CN110763152A - Underwater active rotation structure light three-dimensional vision measuring device and measuring method - Google Patents
Underwater active rotation structure light three-dimensional vision measuring device and measuring methodDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种水下三维视觉测量装置及测量方法，特别是一种水下主动旋转结构光三维视觉测量装置及测量方法，能够实现水下高精度三维重建，属于水下计算机视觉领域。The invention relates to an underwater three-dimensional vision measuring device and a measuring method, in particular to an underwater active rotating structured light three-dimensional vision measuring device and a measuring method, which can realize underwater high-precision three-dimensional reconstruction and belong to the field of underwater computer vision.
背景技术Background technique
水下三维视觉测量在海底地形探测、海洋工程建设、海洋生物研究等领域具有重要应用价值。声纳作为目前常规的水下探测技术手段，与光学探测的技术相比较，其精度、分辨率不能满足高精度水下探测的要求。水下光场环境复杂，基于可见光的水下成像严重依赖水质能见度，且光线的前向散射、后向散射对光学成像效果有严重影响，由于激光特别是蓝绿激光在水下衰减小，在能见度比较低的水下采用激光进行水下探测极具应用潜力。采用水下激光-结构光主动旋转实现水下近距离三维重建是水下探测的一种新技术。Underwater 3D visual measurement has important application value in the fields of seabed topography detection, marine engineering construction, and marine biological research. As the current conventional underwater detection technology, sonar cannot meet the requirements of high-precision underwater detection in comparison with optical detection technology. The underwater light field environment is complex, and the underwater imaging based on visible light relies heavily on the visibility of water quality, and the forward and backward scattering of light has a serious impact on the optical imaging effect. Underwater with relatively low visibility, the use of lasers for underwater detection has great application potential. The use of underwater laser-structured light active rotation to achieve underwater short-range 3D reconstruction is a new technology for underwater detection.
现有的一些水下结构光三维重建技术忽略水下光的折射对三维重建后的模型精度影响，将空气中结构光三维重建方法直接用于水下，造成了水下三维重建后模型的精度降低；且部分重建装置复杂，或者采用滑轨直线移动式，系统结构尺寸比较大，不便于水下做实验用，不能满足生产和科研需求。现实生产和科研中急需一种精度高、结构紧凑、可满足水下探测条件的水下主动旋转结构光三维视觉测量系统及方法。Some existing underwater structured light 3D reconstruction technologies ignore the influence of underwater light refraction on the accuracy of the 3D reconstructed model, and directly apply the 3D reconstruction method of structured light in the air to underwater, resulting in the accuracy of the model after underwater 3D reconstruction. In addition, some reconstruction devices are complicated, or the linear moving type of the slide rail is adopted, and the system structure is relatively large, which is not convenient for underwater experiments, and cannot meet the needs of production and scientific research. In practical production and scientific research, an underwater active rotating structured light three-dimensional vision measurement system and method with high precision, compact structure and satisfying underwater detection conditions is urgently needed.
中国专利CN201010528606.4提出了一种可控光平面的水下三维重绘装置及方法，装置主要包括带有反射镜片的控制装置、摄像机、激光器等。在三维重建过程中，摄像机静止不动，需要控制反射镜片旋转，利用振镜反射后的结构光扫描水下物体。上述水下结构光旋转三维重建技术需要振镜，系统较为复杂。中国专利CN103971406A没有考虑到水的折射对光中心像素坐标的影响，会使提取出的光中心像素坐标含有较大误差，从而会造成最后计算的水下三维点云有较大误差；中国专利CN106952341A需要提取两个水下摄像机拍摄的水下目标图像的特征点，对水下目标的纹理特征要求较高，遇到水下目标纹理特征不明显或比较少的情况不能很好的重建水下目标三维点云，本发明提出了一套基于摄像头-激光器结构光主动旋转扫描被测物体的系统理论，结构简单紧凑，精度高。Chinese patent CN201010528606.4 proposes an underwater three-dimensional redrawing device and method with a controllable light plane. The device mainly includes a control device with a reflective lens, a camera, a laser, and the like. In the process of 3D reconstruction, the camera is stationary, and the mirror needs to be controlled to rotate, and the structured light reflected by the galvanometer is used to scan underwater objects. The above-mentioned underwater structured light rotation 3D reconstruction technology requires a galvanometer, and the system is relatively complex. Chinese patent CN103971406A does not take into account the influence of water refraction on the pixel coordinates of the light center, which will cause a large error in the extracted pixel coordinates of the light center, which will cause a large error in the final calculated underwater three-dimensional point cloud; Chinese patent CN106952341A It is necessary to extract the feature points of the underwater target images captured by two underwater cameras, and the texture features of the underwater targets are required to be high, and the underwater targets cannot be reconstructed well when the texture features of the underwater targets are not obvious or relatively few. Three-dimensional point cloud, the present invention proposes a system theory based on camera-laser structured light to actively rotate and scan the measured object, with simple and compact structure and high precision.
