机器视觉三维测量技术

InstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China合肥工业大学仪器科学与光电工程学院光机电工程研究所卢荣胜Tel:0551-2901780,2905872Email:[e-mail]机器视觉三维测量技术3DMachineVisionMeasurementTechniquesInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China大纲1.机器视觉的概念2.摄像机模型3.三维视觉传感器的类型4.多视觉传感器测量系统的组成5.摄像机与视觉传感器的标定6.测量系统的全局标定7.应用举例InstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China机器视觉技术的概念测量检测识别引导光源传感器光学镜组传感单元信号处理单元控制单元采用光学成像技术（通常使用摄像机）获取被测目标的图像，再经过快速图像处理与图形识别算法，从摄取图像中获取目标的尺寸、位置、方向、光谱特征、结构以及缺陷等信息，从而可以执行产品检验、分类与分组，装配线上的机械手运动引导、零部件的识别与定位，生产过程中质量监控与过程控制反馈等等任务。InstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China应用领域举例1.IC及一般电子业：PCB、BGA、LCD屏幕、被动组件形状脚位及定位、生产插件、晶元(Wafer)镜面研磨、生产组装、被动组件辨识2.MEMS组件：微小器件的尺寸、形貌、表面缺陷的检测，组件动态特性的测量等。3.机械工具/自动化机械：零件尺寸、外形、瑕疵检测、零件分类比对、装配定位、加工定位、熔焊检测4.电机工业：控制器红外线热像仪检测、电线瑕疵、裂缝检测、缆线配置检测5.金属钢铁业：钢板尺寸检测、表面瑕疵检测、铸件瑕疵检测、材料金像检测6.橡胶/塑料制品：保特瓶口尺寸检测、制品颜色分类检测7.食品加工/包装业：瓶内液位高度、异物或灰尘检测、包装印刷辨识、打印字形及零件编号检测与识别8.纺织皮革工业：表面针织纹路检测、色差检测、皮革表面特性检测9.汽车工业：陶轴裁切定位、零件涂黄油检测、白车身检验10.家电/办公：产品外壳印刷检测、1维/2维条形码辨识11.保全/监视系统：人像特征辨识、指纹辨识等InstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China机器视觉在精密测量中的应用照明光源图像传感器成像内部三维表面表面轮廓粗糙度缺陷纹理内部结构应力变形缺陷被测场景方位三维形貌尺寸坐标InstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China二、摄像机的建模1.影射几何与坐标变换2.摄像机建模3.镜头畸变4.摄像机内部参数的修正5.摄像机的精确模型6.摄像机的简化模型InstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China欧式几何与影射几何的概念xyzxyz不变量:Distanceandangle不变量:Crossratiobacdbdadbcacd,c;b,aRInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China齐次矩阵fzYyXx101000000001zyxffYXzyxffzYX00001zyfYzxfXInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China坐标变换xyz110001333231232221131211zyx眼睛的光学模型像平面物体透镜fImageplaneobjectlensInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China摄像机的光学投影变换ImageplaneobjectlensfzYyXxxyXYzImageplaneFocusplanefz,y,xInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China摄像机的光学投影变换（续）fzYyXxfzYyXxxyXYzImageplanefY,Xz,y,xxXYzImageplaneFocusplanefz,y,xy101000000001zyxffYXInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China像平面与帧存体的对应关系110000)(10101YXvdudsvuyxxxyXYzImageplanefY,Xz,y,xuvO00,vuv,uComputerframexdyd)()(00uudYuudsXyxxInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China帧存体与摄像机坐标的关系1010000000010000)(10101zyxffvdudsvuyxxxyXYzImageplanefY,Xz,y,xuvO00,vuv,uComputerframeInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China2.4摄像机建模xyXYzImageplanefY,Xz,y,xuvO00,vuv,uComputerframewywxwz11000133323123222113121111000010000000010000)(13332312322211312110101InstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China摄像机建模（续）110000)(13332312322211312110101MtRAm~|~未知参数：00,,,,,vusddfxyx(1)Intrinsicparameters:(2)Extrinsicparameters333231232221131211r,r,r,r,r,r,r,r,rOrientation:Translation:zyxt,t,t69,independent33InstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China镜头畸变的概念xyXYzImageplanefddY,Xz,y,x(1)Radialdistortion(2)Tangentialdistortion(3)Decenteringdistortion(4)ThinprismdistortionInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China径向畸变5231rkrkr22ddYXrsinrYcosrXdd22222212222221ddddddyrddddddxrYXYkYXYkYXXkYXXkInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China偏心畸变0012011cossinjpjp偏心畸变既含有径向畸变又有切向畸变04221042213cosrjrjsinrjrjtdrdtdrdydxdcossinsincos最大切向畸变与x轴的夹角,设在直角坐标系下22212221223ddddydddddxdYXpYXpYXpYXpInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China薄棱镜畸变1422114221cosririsinriritprp11211cosissinis薄棱镜畸变是由镜头与摄像机面有小的倾角造成的1最大切向畸变与x轴的夹角,设221221ddypddxpYXsYXsInstituteofOpto-mechatronicsEngineering,HefeiUniversityofTechnology,Hefei,Anhui,230009,China镜头总畸变ypydyrdxpxdxrdYYXX,s,p,p