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基于編碼環帶徑向直線擬合的圓環編碼標志點中心提取方法

Method for Extracting the Center of Circular Coded Target Based on Radial Straight Line Fitting of Circular Coding

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摘要

圓環編碼標志點廣泛應用于三維測量領域中,標志點的中心提取精度直接影響了系統的測量精度。針對當前圓環編碼標志點中心提取方法易受拍攝角度影響的問題,提出了一種基于編碼環帶徑向直線擬合提取標志點中心的方法。首先對圖像進行預處理,提取其邊緣,分割出編碼標志點環帶中的徑向直線,然后利用高斯擬合法對邊緣點進行亞像素定位。將提取出的亞像素邊緣點集映射到參數空間變成曲線,求出所有曲線的交點。最后利用隨機采樣一致性算法進行擬合,映射到原始坐標空間得到中心坐標。仿真結果表明,隨標志點尺寸和拍攝角度的增大,該方法提取的中心坐標誤差從1 pixel降低為0.05 pixel。實驗測量發現,在標靶尺寸、拍攝角度不同的情況下,該方法提取的中心坐標誤差保持1 pixel以內,與橢圓擬合法相比,標定相機的重投影誤差減少了20%,標定結果更加精確。

Abstract

Circular coding target has been widely used in the field of three-dimensional measurement. The center extraction accuracy of the target directly affects the measurement accuracy of the system. Aiming at the problem that the center extraction accuracy of the circular coded target is easily affected by camera angle, a method for extracting the center of the circular coded target based on radial straight line fitting of circular coding is proposed in this paper. First, the radial straight line edge of the circular coded target ring is obtained by edge extraction after image preprocessing, and sub-pixel location of the edge point is achieved by Gaussian fitting. Then, the extracted sub-pixel edge point set is mapped to a parameter space into curves, and the intersection points between these curves is thus obtained. Finally, a random sampling consistency algorithm is used to fit and map to the original coordinate space to get the center coordinate. Simulation results show that the center coordinate error extracted by this method is reduced from 1 pixel to 0.05 pixel with increase of target size and shooting angle. Experimental measurements show that the error of the center coordinate extracted by this method is kept within 1 pixel for different target sizes and shooting angles. Compared with the ellipse fitting method, the reprojection error of the camera calibration is reduced by 20%, and the calibration result is more accurate.

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補充資料

中圖分類號:TH741

DOI:10.3788/LOP57.071203

所屬欄目:儀器,測量與計量

基金項目:重大科學儀器設備開發重點專項、國家自然科學基金、河北省應用基礎研究計劃重點基礎研究資助項目;

收稿日期:2020-01-16

修改稿日期:2020-02-13

網絡出版日期:2020-04-01

作者單位    點擊查看

張宗華:河北工業大學機械工程學院, 天津 300130
王森:河北工業大學機械工程學院, 天津 300130
王宇瑩:河北工業大學機械工程學院, 天津 300130
張昂:河北工業大學機械工程學院, 天津 300130
孟召宗:河北工業大學機械工程學院, 天津 300130
肖艷軍:河北工業大學機械工程學院, 天津 300130
高楠:河北工業大學機械工程學院, 天津 300130

聯系人作者:高楠([email protected])

備注:重大科學儀器設備開發重點專項、國家自然科學基金、河北省應用基礎研究計劃重點基礎研究資助項目;

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引用該論文

Zhang Zonghua,Wang Sen,Wang Yuying,Zhang Ang,Meng Zhaozong,Xiao Yanjun,Gao Nan. Method for Extracting the Center of Circular Coded Target Based on Radial Straight Line Fitting of Circular Coding[J]. Laser & Optoelectronics Progress, 2020, 57(7): 071203

張宗華,王森,王宇瑩,張昂,孟召宗,肖艷軍,高楠. 基于編碼環帶徑向直線擬合的圓環編碼標志點中心提取方法[J]. 激光與光電子學進展, 2020, 57(7): 071203

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