发明内容SUMMARY OF THE INVENTION
针对上述现有技术，本发明要解决的技术问题是提供一种结构简单紧凑、精度高的基于摄像头-激光器结构的水下主动旋转结构光三维视觉测量装置及测量方法，实现对近距离基于主动旋转的水下目标三维重建并且引入折射补偿提高水下三维重建技术的精度。Aiming at the above-mentioned prior art, the technical problem to be solved by the present invention is to provide an underwater active rotating structured light three-dimensional vision measurement device and measurement method based on a camera-laser structure with a simple, compact structure and high precision, which can The 3D reconstruction of the rotating underwater target and the introduction of refraction compensation improve the accuracy of the underwater 3D reconstruction technology.
为解决上述技术问题，本发明的一种水下主动旋转结构光三维视觉测量装置，包括水下摄像机、水下结构光光源，水下摄像机和水下结构光光源放置于可控旋转装置上，水下摄像机和水下结构光光源相对位置固定。In order to solve the above technical problems, an underwater active rotating structured light three-dimensional visual measurement device of the present invention includes an underwater camera, an underwater structured light source, and the underwater camera and the underwater structured light source are placed on a controllable rotating device, The relative positions of the underwater camera and the underwater structured light source are fixed.
一种采用上述水下主动旋转结构光三维视觉测量装置的测量方法，包括以下步骤：A measurement method using the above-mentioned underwater active rotating structured light three-dimensional vision measurement device, comprising the following steps:
步骤一：在空气中对高清水下摄像机进行标定，获得相机的内参数矩阵和畸变系数；Step 1: Calibrate the high-definition underwater camera in the air to obtain the camera's internal parameter matrix and distortion coefficient;
步骤二：对水下结构光平面和旋转轴进行标定；Step 2: Calibrate the underwater structured light plane and rotation axis;
步骤三：通过控制可控旋转装置控制水下摄像机每隔θ角度拍摄带有激光条的待测物体图片，得到待测物体图片数据集；Step 3: Control the underwater camera by controlling the controllable rotation device to take pictures of the object to be measured with the laser bar at every θ angle, and obtain a picture data set of the object to be measured;
步骤四：对水下折射进行补偿处理；Step 4: Compensate for underwater refraction;
步骤五：对待测物体的数据集进行三维重建及点云配准。Step 5: Perform 3D reconstruction and point cloud registration on the dataset of the object to be measured.
本发明测量方法还包括：The measuring method of the present invention also includes:
1.步骤一：在空气中对高清水下摄像机进行标定，获得相机的内参数矩阵和畸变系数，具体包括：在空气中采用不同位姿角度放置标定板，测量装置不动，用高清水下摄像机拍摄两张标定板图片，一张标定板图片带有激光条，另一张标定板图片没有激光条，拍摄n组照片,n≥3；采用张正友标定法利用n张不带有激光条的标定板图片进行标定，通过校准以获得相机的内参与畸变,并且得到n幅标定板的外参数。1. Step 1: Calibrate the high-definition underwater camera in the air to obtain the camera's internal parameter matrix and distortion coefficient. Specifically, it includes: placing the calibration plate in the air with different poses and angles, keeping the measurement device stationary, and using the high-definition underwater camera. The camera takes two pictures of the calibration plate, one picture of the calibration plate with the laser bar, the other picture of the calibration plate without the laser bar, take n groups of photos, n ≥ 3; use Zhang Zhengyou's calibration method to use n pictures without the laser bar The calibration plate picture is calibrated, and the intrinsic distortion of the camera is obtained through calibration, and the extrinsic parameters of n calibration plates are obtained.
2.步骤二：对水下结构光平面和旋转轴进行标定，具体包括：2. Step 2: Calibrate the underwater structured light plane and rotation axis, including:
步骤二(A)：对水下结构光平面进行标定：Step 2 (A): Calibrate the underwater structured light plane:
将水下主动旋转结构光三维视觉测量装置放置在水下环境中，将待测物体放置在水下环境中；The underwater active rotating structured light 3D vision measurement device is placed in the underwater environment, and the object to be measured is placed in the underwater environment;
根据步骤一标定出的水下摄像机畸变系数对n张带有激光条的标定板图片进行去畸变和二值化处理，提出处理后图片在像素坐标系中所有的亮点坐标，即为光条中心像素坐标；According to the distortion coefficient of the underwater camera calibrated in
根据单应性矩阵以及步骤一标定出的n幅标定板的外参数，将光中心坐标转换为摄像机坐标系下对应坐标，利用最小二乘法拟合平面的原理，得到水下结构光平面方程ax+by+cz+d＝0，其中x,y,z为此平面中任意一点的坐标，a,b,c,d为待求常数，且a,b,c不同时为0。According to the homography matrix and the external parameters of the n calibration plates calibrated in
步骤二(B)对旋转轴进行标定：Step 2 (B) Calibrate the rotation axis:
设定转轴坐标系与摄像机坐标系的变换矩阵为RCA和TCA，其中RCA为旋转矩阵，TCA为平移向量，初始状态摄像机坐标系下目标点的坐标为P1，旋转θ角之后摄像机坐标系下目标点的坐标为Pn，则转轴坐标系对应的坐标PA1与PAn满足：Set the transformation matrix of the rotation axis coordinate system and the camera coordinate system as RCA and TCA , where RCA is the rotation matrix, TCA is the translation vector, and the coordinates of the target point in the camera coordinate system in the initial state are P1 , after rotating the θ angle The coordinates of the target point in the camera coordinate system are Pn , then the coordinates PA1 and PAn corresponding to the rotation axis coordinate system satisfy:
PA1＝RCAP1+TCAPA1 =RCA P1 +TCA
PAn＝RCAPn+TCAPAn =RCA Pn +TCA
设已知旋转矩阵为RA，RA满足：Let the known rotation matrix be RA , and RA satisfies:
则：but:
PAn＝RAPA1PAn = RA PA1
则：but:
PAn＝RAPA1＝RARCAP1+RATCAPAn =RA PA1 =RA RCA P1 +RA TCA
得到：get:
P1＝(RCAPn+TCA-RATCA)/(RARCA)P1 =(RCA Pn +TCA -RA TCA )/(RA RCA )
已知至少4组不同的点在旋转前后摄像机坐标系中所对应的坐标，求得RCA与TCA，对RCA做线性变换即可得到旋转矩阵RCA'。The coordinates corresponding to at least 4 groups of different points in the camera coordinate system before and after rotation are known, and RCA and TCA are obtained, and the rotation matrix RCA ' can be obtained by linearly transforming RCA.
