显微立体视觉系统标定与微结构半遮挡研究
摘要
基于体视显微镜(Stereo Light Microscope，SLM)的显微立体视觉系统在微观研究领域得到广泛应用，通过视觉反馈可实现高精度的三维测量和定位。半遮挡(Half-Occlusion)是影响立体匹配和三维重构的一个重要因素。为了分析微结构在显微立体视觉中的半遮挡情况，首先研究了视觉系统的标定方法，获得了内外参数，然后建立了分析模型，对微沟道在显微立体视觉中的半遮挡情况进行了初步分析与实验验证。
本文借鉴张正友的线性视觉模型标定理论，考虑显微立体视觉的特性，建立了一种两步标定方法：①把多幅图像做为数据源，通过Harris算子获得图像的角点。进行一次标定，获得光学放大倍率。然后，在SLM定值工作距离的约束条件下，求解出焦距，从而获得了完整的内参数；最后通过第二步标定获得视觉系统的外参数；②在显微立体视觉系统的基础上搭建了视觉系统标定硬件平台，完成了标定样板的设计与制作。并且对相应部件进行了调平、对准等工作。实验中，验证了此标定系统的实用性；③对采用CMO-SLM的显微立体视觉系统进行了标定，对每个参数的标定值分别求解其均值、均方差以及相对误差，其中放大倍率和焦距的相对误差小于1.7％。
分别针对G-SLM与CMO-SLM中微结构的半遮挡问题进行阐述，研究了实验验证方案，进行了实验验证。共开展五方面工作：①基于针孔视觉模型和共轴球面透镜成像模型，分别建立了G-SLM和CMO-SLM的微结构半遮挡分析视觉模型；②求取了单子光路的视野范围，半遮挡临界角与物点坐标、子光路半夹角、焦距、CCD靶面宽度等参数的关系式；③分析了微沟道的遮挡问题。分别针对理想微沟道与非理想微沟道，利用分析模型对特定内壁倾角的微沟道进行了半遮挡分析；④对半遮挡分析结果进行了实验验证。利用标定样板与硅模具热压而成的不存在半遮挡的微沟道来模拟各个连续内壁倾角的微沟道，实验中，求得9.0×时，视野中心的半遮挡临界角为82.6°，绝对误差的平均值为1.04°；⑤分析了对侧内壁遮挡的微沟道，求取了不发生对侧遮挡的微沟道深宽比的范围。
视觉系统的标定为微结构的半遮挡提供了前提，而半遮挡的分析与实验验证为半遮挡的解决奠定了基础。
Micro stereovision system based on stereo light microscope (SLM) has been applied insome micro-domains widely. Highly accurate measurement and location are implemented bythe vision feedback. Sequentially, the micro-actor is controlled to complete the expectedoperation. Half-cclusion is an important influencing factor in stereo matching and 3Dreconstruction. To analyse half-occlusion of microstrucmre in SLM, vision system iscalibrated firstly, whose intrinsic and extrinsic parameters can be acquired subsequently, thenanalytical models are built, finally, half-occlusion of mircostructures including microchannelare analysed, in mircro stereovision.
The purpose of calibration of micro stereovision system is to get the intrinsic andextrinsic parameters of the corresponding vision model. For reference of Zhang ZY's linearvision model calibration theory and consideration of micro stereovision character, a two-stepcalibration method is put forward. The study on calibration is as follows:①Data source arecomers which are extracted from many images using Harris arithmetic operators. First, only aproportional value namely magnification is acquired from elementary calibration since SLM'sdepth of focus is finite and the calibration pattern can only rotate in a plane, then, forthe constraint that operating distance is constant, foci can be got, then intrinsic parameters canbe achieved; second, extrinsic parameters can be acquired from the further calibration;②Based on SLM micro stereovision system, a set of calibration device system was assembledand calibration patternⅡwas designed. Some components were levelling and collimated. Thefollowing experiments verified the practicability of this system;③The average, standarddeviation and the relative error of foci, ubiety and magnification of binocular system aregained by the calibration of the CMO-SLM under three common-used objective lensmagnifications (2.0X, 2.5X, 3.2X). The relative errors of magnification and foci are less than1.7 percentages, while the relative errors of the fitting straight lines' rate of grade which isclose to 5 and a criteria for evaluation of the angle around z axis are less than 0.6 percentages.The relative deviation between left and right translation vectors can judge the accuracy of thetranslation vector, which is less than 0.116mm.
Half-occlusion of the microstrucmre in the G-SLM and CMO-SLM are formulatedseparately, after that experimental scheme is presented and primary experimental verificationis completed. The study on occlusion is as follows:①Analytical vision models ofhalf-occlusion are built. G-SLM analytical model is derived from the coaxial spherical planes lens model while CMO-SLM analytical model is from the common-used pinhole model;②Field of vision and the relational expressions between coodianates of object point and criticalocclusion angle which depends on included angle, foci, effective width of CCD areformulated;：③Occlusion of microchannel is analysed weightily. As to ideal and nonidealmicrochannel which have fixed rake angle of inwall, half-occlusions are explained byanalytical vision models, after that quantitative conclusions are achieved;④Study onexperimental method which can verificate relational expressions in③is completed, after thatprimary experiments are done. Microchannel's continuous rake angles are simulated bycalibration pattern and a microchannel which has no occlusion and was hot embossed withsilicon mould. The average of absolute error is 1.04°;⑤The range of depth-to-width ratio ofmicrochannels which have no opposite side occlusion after some formulation.
