和效率，其理论研究的重点集中于特征的匹配上；而单目视觉结构简单，运算速度快而具有广阔的应用前景。单目视觉测距是利用一个摄像机获得的图片得出深度信息，按照测量的原理主要分为基于已知运动和已知物体的测量方法。基于已知运动的测量方法是指利用摄像机的移动信息和摄像机得到的图片测得深度距离。As one of the basic technologies in the field of machine vision, visual ranging has received extensive attention. It occupies an important position in the field of robotics and is widely used in machine vision positioning, target tracking, visual obstacle avoidance, etc., especially as a visual navigation and servo Indispensable basic technology in control. Machine vision measurement is mainly divided into: monocular vision measurement, binocular vision measurement, structured light vision measurement, etc. Due to the limitation of the light source, the application occasions of structured light are relatively fixed; the difficulty of binocular vision lies in the matching of feature points, which affects the accuracy and efficiency of measurement. The focus of its theoretical research is on the matching of features; while the structure of monocular vision is simple, The calculation speed is fast and has broad application prospects. Monocular vision distance measurement is to use a camera to obtain depth information. According to the principle of measurement, it is mainly divided into measurement methods based on known motion and known objects. The measurement method based on the known movement refers to the depth distance measured by using the movement information of the camera and the pictures obtained by the camera.
现有的单目测距方法主要有以下几种，1利用物体的已知运动和采集到的前后两幅图像比例的变化得出镜头与目标的距离；2利用多幅图像建立的模型对深度信息进行了预测；3对不同纹理下的目标物进行测量。现有的目标面积测量的方法主要是基于像素当量。目前测量面积的方法主要有以下几种1、先将图像分割成目标区域和背景，提取图像目标区域轮廓并标注，计算边界及边界内像素总数，利用像素当量求得面积的方法；2、利用freeman链码矢量法得到目标的边缘，再对边缘进行标定，然后由联通区域内的像素数和像素当量计算面积；3、利用网格法，根据二值化后图像中目标区域的像素数与参照物相应面积的比例关系计算目标的面积。以上几种方法的主要区别仅仅是目标在图像中所占的像素量的计算方法不同。并没有改变像素当量这一误差的主要来源。因此在应用场景中依然存在相当的局限性。The existing monocular distance measurement methods mainly include the following: 1. The distance between the lens and the target is obtained by using the known motion of the object and the change in the ratio of the two images collected before and after; 2. The depth The information is predicted; 3. The target objects under different textures are measured. Existing target area measurement methods are mainly based on pixel equivalents. At present, there are mainly the following methods for measuring area: 1. First divide the image into target area and background, extract and mark the outline of the target area of the image, calculate the boundary and the total number of pixels within the boundary, and use the pixel equivalent to obtain the area; 2. Use The freeman chain code vector method obtains the edge of the target, and then calibrates the edge, and then calculates the area by the number of pixels and the pixel equivalent in the Unicom area; 3. Using the grid method, according to the number of pixels in the target area in the binarized image and The area of the target is calculated according to the proportional relationship of the corresponding area of the reference object. The main difference between the above methods is only the calculation method of the amount of pixels occupied by the target in the image. The main source of error, the pixel equivalent, is not changed. Therefore, there are still considerable limitations in application scenarios.
发明内容Contents of the invention
本发明的目的就在于为解决上述问题而提供一种计算精确度较高的基于单目三维测距模型的物体测高测面积方法。The object of the present invention is to provide a method for measuring the height and area of an object based on a monocular three-dimensional ranging model with high calculation accuracy in order to solve the above problems.
本发明通过以下技术方案来实现上述目的：The present invention achieves the above object through the following technical solutions:
一种基于单目摄像头三维测距模型的物体测高测面积方法，包括以下步骤：A method for measuring the height and area of an object based on a three-dimensional ranging model of a monocular camera, comprising the following steps:
（1）通过单目摄像头标定获取摄像头的焦距。得到的焦距的单位是单位距离上的像素点的个数，与CCD板上的成像的尺寸成比例。(1) Obtain the focal length of the camera through the calibration of the monocular camera. The unit of the obtained focal length is the number of pixels per unit distance, which is proportional to the size of the image on the CCD board.
（2）对单目摄像头测距模型建模，并依据所建模型计算物体到摄像头的距离。设定模型计算需要的先验条件，这里假设已知三个数值：摄像机的镜头光轴与水平线的夹角a，摄像机镜头的高度h和摄像机的焦距f。(2) Model the distance measurement model of the monocular camera, and calculate the distance from the object to the camera according to the built model. Set the a priori conditions required for model calculation. Here, it is assumed that three values are known: the angle a between the optical axis of the camera lens and the horizontal line, the height h of the camera lens, and the focal length f of the camera.
（3）依据上述模型及测量的距离进一步实现物体的测高和测面积。(3) According to the above model and the measured distance, further realize the height measurement and area measurement of the object.