3.步骤四：对水下折射进行补偿处理，具体包括：3. Step 4: Compensate underwater refraction, including:
对步骤三得到数据集使用步骤二中的水下光条中心像素坐标提取，提出光条中心的像素坐标(u,v)，对于每个提取的坐标(u,v)乘以k倍对水下折射进行补偿，得到水下目标光中心像素坐标(ku,kv)，补偿系数k满足：For the data set obtained in
其中nw为水对空气的折射率，f为水下摄像机焦距。where nw is the refractive index of water to air, and f is the focal length of the underwater camera.
4.步骤五：对待测物体的数据集进行三维重建及点云配准，具体包括：4. Step 5: Perform 3D reconstruction and point cloud registration on the data set of the object to be measured, including:
求解方程组线性解，得到水下物体摄像机坐标系下三维坐标[Xc Yc Zc]T，方程组为：Solve the linear solution of the equation system, and obtain the three-dimensional coordinates [Xc Yc Zc ]T in the camera coordinate system of the underwater object. The equation system is:
ax+by+cz+d＝0ax+by+cz+d=0
其中，A为水下摄像机内参数；Among them, A is the internal parameter of the underwater camera;
根据步骤二(B)，将旋转之后的点云Pn转换到初始时刻摄像机坐标系中为P1，得到连贯完整的三维重建图；由最初标定的初始状态摄像机坐标系外参，包括旋转矩阵R初与平移向量T初，将三维点云转换到世界坐标系中：According to step 2 (B), the rotated point cloud Pn is converted into the camera coordinate system at the initial moment as P1 , and a coherent and complete 3D reconstruction map is obtained; the external parameters of the camera coordinate system in the initial state that are initially calibrated, including the rotation matrix At thebeginning of R and the translation vector T atthe beginning , the three-dimensional point cloud is converted into the world coordinate system:
其中，(Xw Yw Zw)T为最后测出水下三维点云的坐标。Among them, (Xw Yw Zw )T is the coordinates of the last measured underwater three-dimensional point cloud.
本发明的有益效果：Beneficial effects of the present invention:
(1)通过使用水下摄像机和将激光器置于密封容器内实现了水下测量，使得本发明比较适用于真实水下探测，造价成本适中，易于实现，具有一定自动化水平，能够达到需求精度要求；(1) Underwater measurement is realized by using an underwater camera and placing a laser in a sealed container, so that the present invention is more suitable for real underwater detection, has a moderate cost, is easy to implement, has a certain level of automation, and can meet the required accuracy requirements ;
(2)通过对水下光的折射与散射的考虑，使得三维测量的精度大大提高；(2) By considering the refraction and scattering of underwater light, the accuracy of 3D measurement is greatly improved;
(3)通过可控旋转平台可以各种角度采集水下目标图像，三维重建模型较为全面；(3) The underwater target images can be collected from various angles through the controllable rotating platform, and the three-dimensional reconstruction model is more comprehensive;
(4)通过使用结构光来进行三维测量，有效的克服了水下环境对于水下图片质量下降的影响，使方法的实用性大大加强。(4) By using structured light for 3D measurement, the influence of the underwater environment on the degradation of underwater picture quality is effectively overcome, and the practicability of the method is greatly enhanced.
附图说明Description of drawings
图1是本发明水下主动旋转结构光三维视觉测量系统的整体结构示意图；Fig. 1 is the overall structure schematic diagram of the underwater active rotating structured light three-dimensional vision measurement system of the present invention;
图2是本发明的工作流程图；Fig. 2 is the working flow chart of the present invention;
图1中：1、水下摄像机，2、水下激光器，3、激光平面，4、水下目标，5、水下转台，6、转轴In Figure 1: 1. Underwater camera, 2. Underwater laser, 3. Laser plane, 4. Underwater target, 5. Underwater turntable, 6. Spindle
具体实施方式Detailed ways
下面结合附图对本发明具体实施方式做进一步说明。The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.
水下主动旋转结构光三维视觉测量系统的装置，包括激光器与高清水下摄像机(相对位置不变)放置于可控旋转平台上。The device of the underwater active rotating structured light three-dimensional vision measurement system, including the laser and the high-definition underwater camera (the relative position remains unchanged), is placed on the controllable rotating platform.
