激光与光电子学进展, 2020, 57 (7): 071203, 网络出版: 2020-03-31   

基于编码环带径向直线拟合的圆环编码标志点中心提取方法 下载: 1271次

Method for Extracting the Center of Circular Coded Target Based on Radial Straight Line Fitting of Circular Coding
作者单位
河北工业大学机械工程学院, 天津 300130
摘要
圆环编码标志点广泛应用于三维测量领域中,标志点的中心提取精度直接影响了系统的测量精度。针对当前圆环编码标志点中心提取方法易受拍摄角度影响的问题,提出了一种基于编码环带径向直线拟合提取标志点中心的方法。首先对图像进行预处理,提取其边缘,分割出编码标志点环带中的径向直线,然后利用高斯拟合法对边缘点进行亚像素定位。将提取出的亚像素边缘点集映射到参数空间变成曲线,求出所有曲线的交点。最后利用随机采样一致性算法进行拟合,映射到原始坐标空间得到中心坐标。仿真结果表明,随标志点尺寸和拍摄角度的增大,该方法提取的中心坐标误差从1 pixel降低为0.05 pixel。实验测量发现,在标靶尺寸、拍摄角度不同的情况下,该方法提取的中心坐标误差保持1 pixel以内,与椭圆拟合法相比,标定相机的重投影误差减少了20%,标定结果更加精确。
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.

张宗华, 王森, 王宇莹, 张昂, 孟召宗, 肖艳军, 高楠. 基于编码环带径向直线拟合的圆环编码标志点中心提取方法[J]. 激光与光电子学进展, 2020, 57(7): 071203. Zonghua Zhang, Sen Wang, Yuying Wang, Ang Zhang, Zhaozong Meng, Yanjun Xiao, Nan Gao. 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.

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