Calibration is a prerequisite of analysis of half-occlusion, while the correspondinganalysis lends itself to half-occlusion solution.
本文借鉴张正友的线性视觉模型标定理论，考虑显微立体视觉的特性，建立了一种两步标定方法：①把多幅图像做为数据源，通过Harris算子获得图像的角点。进行一次标定，获得光学放大倍率。然后，在SLM定值工作距离的约束条件下，求解出焦距，从而获得了完整的内参数；最后通过第二步标定获得视觉系统的外参数；②在显微立体视觉系统的基础上搭建了视觉系统标定硬件平台，完成了标定样板的设计与制作。并且对相应部件进行了调平、对准等工作。实验中，验证了此标定系统的实用性；③对采用CMO-SLM的显微立体视觉系统进行了标定，对每个参数的标定值分别求解其均值、均方差以及相对误差，其中放大倍率和焦距的相对误差小于1.7％。
分别针对G-SLM与CMO-SLM中微结构的半遮挡问题进行阐述，研究了实验验证方案，进行了实验验证。共开展五方面工作：①基于针孔视觉模型和共轴球面透镜成像模型，分别建立了G-SLM和CMO-SLM的微结构半遮挡分析视觉模型；②求取了单子光路的视野范围，半遮挡临界角与物点坐标、子光路半夹角、焦距、CCD靶面宽度等参数的关系式；③分析了微沟道的遮挡问题。分别针对理想微沟道与非理想微沟道，利用分析模型对特定内壁倾角的微沟道进行了半遮挡分析；④对半遮挡分析结果进行了实验验证。利用标定样板与硅模具热压而成的不存在半遮挡的微沟道来模拟各个连续内壁倾角的微沟道，实验中，求得9.0×时，视野中心的半遮挡临界角为82.6°，绝对误差的平均值为1.04°；⑤分析了对侧内壁遮挡的微沟道，求取了不发生对侧遮挡的微沟道深宽比的范围。
视觉系统的标定为微结构的半遮挡提供了前提，而半遮挡的分析与实验验证为半遮挡的解决奠定了基础。
Micro stereovision system based on stereo light microscope (SLM) has been applied insome micro-domains widely. Highly accurate measurement and location are implemented bythe vision feedback. Sequentially, the micro-actor is controlled to complete the expectedoperation. Half-cclusion is an important influencing factor in stereo matching and 3Dreconstruction. To analyse half-occlusion of microstrucmre in SLM, vision system iscalibrated firstly, whose intrinsic and extrinsic parameters can be acquired subsequently, thenanalytical models are built, finally, half-occlusion of mircostructures including microchannelare analysed, in mircro stereovision.
The purpose of calibration of micro stereovision system is to get the intrinsic andextrinsic parameters of the corresponding vision model. For reference of Zhang ZY's linearvision model calibration theory and consideration of micro stereovision character, a two-stepcalibration method is put forward. The study on calibration is as follows:①Data source arecomers which are extracted from many images using Harris arithmetic operators. First, only aproportional value namely magnification is acquired from elementary calibration since SLM'sdepth of focus is finite and the calibration pattern can only rotate in a plane, then, forthe constraint that operating distance is constant, foci can be got, then intrinsic parameters canbe achieved; second, extrinsic parameters can be acquired from the further calibration;②Based on SLM micro stereovision system, a set of calibration device system was assembledand calibration patternⅡwas designed. Some components were levelling and collimated. Thefollowing experiments verified the practicability of this system;③The average, standarddeviation and the relative error of foci, ubiety and magnification of binocular system aregained by the calibration of the CMO-SLM under three common-used objective lensmagnifications (2.0X, 2.5X, 3.2X). The relative errors of magnification and foci are less than1.7 percentages, while the relative errors of the fitting straight lines' rate of grade which isclose to 5 and a criteria for evaluation of the angle around z axis are less than 0.6 percentages.The relative deviation between left and right translation vectors can judge the accuracy of thetranslation vector, which is less than 0.116mm.
Half-occlusion of the microstrucmre in the G-SLM and CMO-SLM are formulatedseparately, after that experimental scheme is presented and primary experimental verificationis completed. The study on occlusion is as follows:①Analytical vision models ofhalf-occlusion are built. G-SLM analytical model is derived from the coaxial spherical planes lens model while CMO-SLM analytical model is from the common-used pinhole model;②Field of vision and the relational expressions between coodianates of object point and criticalocclusion angle which depends on included angle, foci, effective width of CCD areformulated;：③Occlusion of microchannel is analysed weightily. As to ideal and nonidealmicrochannel which have fixed rake angle of inwall, half-occlusions are explained byanalytical vision models, after that quantitative conclusions are achieved;④Study onexperimental method which can verificate relational expressions in③is completed, after thatprimary experiments are done. Microchannel's continuous rake angles are simulated bycalibration pattern and a microchannel which has no occlusion and was hot embossed withsilicon mould. The average of absolute error is 1.04°;⑤The range of depth-to-width ratio ofmicrochannels which have no opposite side occlusion after some formulation.
Calibration is a prerequisite of analysis of half-occlusion, while the correspondinganalysis lends itself to half-occlusion solution.
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