利用上述装置实现水下主动旋转结构光三维视觉测量方法，首先，采用平面标定板对水下摄像机进行标定，求取外参数；其次对水下结构光平面进行标定，提取激光中心坐标，拟合水下结构光平；再次对旋转轴进行标定，引入转轴坐标系，标定出摄像机坐标系到转轴坐标系的变换矩阵；最后每隔固定角度对被测物进行旋转扫描，补偿因光线折射导致的图像畸变，可获得水下物体点云的三维坐标，完成水下三维测量。本发明采用主动旋转摄像机-激光器系统，完成对被测目标的结构光扫描，机械系统结构紧凑，算法考虑了水中折射补偿的影响，能够实现水下高精度的目标三维重建。The above-mentioned device is used to realize the three-dimensional vision measurement method of underwater active rotating structured light. First, the underwater camera is calibrated with a plane calibration plate, and the external parameters are obtained; secondly, the underwater structured light plane is calibrated, and the laser center coordinates are extracted and fitted. Underwater structured light level; calibrate the rotation axis again, introduce the rotation axis coordinate system, and calibrate the transformation matrix from the camera coordinate system to the rotation axis coordinate system; finally, rotate and scan the measured object every fixed angle to compensate for the image caused by light refraction Distortion, the three-dimensional coordinates of the point cloud of underwater objects can be obtained, and the underwater three-dimensional measurement can be completed. The invention adopts an active rotating camera-laser system to complete the structured light scanning of the measured target, the mechanical system has a compact structure, the algorithm considers the influence of refraction compensation in water, and can realize underwater high-precision three-dimensional reconstruction of the target.
具体包括以下步骤：Specifically include the following steps:
首先将上述装置安放于待测水域之中，接通水下摄像机和激光器电源。使水下摄像机的采集图像界面显示待测物体，控制旋转平台，使激光打在物体边缘上。设定一个角度θ，控制旋转平台，每次使水下结构光装置旋转θ度，并同时拍摄带激光条的水下物体图像。利用这些图像，恢复水下物体的三维信息，具体步骤如下：First, place the above device in the water area to be tested, and connect the underwater camera and the laser power. The acquisition image interface of the underwater camera displays the object to be measured, and the rotating platform is controlled to make the laser hit the edge of the object. Set an angle θ, control the rotating platform, rotate the underwater structured light device by θ degrees each time, and simultaneously capture images of underwater objects with laser strips. Using these images to recover the three-dimensional information of underwater objects, the specific steps are as follows:
步骤1，对水下摄像机进行标定。将平面标定板放于空气中，保持装置不动，利用上述水下摄像机拍摄两张标定板图片，一张带有激光条，一张没有激光条，拍摄n组照片,n≥3。
标定使用上述n张不带有激光条的标定板图片，使用张正友标定法(该方法为张正友于1998年提出),通过校准以获得相机的内参与畸变,并以此矫正后续拍摄到的图像。并且得到n幅标定板的外参数(旋转矩阵R和平移向量T)。The calibration uses the above n pictures of the calibration plate without the laser bar, and uses the Zhang Zhengyou calibration method (this method was proposed by Zhang Zhengyou in 1998) to obtain the internal distortion of the camera through calibration, and to correct the subsequent captured images. And the external parameters (rotation matrix R and translation vector T) of n calibration plates are obtained.
步骤2，对水下结构光平面进行标定。图像坐标系分为像素坐标系和物理坐标系，像素坐标系是固定在图像上的以像素为单位的平面直角坐标系，其原点位于图像左上角，横、纵坐标轴分别为图像的行、列方向；物理坐标系是以透镜光轴与成像平面的交点为原点，横、纵坐标轴分别与像素坐标系横、纵坐标轴平行的平面直角坐标系，单位为毫米。使用上述n张带有激光条的标定板图片，首先对上述图片进行光条中心坐标提取。根据步骤1标定出的水下摄像机的畸变系数矩阵将n张带有激光条的标定板图片进行去畸变处理。由于激光条亮度远远高于水下物体及环境亮度，对上述去畸变后的图片进行二值化处理，提出处理后图片在像素坐标系中所有的亮点坐标，即为光条中心像素坐标。
将上述得到的水下光条中心像素坐标，根据单应性矩阵以及步骤1标定出的n幅标定板的外参数，可将光条中心像素坐标转换为摄像机坐标系下对应坐标，。利用最小二乘法拟合平面的原理，得到水下结构光平面方程ax+by+cz+d＝0，其中x,y,z为此平面中任意一点的坐标，a,b,c,d为待求常数，且a,b,c不同时为0。The center pixel coordinates of the underwater light bar obtained above can be converted into the corresponding coordinates in the camera coordinate system according to the homography matrix and the external parameters of the n calibration plates calibrated in
步骤3，旋转轴的标定。摄像机坐标系是以摄像机聚焦中心为原点，以摄像机光轴为竖轴的三维直角坐标系，横、纵坐标轴分别与物理坐标系的横、纵坐标轴平行。由于摄像机随着转轴做旋转运动，摄像机坐标系时刻都在变化，因此摄像机旋转到不同角度获取的点云数据并不在同一坐标系下，为了获得连续完整的点云数据，需要将这些点云数据配准在同一坐标系下。摄像机未开始旋转之前定义为摄像机的初始位置，在初始位置拍摄1幅标定板图片，利用步骤1得到的摄像机内参和畸变系数，通过此图片对摄像机标定便可得到摄像机初始位置的外参数(旋转矩阵R初和平移向量T初)。引入转轴坐标系，以转轴为竖轴建立三维空间直角坐标系，标定出摄像机坐标系到转轴坐标系的变换矩阵RCA和TCA，以此作为桥梁，便可将旋转之后的摄像机坐标系点云转换到转轴坐标系中：
PA1＝RCAP1+TCAPA1 =RCA P1 +TCA
PAn＝RCAPn+TCAPAn =RCA Pn +TCA
