CAJ | 학술논문

针对工业制造领域中大型工件很难进行全尺寸测量的问题,提出并实现了一种基于立体视觉技术的便携式工业测量系统.对该系统所采用的特征识别、相机定向、立体匹配、三维重建、多视点云配准等关键算法进行了研究.提出了改进的CANNY边缘亚像素检测算法,使用先验规则去除误识别的标志点,多次拟合定位标志点中心,对标志点环带多次采样取中值求取编码点的ID.根据ID号找出不同照片中的同名编码点,顺次对照片进行相对定向和绝对定向.然后,根据多幅图像的多极线几何约束,实现非编码点的匹配,消除误匹配.采用前方交会法重建标志点的三维坐标,利用光束平差对计算出的结果和内外部参数做迭代修正.最后,设计了双目结构光扫描系统,提出了一种改进的双目像机标定算法,描述了利用全局和局部标志点的子图同构实现多视点云配准的新算法.实验结果表明,该系统可在生产现场对大型工件进行快速测量,整体测量精度达到0.112 mm/3 m,可以满足工业现场大尺寸测量对精度和效率的要求.
침대공업제조영역중대형공건흔난진행전척촌측량적문제,제출병실현료일충기우입체시각기술적편휴식공업측량계통.대해계통소채용적특정식별、상궤정향、입체필배、삼유중건、다시점운배준등관건산법진행료연구.제출료개진적CANNY변연아상소검측산법,사용선험규칙거제오식별적표지점,다차의합정위표지점중심,대표지점배대다차채양취중치구취편마점적ID.근거ID호조출불동조편중적동명편마점,순차대조편진행상대정향화절대정향.연후,근거다폭도상적다겁선궤하약속,실현비편마점적필배,소제오필배.채용전방교회법중건표지점적삼유좌표,이용광속평차대계산출적결과화내외부삼수주질대수정.최후,설계료쌍목결구광소묘계통,제출료일충개진적쌍목상궤표정산법,묘술료이용전국화국부표지점적자도동구실현다시점운배준적신산법.실험결과표명,해계통가재생산현장대대형공건진행쾌속측량,정체측량정도체도0.112 mm/3 m,가이만족공업현장대척촌측량대정도화효솔적요구.
In order to realize the rapid measurement for large dimension work-pieces in industrial fields, a new measuring system based on a stereo vision was proposed and implemented. The key algorithms used in the system, such as feature recognition, camera orientation, stereo matching, object coordinate 3D reconstruction and multi-view point cloud registration, were studied. Firstly, an improved 'CANNY' edge detecting method was presented to achieve the sub-pixel localization,and the experiential knowledge was used to eliminate miss-recognized reference points.By fitting point centers of the position, the ring of the reference points was sampled in multi-time to obtain a median and to constructed its ID. Then, the homonymous coded points in each photo pair were searched according to their unique Ids,and the relative orientation and absolute orientation were carried out.Secondly, the multi-image epipolar constraint method was utilized to implement the un-coded point matching and to remove the mismatching.Furthermore, the 3D coordinates of all reference points were calculated by the spatial intersection,and the interior and exterior parameters, image and object coordinates are corrected by the bundle adjustment synchronously. Finally, a binocular structure-light scanner was constructed to acquire the surface detail information of the work-pieces. An improved camera calibration approach was introduced and its calibration accuracy was compared with those of traditional methods.The multi-view point cloud global registration algorithm was also discussed in detail. Experiment results indicate that the new measuring system is suitable for the large work-piece measurement with an accuracy of 0.112 mm/3 m,and it can satisfy the precision and efficiency demands of the large dimension measurement.