双目立体视觉平台的机构设计与试验研究
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摘要
机器视觉作为当今最为活跃而又富有挑战意义的研究领域,其研究内容和应用领域相当广泛。机器视觉技术是20世纪中期发展的一门新兴的综合性科学技术,它集合了电子、机械、光学、计算机及信息科学等多学科的最新成就,是高技术领域的重要组成部分。本文以双目立体视觉机理研究为目的,对双目立体视觉系统、水平调节方案、以及水平调节机构和标定试验进行了研究和探讨。
通过全面的分析与研究后确定了双目立体视觉系统的总体方案,将摄像机调节机构、标靶调节机构、导轨机构以及控制系统等构成一套完整的系统。然后,分别讲述了摄像机调节机构、标靶调节机构和导轨机构的设计方案,并且,针对水平调节的要求而确定利用倾角传感器调节和图像处理调节两种方案,并详细地分析了这两种方案的优缺点。
在确定了水平调节方案的基础上,详细地对水平调节机构进行分析和计算,从而确定了基于弹性元件的并联水平调节机构,叙述了该机构的构成和工作原理,并且,分别通过人工计算方式和软件计算方式对水平调节机构进行了精确的计算,从计算的结果看出,有限元分析以精度高、计算速度快、操作方便明显优于人工计算。
在制造出样机的基础上,采用基于图像处理技术的调平实验,即通过SWIFT算法对采集的图像进行滤波、阈值分割和边缘提取,并且可得出所提取椭圆的长短轴、中心坐标和长轴与X轴的夹角,调节标靶面与摄像机面平行的过程是首先利用水平调节仪近似地将标靶调节与水平面垂直,然后利用图像处理方法分别将左摄像机像面和右摄像机像面调节至与标靶面平行,在整个调节过程中,整套机构运动自知、调节方便,可操作性强,并且在将标靶面调节与两摄像机像面平行的基础上,又进行了摄像机的标定实验,从标定的情况来看,标定的过程变得非常简单。
Machine vision is an active and challenging research field, its research and application areas spread widely. Machine vision technology is a rising integrative science technology, which is the last word referring electronics, mechanism, optics, computer and communication technology, and which is the most important part of high tech field. With the target of binocular stereo vision Mechanism research,, this paper discusses binocular stereo vision system, level adjustment plan , level adjustment mechanism and camera calibration experiment. The overall scheme of binocular stereo vision system had been determined by the comprehensive analysis and research, which makes the camera control mechanism, the target control mechanism , the guide rail mechanism and the control system a complete systems. Then , the design proposal of the camera control mechanism, the target control mechanism and the guide rail mechanism had been narrated separately, moreover, in view of the level adjustment request ,the two kind of plans using the inclination angle sensor adjustment and the imagery processing adjustment had been determined, and the advantage and disadvantage of the two kinds had been analyzed in detail.
Based on the level adjustment plan, level control mechanism had been analyzed and computed, thus the level control mechanism based on the elastic part had been determined and constitution and the principle of work of the mechanism had been narrated. Moreover, the precise computation had been separately carried on through the manual computing mode and the software computing mode to the level control element, as see from the computation result, the finite element analysis surpasses the manual computation obviously by the high precision, the quick computation speed and the easy operation.
Based on the prototype, the adjusting level experiment based on the imagery processing had been done, namely carrying on the filter, the threshold value division and the edge detection through the SWIFT algorithm to the gathering image, and obtaining the long minor axis, the central coordinates and the major axis with X axis included angle of the ellipse. The process of adjustment target surface and the camera surface parallel process is using firstly the horizontal accommodometer to adjust approximately the target and the horizontal plane vertical, then using imagery processing method separately to adjust left camera image plane and right camera image plane with target surface parallel. In the entire adjustment process, the entire wrap organization can easy movement, convenient adjustment, easy operation, and the camera demarcation experiment based on the target surface adjustment with two camera image plane parallel had been carried on, as see from the demarcation situation, the demarcation process becomes extremely simple.
通过全面的分析与研究后确定了双目立体视觉系统的总体方案,将摄像机调节机构、标靶调节机构、导轨机构以及控制系统等构成一套完整的系统。然后,分别讲述了摄像机调节机构、标靶调节机构和导轨机构的设计方案,并且,针对水平调节的要求而确定利用倾角传感器调节和图像处理调节两种方案,并详细地分析了这两种方案的优缺点。
在确定了水平调节方案的基础上,详细地对水平调节机构进行分析和计算,从而确定了基于弹性元件的并联水平调节机构,叙述了该机构的构成和工作原理,并且,分别通过人工计算方式和软件计算方式对水平调节机构进行了精确的计算,从计算的结果看出,有限元分析以精度高、计算速度快、操作方便明显优于人工计算。
在制造出样机的基础上,采用基于图像处理技术的调平实验,即通过SWIFT算法对采集的图像进行滤波、阈值分割和边缘提取,并且可得出所提取椭圆的长短轴、中心坐标和长轴与X轴的夹角,调节标靶面与摄像机面平行的过程是首先利用水平调节仪近似地将标靶调节与水平面垂直,然后利用图像处理方法分别将左摄像机像面和右摄像机像面调节至与标靶面平行,在整个调节过程中,整套机构运动自知、调节方便,可操作性强,并且在将标靶面调节与两摄像机像面平行的基础上,又进行了摄像机的标定实验,从标定的情况来看,标定的过程变得非常简单。
Machine vision is an active and challenging research field, its research and application areas spread widely. Machine vision technology is a rising integrative science technology, which is the last word referring electronics, mechanism, optics, computer and communication technology, and which is the most important part of high tech field. With the target of binocular stereo vision Mechanism research,, this paper discusses binocular stereo vision system, level adjustment plan , level adjustment mechanism and camera calibration experiment. The overall scheme of binocular stereo vision system had been determined by the comprehensive analysis and research, which makes the camera control mechanism, the target control mechanism , the guide rail mechanism and the control system a complete systems. Then , the design proposal of the camera control mechanism, the target control mechanism and the guide rail mechanism had been narrated separately, moreover, in view of the level adjustment request ,the two kind of plans using the inclination angle sensor adjustment and the imagery processing adjustment had been determined, and the advantage and disadvantage of the two kinds had been analyzed in detail.
Based on the level adjustment plan, level control mechanism had been analyzed and computed, thus the level control mechanism based on the elastic part had been determined and constitution and the principle of work of the mechanism had been narrated. Moreover, the precise computation had been separately carried on through the manual computing mode and the software computing mode to the level control element, as see from the computation result, the finite element analysis surpasses the manual computation obviously by the high precision, the quick computation speed and the easy operation.
Based on the prototype, the adjusting level experiment based on the imagery processing had been done, namely carrying on the filter, the threshold value division and the edge detection through the SWIFT algorithm to the gathering image, and obtaining the long minor axis, the central coordinates and the major axis with X axis included angle of the ellipse. The process of adjustment target surface and the camera surface parallel process is using firstly the horizontal accommodometer to adjust approximately the target and the horizontal plane vertical, then using imagery processing method separately to adjust left camera image plane and right camera image plane with target surface parallel. In the entire adjustment process, the entire wrap organization can easy movement, convenient adjustment, easy operation, and the camera demarcation experiment based on the target surface adjustment with two camera image plane parallel had been carried on, as see from the demarcation situation, the demarcation process becomes extremely simple.
引文
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