P1为初始状态摄像机坐标系下目标点的坐标，Pn为旋转θ角之后摄像机坐标系下目标点的坐标，PA1与PAn分别是P1与Pn转换到转轴坐标系下所对应的坐标。而转台绕转轴做的是纯旋转运动，因此便可通过预先设定的旋转角θ得到变换矩阵，且其旋转矩阵为：P1 is the coordinate of the target point in the camera coordinate system in the initial state, Pn is the coordinate of the target point in the camera coordinate system after rotating the angle θ, PA1 and PAn are the corresponding coordinates of P1 and Pn converted to the rotation axis coordinate system, respectively coordinate of. The turntable is purely rotating around the axis of rotation, so the transformation matrix can be obtained through the preset rotation angle θ, and the rotation matrix is:
由旋转的角度便可将旋转之后两个转轴坐标系联系起来，即得PA1与PAn的关系：By the angle of rotation, the coordinate systems of the two axes after rotation can be connected, that is, the relationship between PA1 and PAn is obtained:
PAn＝RAPA1＝RARCAP1+RATCAPAn =RA PA1 =RA RCA P1 +RA TCA
P1＝(RCAPn+TCA-RATCA)/(RARCA)P1 =(RCA Pn +TCA -RA TCA )/(RA RCA )
故若已知任意至少4组不同的点对在旋转前后摄像机坐标系中所对应的坐标P1与Pn，便可得到线性方程求得RCA与TCA，对RCA做线性变换即可得到旋转矩阵RCA′。通过此算法便可将旋转之后的点云Pn转换到初始时刻摄像机坐标系中为P1(Xc Yc Zc)T得到连贯完整的三维重建图。世界坐标系是真实世界的立体空间坐标系，此处采用的标定板为棋盘格，定义世界坐标系的原点为棋盘格的第一个顶点,竖轴垂直于棋盘格面板的方向，横、纵轴分别平行于棋盘格第一个格子的两边。由最初标定的初始状态摄像机坐标系外参(旋转矩阵R初与平移向量T初)将三维点云转换到世界坐标系中有：Therefore, if the coordinates P1 and Pn corresponding to any at least 4 sets of different point pairs in the camera coordinate system before and after the rotation are known, the linear equations can be obtained to obtain RCA and TCA , and the linear transformation of RCA can be done. The rotation matrix RCA ′ is obtained. Through this algorithm, the rotated point cloud Pn can be transformed into the camera coordinate system at the initial moment as P1 (Xc Yc Zc )T to obtain a coherent and complete 3D reconstruction image. The world coordinate system is a three-dimensional space coordinate system in the real world. The calibration board used here is a checkerboard. The origin of the world coordinate system is defined as the first vertex of the checkerboard. The vertical axis is perpendicular to the direction of the checkerboard panel. The axes are parallel to the two sides of the first square of the checkerboard. Thethree -dimensional point cloud is converted to the world coordinate system by theinitial calibration of the camera coordinate system external parameters (rotation matrix R and translation vector T):
(Xw Yw Zw)T为最后测出水下三维点云的坐标。(Xw Yw Zw )T is the coordinates of the last measured underwater three-dimensional point cloud.
步骤4，得到水下三维测量信息。使用每隔θ角度拍摄带有激光条的的物体图片。首先对这些图片进行步骤2中的水下光条中心像素坐标提取，提出光条中心的像素坐标(u,v)。水下图片像素因为发生折射而需要一个像素补偿系数k。补偿系数k由如下公式给出：
其中nw为水对空气的折射率，f为水下摄像机焦距。对水下光中心进行提取的时候，提取的光中心像素坐标均不是物体在水下真实的像素坐标，对于每个提取的坐标(u,v)都需要乘以k倍来对水下的折射进行补偿，得到真正的水下目标光中心像素坐标(ku,kv)。where nw is the refractive index of water to air, and f is the focal length of the underwater camera. When extracting the underwater light center, the pixel coordinates of the extracted light center are not the real pixel coordinates of the object underwater, and each extracted coordinate (u, v) needs to be multiplied by k times to refract underwater. Compensate to get the real underwater target light center pixel coordinates (ku, kv).
根据摄像机坐标系和像素坐标系以及水下摄像机内参数的转换关系，有如下公式：According to the conversion relationship between the camera coordinate system and the pixel coordinate system and the parameters in the underwater camera, there are the following formulas:
上式中A为水下摄像机内参数，[Xc Yc Zc]T为摄像机坐标系下坐标。根据上述公式前两列可得到两个方程。联立步骤2中获得的水下光平面方程ax+by+cz+d＝0，解得此方程的线性解即可得到水下物体点云的三维坐标，完成水下三维测量。In the above formula, A is the internal parameter of the underwater camera, and [Xc Yc Zc ]T is the lower coordinate of the camera coordinate system. Two equations can be obtained from the first two columns of the above formula. Simultaneously combine the underwater light plane equation ax+by+cz+d=0 obtained in
如图1所示，图中1为水下摄像机，2为水下激光器，3为激光平面，4为水下目标，5为水下转台，6为转轴。As shown in Figure 1, 1 is an underwater camera, 2 is an underwater laser, 3 is a laser plane, 4 is an underwater target, 5 is an underwater turntable, and 6 is a rotating shaft.
