白光数字图象频域分析法在CCD摄象机标定中的应用

结合标定算法和平移实验,提出利用白光数字图象频域分析法标定CCD(charge coupled device,电荷耦合图象传感器)摄象机的实验方法。采用具有随机斑点特征的平板作为标定板。利用三维精密调节架以已知位移平移标定板,借助CCD摄象机记录下平移前后的标定板图象。标定点的空间坐标由平移位移确定,其对应的象素坐标由白光数字图象频域分析法求得。最后根据标定点的空间坐标和象素坐标,利用标定算法求出CCD摄象机的内外参数。将实验结果与预设值相比较,验证该方法的正确性。     

线结构光传感器模型的简易标定

为了现场完成线结构光视觉传感器中摄像机和光平面的同时标定,提出了一种基于单一圆形标靶标定线结构光视觉传感器的方法,该平面标靶包含一个同心圆以及过圆心的两条正交直线。通过共轭点原理线性计算摄像机内参数的初值,并根据正交性约束进行迭代优化。然后,多次移动传感器,保持结构光与同心圆相交,使其构成三点透视模型(P3P),依此计算光平面上标定点的三维坐标。最后,利用最小二乘法拟合出光平面方程,从而完成光平面方程的标定。实验结果表明:该方法具有较高的精度,平均测量精度为0.036 82mm,相对测量误差为0.277 13%。该标定方法仅需同一标靶即可完成摄像机内参数和光平面方程的标定,降低了标定成本,且计算简单、操作灵活,适宜现场环境标定。     

基于灭点标定的立体视觉自由曲面测量

利用基于灭点理论的方法进行系统的非线性标定,采用投射光斑法增加自由曲面的图像特征;提出了一种基于方向和距离约束的分片排列编码方法,对投影光斑进行排列编码。首先分别在左右图像上根据彩色点的位置关系自动确定一个初始匹配点和四个匹配方向,然后对其余点按照分片排列法进行自动排列编码。对石膏像的面部进行了三维测量和重构实验。实验表明,基于方向和距离约束的分片排列编码法,可以准确的进行投影点的编码, 并能够快速、有效地实现彩色图像特征点的全自动匹配。     

检校场标定长焦航测相机参数

为实现长焦航测相机内参数及畸变参数标定,提出利用室外检校场对相机进行标定的方法。介绍了该方法由初值到精确值的两步法的求解步骤、计算过程及实验过程。首先通过给定已知特征点位置信息以及不同角度不同位置下拍摄的影像,通过特征点提取及匹配,根据像点坐标与世界坐标的线性对应关系,基于直接线性变换算法建立约束方程求取相机参数初值,进而通过混合LMQN(Levenberg-Marquardt与Qusai-Newton)迭代优化加速求解精确值。与精密测角法比无需精密设备的操作及记录,只需不同位置不同姿态拍摄多张包含精确位置信息的检校场影像即可。最后进行标定实验并对结果分析,基于检校场的标定方法在参数解算中特征点最大投影误差为2.471pixel,标定参数主点精度为9.7μm(2pixel),主距精度为4.3μm(1pixel),解算相机拍摄位置精度0.035m,满足测绘应用的精度需求。     

Three dimensional image restoration in fluorescence lifetime imaging microscopy

A microscope set-up and numerical methods are described which enable the measurement and reconstruction of three-dimensional nanosecond fluorescence lifetime images in every voxel. The frequency domain fluorescence lifetime imaging microscope (FLIM) utilizes phase detection of high-frequency modulated light by homodyne mixing on a microchannel plate image intensifier. The output signal at the image intensifier's phosphor screen is integrated on a charge coupled device camera. A scanning stage is employed to obtain a series of phase-dependent intensity images at equally separated depths in a specimen. The Fourier transform of phase-dependent data gives three-dimensional (3D) images of the Fourier coefficients. These images are deblurred using an Iterative Constrained Tikhonov–Miller (ICTM) algorithm in conjunction with a measured point spread function. The 3D reconstruction of fluorescence lifetimes are calculated from the deblurred images of the Fourier coefficients. An improved spatial and temporal resolution of fluorescence lifetimes was obtained using this approach to the reconstruction of simulated 3D FLIM data. The technique was applied to restore 3D FLIM data of a live cell specimen expressing two green fluorescent protein fusion constructs having distinct fluorescence lifetimes which localized to separate cellular compartments.     

Laser-based volumetric flow visualization by digital color imaging of a spectrally coded volume

We present the framework for volumetric laser-based flow visualization instrumentation using a spectrally coded volume to achieve three-component three-dimensional particle velocimetry. By delivering light from a frequency doubled Nd:YAG laser with an optical fiber, we exploit stimulated Raman scattering within the fiber to generate a continuum spanning the visible spectrum from 500 to 850 nm. We shape and disperse the continuum light to illuminate a measurement volume of 20 x 10 x 4 mm(3), in which light sheets of differing spectral properties overlap to form an unambiguous color variation along the depth direction. Using a digital color camera we obtain images of particle fields in this volume. We extract the full spatial distribution of particles with depth inferred from particle color. This paper provides a proof of principle of this instrument, examining the spatial distribution of a static field and a spray field of water droplets ejected by the nozzle of an airbrush.     