附图说明Description of drawings
图1是本发明基于单目摄像头三维测距模型的测高测面积方法的流程图Fig. 1 is the flow chart of the method for measuring height and measuring area based on the three-dimensional ranging model of monocular camera in the present invention
图2是本发明单目测距三维模型图Fig. 2 is a three-dimensional model diagram of monocular ranging in the present invention
图3是本发明测距原理示意图一Fig. 3 is a schematic diagram of the ranging principle of the present invention
图4测距原理示意图二Figure 4 Schematic diagram of ranging principle II
图5成像面示意图Figure 5 Schematic diagram of imaging surface
图6地面投影示意图Figure 6 Schematic diagram of ground projection
图7物体测高示意图Figure 7 Schematic diagram of object height measurement
图8单目测面积三维模型图Figure 8 3D model diagram of monocular area measurement
图9测面积模型示意图1Figure 9 Schematic diagram of the area measurement model 1
图10测面积模型示意图2Figure 10 Schematic diagram of area measurement model 2
具体实施方式Detailed ways
下面结合附图对本发明作进一步说明：The present invention will be further described below in conjunction with accompanying drawing:
图1中，一种基于单目摄像头三维测距模型的物体测高测面积方法，包括以下步骤：In Fig. 1, a method for measuring height and area of an object based on a three-dimensional ranging model of a monocular camera includes the following steps:
（1）通过单目摄像头标定获取摄像头的焦距。得到的焦距的单位是单位距离上的像素点的个数，与CCD板上的成像的尺寸成比例。(1) Obtain the focal length of the camera through the calibration of the monocular camera. The unit of the obtained focal length is the number of pixels per unit distance, which is proportional to the size of the image on the CCD board.
（2）对单目摄像头测距模型建模，并依据所建模型计算物体到摄像头的距离。设定模型计算需要的先验条件，这里假设已知三个数值：摄像机的镜头光轴与水平线的夹角a，摄像机镜头的高度h和摄像机的焦距f。(2) Model the ranging model of the monocular camera, and calculate the distance from the object to the camera according to the built model. Set the a priori conditions required for model calculation. Here, it is assumed that three values are known: the angle a between the optical axis of the camera lens and the horizontal line, the height h of the camera lens, and the focal length f of the camera.
（3）依据上述模型及测量的距离进一步实现物体的测高和测面积。(3) According to the above model and the measured distance, further realize the height measurement and area measurement of the object.
具体地，所述步骤（1）中，我们首先利用待测摄像头对8*8的黑白棋盘格标定板采集20帧空间位置不同的图像，然后用摄像机标定程序对摄像机进行标定，并且采用多次测量求取平均值的方法得到较为精确的摄像头内部参数。Specifically, in the step (1), we first use the camera to be tested to collect 20 frames of images with different spatial positions on the 8*8 black and white checkerboard calibration board, and then use the camera calibration program to calibrate the camera, and use multiple The method of measuring and calculating the average value can obtain more accurate internal parameters of the camera.
所述步骤（2）中，我们首先得到三维测距模型图2。为了更加方便计算，我们对三维测距模型进行二维的分解。在这之前我们需要设定一些变量：In the step (2), we first obtain the three-dimensional ranging model Fig. 2 . In order to facilitate the calculation, we decompose the 3D ranging model into 2D. Before that we need to set some variables:
世界坐标系中的目标物体与水平地面的交线的中心点的位置为P；世界坐标系中目标物体与摄像机镜头到水平地面的垂直投影点的实际距离为D（求解时分解为了Dx和Dy两个分量）；CCD板上的图像坐标系为二维空间坐标系，其横轴设为U轴，纵轴设为V轴；摄像机光轴与地面的交点为Q；摄像机光轴与CCD板的交点为(U0，V0)，可以通过图像的最大点阵数换算得到中心点的坐标；世界坐标系中目标物体在图像坐标系中的对应位置P’为（U1，V1）。The position of the center point of the intersection line between the target object and the horizontal ground in the world coordinate system is P; the actual distance between the target object and the vertical projection point from the camera lens to the horizontal ground in the world coordinate system is D (decomposed into Dx and Dy when solving Two components); the image coordinate system on the CCD board is a two-dimensional space coordinate system, its horizontal axis is set as the U axis, and its vertical axis is set as the V axis; the intersection point of the camera optical axis and the ground is Q; the camera optical axis and the CCD board The intersection point of is (U0 , V0 ), and the coordinates of the center point can be obtained by converting the maximum number of lattice points of the image; the corresponding position P' of the target object in the image coordinate system in the world coordinate system is (U1 , V1 ) .