本发明所述的水下主动旋转结构光三维视觉测量系统，包括一个水下摄像机1和一个装入水下密封舱的激光器2。水下摄像机和激光器分别安装在装置的两侧，水下摄像机和激光器向中间倾斜，可使水下目标在水下摄像机的视野中心且激光条可以完整扫描到物体。本装置包括一个水下转台5，转台中的旋转轴6可使水下转台主动旋转任意角度，使水下摄像机和激光器组成的水下三维视觉测量系统旋转扫描被测物体。The underwater active rotating structured light three-dimensional vision measurement system of the present invention includes an
实施例一：本水下主动旋转结构光三维视觉测量系统，水下摄像机标定方法采用上述装置进行操作，其特征在于操作步骤如下：Embodiment 1: In this underwater active rotating structured light three-dimensional vision measurement system, the underwater camera calibration method adopts the above-mentioned device to operate, and it is characterized in that the operation steps are as follows:
在实验水池中利用本装置拍摄的10幅水下棋盘的图片。采用张正友标定法对摄像机进行标定，获得摄像机的内外参数矩阵，径向畸变系数和切向畸变系数。10 pictures of the underwater chessboard taken by this device in the experimental pool. The camera was calibrated by Zhang Zhengyou's calibration method, and the camera's internal and external parameter matrix, radial distortion coefficient and tangential distortion coefficient were obtained.
实施例二：本水下主动旋转结构光三维视觉测量系统，水下结构光平面标定方法采用上述装置进行操作，操作与实施例二有关，特征在于：Embodiment 2: This underwater active rotating structured light three-dimensional vision measurement system, the underwater structured light plane calibration method adopts the above-mentioned device to operate, and the operation is related to the second embodiment, and is characterized in that:
步骤a:实施例二中拍摄的10幅水下棋盘格图像的同时，拍摄10幅对应的带有激光条的水下棋盘格图像。Step a: 10 underwater checkerboard images with laser stripes are taken while the 10 underwater checkerboard images are taken in the second embodiment.
步骤b：根据实施例一标定出的畸变系数矩阵，将步骤a中的水下棋盘格图像进行去畸变处理，然后对上述去畸变后的图像进行光中心提取，将图像进行二值化，限定水下棋盘格感兴趣区域，提取激光条中心的像素坐标。Step b: According to the distortion coefficient matrix calibrated in the first embodiment, the underwater checkerboard image in step a is subjected to de-distortion processing, and then the optical center is extracted on the above-mentioned de-distorted image, and the image is binarized. Underwater checkerboard area of interest, extract pixel coordinates of the center of the laser bar.
步骤c:根据空气中标定10幅标定板的外参数，计算标定板上光中心像素坐标对应的摄像机坐标系下坐标，将10幅激光条中心的摄像机坐标系下坐标用最小二乘法拟合在一个平面上，求得水下结构光平面方程ax+by+cz+d＝0。Step c: according to the external parameters of 10 calibration plates in the air, calculate the lower coordinates of the camera coordinate system corresponding to the pixel coordinates of the light center on the calibration plate, and fit the lower coordinates of the camera coordinate system of the 10 laser strip centers with the least squares method. On a plane, the underwater structured light plane equation ax+by+cz+d=0 is obtained.
实施例三：旋转轴标定的方法，其特征在于：通过引入转轴坐标系，以此作为中间桥梁建立旋转前后摄像机坐标系与转轴坐标系的联系。首先水下转台旋转已知角度拍摄初始位置和旋转之后的两幅标定板图像，标定得到两张标定板的外参数并计算此时标定板上特征点的三维坐标；其次根据求得的摄像机坐标系下三维点坐标建立当前摄像机坐标系与转轴坐标系的关系，求得其转换到转轴坐标系的旋转变换矩阵；最后根据旋转角度和转轴的自旋转性质，可将已转换到转轴坐标系下的点云配准到初始摄像机坐标系下。Embodiment 3: The method for calibrating the rotation axis is characterized in that: by introducing the rotation axis coordinate system, the connection between the camera coordinate system before and after the rotation and the rotation axis coordinate system is established as an intermediate bridge. Firstly, the underwater turntable is rotated at a known angle to capture the initial position and the two calibration plate images after rotation, and the external parameters of the two calibration plates are obtained by calibration and the three-dimensional coordinates of the feature points on the calibration plate are calculated at this time; secondly, according to the obtained camera coordinates The three-dimensional point coordinates under the system establish the relationship between the current camera coordinate system and the rotation axis coordinate system, and obtain the rotation transformation matrix that is converted to the rotation axis coordinate system; finally, according to the rotation angle and the self-rotation properties of the rotation axis, it can be converted to the rotation axis coordinate system. The point cloud is registered to the initial camera coordinate system.
