基于双目相机的直线运动轨迹快速测量算法 
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Fast Trajectory Measurement Algorithm for Linear Motion Based on Binocular Camera
哈尔滨工程大学自动化学院, 黑龙江 哈尔滨 150001
图 & 表
图 1. 图像像素坐标系
Fig. 1. Image pixel coordinate system
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图 2. 摄像机坐标系的建立
Fig. 2. Establishment of camera coordinate system
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图 3. 相机小孔模型
Fig. 3. Camera pinhole model
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图 4. 双目测距模型
Fig. 4. Binocular ranging model
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图 5. 测量原理图
Fig. 5. Schematic of measurement
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图 6. 成像点映射直线示意图
Fig. 6. Schematic of imaging point mapping line
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图 7. 图片去畸变。(a)处理前;(b)处理后
Fig. 7. Undistort image. (a) Before processing; (b) after processing
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图 8. 目标点坐标测量
Fig. 8. Target point coordinate measurement
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图 9. 特征点匹配结果
Fig. 9. Results of feature point matching
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图 10. ROI特征点匹配结果
Fig. 10. Results of feature point matching in ROI
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图 11. 测量轨迹与实际轨迹对比
Fig. 11. Comparison of measured trajectory and actual trajectory
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表 1目标实际距离和坐标
Table1. Actual distance and coordinates of the target
| No. | Left eye pixelcoordinate /pixel | Right eye pixelcoordinate /pixel | Actualcoordinate /mm | Actualrange /mm |
|---|
| 1 | 840,918 | 719,902 | [0,-540,-4500] | 4532.3 | | 2 | 840,920 | 701,904 | [0,-540,-4000] | 4036.3 | | 3 | 840,927 | 683,911 | [0,-540,-3500] | 3541.4 | | 4 | 840,937 | 656,920 | [0,-540,-3000] | 3048.2 | | 5 | 840,948 | 619,932 | [0,-540,-2500] | 2557.7 | | 6 | 840,967 | 560,950 | [0,-540,-2000] | 2071.6 | | 7 | 840,999 | 476,978 | [0,-540,-1500] | 1594.2 | | 8 | 840,1062 | 316,1020 | [0,-540,-1000] | 1136.5 |
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表 2测量数据
Table2. Data of measurement
| No. | Coordinate measurementresult /mm | Measuringdistance /mm | Actualdistance /mm | Error /mm | Errorrate /% |
|---|
| 1 | [-252.81,-499.91,-4253.07] | 4289.81 | 4532.3 | 242.49 | 5.35 | | 2 | [-111.24,-528.55,-1871.40] | 1947.78 | 4036.3 | 2084.52 | 51.74 | | 3 | [-194.125,-511.78,-3265.80] | 3311.36 | 3541.4 | 230.04 | 6.50 | | 4 | [-182.112,-514.21,-3063.71] | 3111.89 | 3048.2 | 63.69 | 8.64 | | 5 | [-151.99,-520.30,-2557.06] | 2613.88 | 2557.7 | 56.18 | 2.20 | | 6 | [-66.57,-537.59,-1119.89] | 1244.02 | 2071.6 | 827.58 | 39.94 | | 7 | [-78.92,-535.09,-1327.63] | 1453.58 | 1594.2 | 140.62 | 10.08 | | 8 | [-58.98,-539.12,-992.22] | 1130.76 | 1136.5 | 5.74 | 0.51 |
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表 3修正后的目标测距比较
Table3. Comparison of corrected target ranging
| No. | Coordinate measurementresult /mm | Measuringdistance /mm | Actualdistance /mm | Error /mm | Errorrate /% |
|---|
| 1 | [-268.28,-523.94,-4513.39] | 4551.62 | 4532.3 | 19.32 | 0.43 | | 2 | [-244.29,-501.60,-4109.87] | 4147.57 | 4036.3 | 111.27 | 2.76 | | 3 | [-212.33,-509.78,-3572.13] | 3614.57 | 3541.4 | 73.17 | 2.01 | | 4 | [-178.71,-513.37,-3006.45] | 3055.20 | 3048.2 | 7.00 | 0.23 | | 5 | [-149.78,-516.23,-2519.79] | 2576.48 | 2557.7 | 18.78 | 0.73 | | 6 | [-118.18,-516.18,-1988.22] | 2057.53 | 2071.6 | 14.07 | 0.68 | | 7 | [-89.11,-521.96,-1499.08] | 1589.90 | 1594.2 | 4.30 | 0.27 | | 8 | [-60.48,-509.82,-1017.45] | 1140.21 | 1136.5 | 3.71 | 0.33 |
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表 4双目立体测距结果
Table4. Results of binocular stereoscopic ranging
| No. | Coordinate measurementresult /mm | Measuringdistance /mm | Actualdistance /mm | Error /mm | Errorrate /% |
|---|
| 1 | [227.47,-495.67,-4532.36] | 4565.05 | 4532.3 | 32.75 | 0.72 | | 2 | [203.84,-510.46,-4061.47] | 4098.49 | 4036.3 | 62.19 | 1.54 | | 3 | [180.41,-530.01,-3594.63] | 3637.97 | 3541.4 | 96.57 | 2.73 | | 4 | [153.88,-535.47,-3066.01] | 3116.22 | 3048.2 | 68.02 | 2.23 | | 5 | [128.65,-531.36,-2563.38] | 2621.03 | 2557.7 | 63.33 | 2.48 | | 6 | [80.87,-549.62,-2057.45] | 2131.13 | 2071.6 | 59.53 | 2.87 | | 7 | [78.48,-562.33,-1563.66] | 1663.55 | 1594.2 | 69.35 | 4.35 | | 8 | [76.53,-585.08,-1063.72] | 1216.42 | 1136.5 | 79.92 | 7.03 |
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表 5测量结果
Table5. Results of measurement
| No. | Coordinate measurementresult /mm | Measuringdistance /mm | Actualdistance /mm | Error /mm | Errorrate /% |
|---|
| 1 | [226.23, -496.32,-4531.87] | 4564.58 | 4532.3 | 32.28 | 0.71 | | 2 | [203.62,-509.85 ,-4059.98] | 4096.93 | 4036.3 | 60.63 | 1.50 | | 3 | [160.01 ,-539.91 ,-3553.95] | 3598.29 | 3541.4 | 56.89 | 1.61 | | 4 | [143.47,-535.88 ,-3055.99] | 3105.93 | 3048.2 | 57.73 | 1.89 | | 5 | [128.45,-532.01,-2552.88] | 2610.89 | 2557.7 | 53.19 | 2.08 | | 6 | [80.81,-542.79,-2047.48] | 2119.75 | 2071.6 | 48.15 | 2.32 | | 7 | [72.78,-552.33,-1533.66] | 1631.71 | 1594.2 | 37.51 | 2.35 | | 8 | [67.53,-564.08,-1028.75] | 1175.19 | 1136.5 | 38.69 | 3.39 |
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蔡成涛, 王峰. 基于双目相机的直线运动轨迹快速测量算法[J]. 激光与光电子学进展, 2019, 56(5): 051502. Chengtao Cai, Feng Wang. Fast Trajectory Measurement Algorithm for Linear Motion Based on Binocular Camera[J]. Laser & Optoelectronics Progress, 2019, 56(5): 051502.
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