我们对三维测距模型进行如下二维分解：We perform the following two-dimensional decomposition of the three-dimensional ranging model:
如图3测距原理示意图一所示，该图为本章的三维测距模型在摄像机光轴和图像坐标系U=U0轴组成的平面上的示意图。在该平面上，点V0代表光轴在成像面上的实际位置，点V1代表目标物体在成像面上的实际位置的投影点，夹角β1代表目标物体投影点Py与光轴Q的夹角，目标物体投影点Py与镜头在水平地面上的投影点O1的距离为Dy。则有下式成立：As shown in Figure 3, the first schematic diagram of the distance measurement principle, this figure is a schematic diagram of the three-dimensional distance measurement model in this chapter on the plane composed of the camera optical axis and the image coordinate system U=U0 axis. On this plane, point V0 represents the actual position of the optical axis on the imaging plane, point V1 represents the projection point of the actual position of the target object on the imaging plane, and the angle β1 represents the projection point Py of the target object and the optical axis The included angle of Q, the distance between the projected point Py of the target object and the projected point O1 of the lens on the horizontal ground is Dy . Then the following formula is established:
如图4测距原理示意图二所示，该图为本章的三维测距模型在L所在直线和图像坐标系V=V1轴组成的平面上的示意图。在该平面上，点U0代表目标物体在成像面上的实际位置的投影点，点U1代表目标物体在成像面上的实际位置，夹角β2代表目标物体投影点Py与目标物体真实位置P的夹角，目标物体P与目标物体投影点Py的距离为Dx。则有下式成立：As shown in Figure 4 Schematic Diagram 2 of the Ranging Principle, this figure is a schematic diagram of the three-dimensional ranging model in this chapter on the plane composed of the straight line where L is located and the image coordinate system V=V1 axis. On this plane, point U0 represents the projection point of the actual position of the target object on the imaging plane, point U1 represents the actual position of the target object on the imaging plane, and the angle β2 represents the projection point Py of the target object and the target object The included angle of the real position P, the distance between the target object P and the projected point Py of the target object is Dx . Then the following formula is established:
如图5成像面示意图所示，在成像面上，目标物体所成的像为（U1，V1），该点在V=V0上的投影点为（U1，V0），在U=U0上的投影点为（U0，V1）。As shown in the schematic diagram of the imaging surface in Figure 5, on the imaging surface, the image formed by the target object is (U1 , V1 ), and the projected point of this point on V=V0 is (U1 , V0 ). The projection point on U=U0 is (U0 , V1 ).
如图6整个测距系统对地面的投影示意图所示，在该投影平面中，物体到图2所示投影平面的距离为Dy，物体到图3所示投影平面的距离为Dx。As shown in Fig. 6, the projection diagram of the whole ranging system on the ground, in this projection plane, the distance from the object to the projection plane shown in Fig. 2 is Dy , and the distance from the object to the projection plane shown in Fig. 3 is Dx .
通过上述模型推理得到，世界坐标系中目标物体与摄像头在地面上的垂直投影点的实际距离如下：Through the reasoning of the above model, the actual distance between the target object in the world coordinate system and the vertical projection point of the camera on the ground is as follows:
结合摄像头的高H，我们可以得到物体到摄像头的距离如下：Combined with the height H of the camera, we can get the distance from the object to the camera as follows:
所述步骤（3）中，由物体测高示意图7：对于待测物体的底端，即在地面上的某点，我们利用上述步骤（2）中的测距模型可以得到物体到摄像头在地面投影点的距离D。然后对物体的上端的也利用上述模型计算得到的距离实际是该点在地面的投影点到摄像头的距离，也就是说图6中的R点到摄像头在地面的投影点的距离D3同样可以用步骤（2）中的模型计算得到。那么对于R点和物体组成的直角三角形和摄像头，摄像头在地面投影点，R组成的直角三角形，这两个三角形相似，由下式可求的物体的高h：In the step (3), the height measurement diagram 7 by the object: For the bottom of the object to be measured, that is, a certain point on the ground, we can use the distance measurement model in the above step (2) to obtain the distance from the object to the camera on the ground The distance D of the projected point. Then, the distance calculated by using the above model for the upper end of the object is actually the distance from the projection point of the point on the ground to the camera, that is to say, the distanceD3 from point R in Figure 6 to the projection point of the camera on the ground can also be Calculated using the model in step (2). Then, for the right triangle formed by point R and the object and the camera, the camera projects the point on the ground, and the right triangle formed by R, these two triangles are similar, and the height h of the object can be obtained by the following formula:
上述步骤我们已经求得物体的高，要求物体的面积，我们只需求得地面上两点之间的距离即可。图8为测面积模型的三维效果图。与之前的思想类似，我们同样可以将其分解到两个二维平面.In the above steps, we have obtained the height of the object, and the area of the object is required. We only need to obtain the distance between two points on the ground. Fig. 8 is a three-dimensional rendering of the area measuring model. Similar to the previous idea, we can also decompose it into two two-dimensional planes.
从图9可以得出：It can be concluded from Figure 9 that:
由上面一组式子我们可以求得两点距离的一个分量Dy,同理由图10，我们可以求得两点距离的另一个分量Dx：From the above set of formulas, we can obtain a component Dy of the distance between two points, and for the same reason as shown in Figure 10, we can obtain another component Dx of the distance between two points:
由此可以求得两点之间的距离d，进而求出物体表面面积s：From this, the distance d between two points can be obtained, and then the surface area s of the object can be obtained:
说明：图1和图9的流程图中的表述语言为简洁表达，与上述内容不是完全一一对应，但意思是相互对应的。Explanation: The expression language in the flow charts in Figure 1 and Figure 9 is a concise expression, which is not exactly one-to-one correspondence with the above content, but the meanings are mutually corresponding.
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