实施例四：水下三维点云生成的方法，其特征在于：Embodiment 4: the method for underwater three-dimensional point cloud generation, it is characterized in that:
步骤1：本发明的水下转台可设定旋转脉冲数来控制旋转角度，水下转台每次旋转的脉冲数设置为10，水下转台每次旋转0.0549°采集一帧带有激光条的水下目标图片，直到激光器扫过整个水下目标。Step 1: The underwater turntable of the present invention can set the number of rotation pulses to control the rotation angle, the number of pulses for each rotation of the underwater turntable is set to 10, and the underwater turntable rotates 0.0549° each time to collect a frame of water with a laser bar. Scroll down the target image until the laser sweeps the entire underwater target.
步骤2:对所有带有激光条的水下目标图片进行光中心提取，进行水下折射补偿，根据水下光平面方程、像素坐标系和摄像机坐标系转化关系联立三个方程，利用每旋转0.0549°后云台坐标系和摄像机坐标系的转换关系，最终解得水下三维点云坐标。Step 2: Extract the optical center of all underwater target pictures with laser bars, perform underwater refraction compensation, and establish three equations simultaneously according to the underwater light plane equation, the transformation relationship between the pixel coordinate system and the camera coordinate system, and use each rotation. After 0.0549°, the conversion relationship between the gimbal coordinate system and the camera coordinate system is finally solved to obtain the coordinates of the underwater three-dimensional point cloud.
本发明的工作流程图如图2所示。The working flow chart of the present invention is shown in FIG. 2 .
本发明具体实施方式还包括：The specific embodiment of the present invention also includes:
本发明测量装置包括高清水下摄像机、水下结构光光源、置于水中的自动旋转转轴和固定在转轴中部的横梁，转轴中部的横梁两端对称挂载着所述高清水下摄像机和结构光光源，水下摄像机和结构光均朝向待测量物体安装，所述结构光光源所成光平面竖直打在被测物体上，所述待测物体放置在水下摄像机视野范围内，转轴及横梁两侧的固定装置保证整个系统的稳定性，通过缆线建立摄像机、转台与计算机系统的联系，所述缆线和结构光光源电线通过封装仓与装置放置在水下环境中。The measuring device of the invention includes a high-definition underwater camera, an underwater structured light source, an automatic rotating shaft placed in the water, and a beam fixed in the middle of the rotating shaft. The two ends of the beam in the middle of the rotating shaft are symmetrically mounted with the high-definition underwater camera and the structured light. The light source, the underwater camera and the structured light are all installed towards the object to be measured, the light plane formed by the structured light source hits the object to be measured vertically, and the object to be measured is placed within the field of view of the underwater camera, the rotating shaft and the beam The fixing devices on both sides ensure the stability of the whole system, and the connection between the camera, the turntable and the computer system is established through cables, and the cables and the wires of the structured light source are placed in the underwater environment through the packaging bin and the device.
高清水下摄像机事先已在空气中精确标定出其内参数和畸变系数，封储摄像机的封装仓保证了摄像机的密闭性。The internal parameters and distortion coefficients of the high-definition underwater camera have been accurately calibrated in the air in advance.
水下结构光光源发射的激光平面为绿色，竖直打在被测物体的表面，要求转台旋转的整个过程中，能使得激光平面可以扫描完整的待测物体。The laser plane emitted by the underwater structured light source is green, and hits the surface of the object to be measured vertically. It is required that the laser plane can scan the complete object to be measured during the entire process of the turntable rotation.
转台旋转的整个过程中，待测物体要一直出现在摄像机的视野中。During the whole process of the turntable rotation, the object to be measured should always appear in the field of view of the camera.
采用上述水下主动旋转结构光三维视觉测量装置的测量方法，包括以下步骤：The measurement method using the above-mentioned underwater active rotating structured light three-dimensional vision measurement device includes the following steps:
步骤a：在空气中对高清水下摄像机进行标定，获得相机的内参数矩阵和畸变系数。Step a: Calibrate the high-definition underwater camera in the air to obtain the camera's internal parameter matrix and distortion coefficient.
步骤b：对水下结构光平面和旋转轴进行标定。Step b: Calibrate the underwater structured light plane and rotation axis.
步骤c：对水下折射进行补偿处理。Step c: Compensate for underwater refraction.
步骤d：对待测物体的数据集进行三维重建及点云配准。Step d: Perform 3D reconstruction and point cloud registration on the dataset of the object to be measured.
步骤a中，在空气中采用不同位姿角度放置标定板和测量装置，保持装置不动，用高清水下摄像机拍摄两张标定板图片，一张带有激光条，一张没有激光条，拍摄10组照片。标定使用上述10张不带有激光条的标定板图片，使用张正友标定法,通过校准以获得相机的内参与畸变,并以此矫正后续拍摄到的图像。并且得到10幅标定板的外参数。In step a, the calibration plate and the measuring device are placed in the air at different positions and angles, keep the device still, and use a high-definition underwater camera to take two pictures of the calibration plate, one with a laser bar and one without a laser bar. 10 sets of photos. For the calibration, the above 10 pictures of the calibration board without laser strips are used, and Zhang Zhengyou's calibration method is used to obtain the internal distortion of the camera through calibration, and to correct the subsequent images. And get the external parameters of 10 calibration boards.
步骤b包括以下内容：Step b includes the following:
步骤b-1：根据权利要求1所述一种水下主动旋转结构光三维视觉测量装置，将其放置在水下环境中；根据所述待测物体、水下高清摄像机和结构光光源的位置关系，将待测物体放置在水下环境中。Step b-1: according to an underwater active rotating structured light three-dimensional vision measurement device according to
步骤b-2：根据权利要求6所述一种水下主动旋转结构光三维视觉测量方法，使用10张带有激光条的标定板图片，根据步骤a标定出的水下摄像机畸变系数进行去畸变和二值化处理，提出处理后图片中的亮点坐标，即为光中心坐标；根据单应性矩阵以及步骤a标定出的10幅标定板的外参数，可将光中心坐标转换为摄像机坐标系下对应坐标，利用最小二乘法拟合平面的原理，得到水下结构光平面方程ax+by+cz+d＝0。Step b-2: according to a kind of underwater active rotating structured light three-dimensional vision measurement method described in
步骤b-3:所述转轴坐标系与摄像机坐标系的变换矩阵为RCA和TCA，若已知初始状态摄像机坐标系和旋转θ角之后摄像机坐标系下目标点的坐标P1与Pn，便可由如下关系得到它们转换到转轴坐标系对应的坐标PA1与PAn：Step b-3: the transformation matrix of the described rotating shaft coordinate system and the camera coordinate system is RCA and TCA , if the camera coordinate system of the initial state and the coordinates P1 and Pn of the target point under the camera coordinate system after the known initial state camera coordinate system and the rotation θ angle , the coordinates PA1 and PAn corresponding to their conversion to the rotation axis coordinate system can be obtained from the following relationship:
PA1＝RCAP1+TCAPA1 =RCA P1 +TCA
PAn＝RCAPn+TCAPAn =RCA Pn +TCA
根据转轴纯旋转的性质，利用其已知的旋转矩阵RA旋转之后两个转轴坐标系联系起来：According to the nature of the pure rotation of the rotation axis, the two rotation axis coordinate systems are connected after rotation using its known rotation matrix RA :
PAn＝RAPA1＝RARCAP1+RATCAPAn =RA PA1 =RA RCA P1 +RA TCA
P1＝(RCAPn+TCA-RATCA)/(RARCA)P1 =(RCA Pn +TCA -RA TCA )/(RA RCA )
已知至少4个点在旋转前后摄像机坐标系中所对应的坐标P1与Pn，可求得RCA与TCA，对RCA做线性变换即可得到旋转矩阵RCA'。Knowing the coordinates P1 and Pn corresponding to at least 4 points in the camera coordinate system before and after the rotation, RCA and TCA can be obtained, and the rotation matrix RCA ′ can be obtained by linearly transforming RCA.
步骤c包括以下内容：Step c includes the following:
步骤c-1：通过应用程序控制主动式旋转转台，控制高清水下摄像机每隔θ角度拍摄带有激光条的待测物体图片，得到待测物体图片数据集。Step c-1: Control the active rotating turntable through the application program, and control the high-definition underwater camera to take pictures of the object to be measured with laser bars at every θ angle, and obtain a picture data set of the object to be measured.
步骤c-2：对数据集使用步骤b中的水下光条中心提取，提出光条中心的像素坐标(u,v)，对于每个提取的坐标(u,v)乘以k倍对水下折射进行补偿，得到真正的水下目标光中心像素坐标(ku,kv)。补偿系数k由如下公式给出，其中nw为水对空气的折射率，f为水下摄像机焦距。Step c-2: Use the underwater light strip center extraction in step b for the data set, propose the pixel coordinates (u, v) of the light strip center, and multiply k times for each extracted coordinate (u, v) for the water The lower refraction is used to compensate, and the real underwater target light center pixel coordinates (ku, kv) are obtained. The compensation coefficient k is given by the following formula, where nw is the refractive index of water to air, and f is the focal length of the underwater camera.
步骤d包括以下内容：Step d includes the following:
步骤d-1：摄像机坐标系和像素坐标系以及水下摄像机内参数A之间存在转换关系，与水下光平面方程组成方程组，解得此方程的线性解即可得到水下物体的三维坐标，完成水下三维测量，获得点云数据。方程组为：Step d-1: There is a conversion relationship between the camera coordinate system and the pixel coordinate system and the parameter A in the underwater camera, which forms an equation system with the underwater light plane equation, and the linear solution of this equation can be solved to obtain the three-dimensional underwater object. Coordinates, complete underwater three-dimensional measurement, and obtain point cloud data. The system of equations is:
ax+by+cz+d＝0ax+by+cz+d=0
步骤d-2：根据步骤b-2所述，可将旋转之后的点云Pn转换到初始时刻摄像机坐标系中为P1，得到连贯完整的三维重建图。由最初标定的初始状态摄像机坐标系外参(旋转矩阵R初与平移向量T初)将三维点云转换到世界坐标系中。Step d-2: According to step b-2, the rotated point cloud Pn can be converted into the camera coordinate system at the initial moment as P1 to obtain a coherent and complete 3D reconstruction map. The three-dimensional point cloud is transformed into the world coordinate system by the initial calibration external parameters of the camera coordinate system (rotation matrix Rinitial and translation vector Tinitial ).
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions describe only the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various Such changes and improvements fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.
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