基于单目视觉的激光光束方向标定研究

在由激光位移传感器组成的测量系统中,激光光束的方向是一个关键参数.方位角和俯仰角对于一条激光光束是最为重要的两个参数.本文中提出一种基于单目视觉的激光光束方向测量方法.首先,将CCD相机放置于基础平面上方,保持相机光轴与基础平面接近于垂直状态,并利用误差为10μm的圆孔型标定板建立单目定位模型.然后将激光光束发生装置放置在基础平面上并保持位置固定,同时在基础平面上放置特制靶块,使激光光束可以投射到靶块斜面上并形成一个激光光斑.在基础平面上方放置的CCD相机可以清晰的采集到激光光斑、靶块斜面的图像,应用相关算法提取出光斑质心的二维图像坐标.沿激光光束方向以相等间距移动靶块,通过CCD相机采集每移动一次靶块在当前位置下的光斑、靶块图像.利用相关的转换公式,结合靶块本身固有参数,将光斑质心图像二维坐标转换为基础平面下的空间三维坐标.由于靶块的移动,会得到靶块不同位置下激光光斑质心的三维坐标,将这些三维坐标拟合成空间直线表征待测激光光束.拟合直线得俯仰角即为待测激光光束的俯仰角.实验中,应用高精度仪器对靶块参数进行测定,并使用高精度标定板标定相机内外参数建立相应的定位模型.测量精度主要通过单目视觉定位精度、光斑重心提取精度来保证.结果显示,待测光束的俯角最大误差达到0.02°,光束间夹角的最大误差为0.04°.     

湍流对磨料水射流中磨料颗粒受力的影响

为了弄清磨料水射流中磨料颗粒的受力情况,考察了不同湍流模型对淹没冲击射流计算结果的影响,从中选取表现较优越的雷诺应力模型对球形磨料颗粒附近的湍流流动进行数值模拟。计算中,湍流强度为5%～70%,湍流黏度比为1～1200。计算发现,在该计算范围内,随着湍流强度的增大,固相颗粒所受曳力逐渐增大,颗粒的曳力系数增大;随着湍流黏度比的增大,固相颗粒所受的曳力逐渐增大,相应的曳力系数也增大。     

GPS双目摄像机标定及空间坐标重建

为减轻双目摄像机标定过程中对高精度靶标的依赖,实现摄像机参数的精确标定,并对空间坐标进行高精度重建,提出一种GPS双目摄像机标定及空间坐标重建方法,采用GPS代替2D或3D靶标进行双目摄像机标定。将GPS的位置在视场中任意移动,由被标摄像机拍摄多组含有GPS的图像,利用空间三维坐标与图像二维坐标间的映射关系,结合摄像机成像模型和双目摄像机标定原理,标定出双目摄像机参数,并对空间坐标进行精确重建。通过空间重建坐标与GPS实际测量值之间的相对距离误差,对重建精度进行检验。实验证明,该方法能够克服双目摄像机标定过程中对高精度靶标的依赖,空间重建坐标具有较高的精度,相对距离误差从1.56%减小到0.52%。     

新型单摄像机立体视觉传感器研究

提出一种用于测量空间三维点坐标的单像机视觉传感器模型。在结构设计方面,变传统的双CCD摄像机结构为单CCD摄像机结构,加装两组对称的光学反射镜,镜像出一对虚拟摄像机,可在同一个CCD像面上采集到存在视差的两幅图像,从而恢复空间点的三维信息;建立了标定数学模型,阐述了此视觉传感器测量模型的标定方法。相关试验表明,此测量方案不仅有效,而且经济快速,标定方法简单,对标定环境及靶标的摆放姿态无严格要求。     

Experimental investigation on camera calibration for 3D photogrammetric scanning of micro-features for micrometric resolution

Recently, it has been demonstrated that photogrammetry can be used for the measurement of small objects with micro-features, with good results and lower cost, compared to other established techniques such as interferometry, conoscopic holography, and 3D microscopy.Calibration is a critical step in photogrammetry and the classical pinhole camera model has been tested for magnifications lower than 2×. At higher magnification levels, because of the reduction of the depth of field (DOF), images can lead to calibration data with low reprojection errors. However, this could lead to bad results in the 3D reconstruction.With the aim of verifying the possibility of applying the camera model to magnifications higher than 2×, experiments have been conducted using reflex cameras with 60 mm macro lens, equipped with the combination of three extension tubes, corresponding to 2.06, 2.23, and 2.4 magnification levels, respectively.Experiments consisted of repeating calibration five times for each configuration and testing each calibration model, measuring two artifacts with different geometrical complexity. The calibration results have shown good repeatability of a subset of the internal calibration parameters. Despite the differences in the calibration reprojection error (RE), the quality of the photogrammetric 3D models retrieved was stable and satisfying.The experiment demonstrated the possibilities of the photogrammetric system presented, equipped to very high magnification levels, to retrieve accurate 3D reconstruction of micro-features with uncertainties of few micrometers, comparable with industry’s expensive state-of-the-art technologies.     

面向大型工件现场测量的光笔式视觉测量系统

研制了一种面向大型工件现场测量的光笔式视觉测量系统,对其中的关键技术进行了深入研究。该系统主要由带有红外LED光点的光笔、1台CCD摄像机、靶点亮度控制器、一维标定尺以及安装有测量软件的计算机组成。在对LED点光源光强控制方式及成像系统工作原理进行分析的基础上,设计并实现了以多靶点亮度自适应控制技术和主动离焦模糊技术相结合的靶点光斑图像生成技术。该技术保证了在大跨度测量范围内均能获得高质量的靶点光斑图像,解决了对焦成像中摄像机视场范围与景深有限的问题;针对光笔标定问题,提出了一种简便易行的现场标定方法,此方法只需要若干个辅助靶点和2个以上间距已知的圆锥孔,就可以同时确定光笔上各靶点及光笔测头在光笔坐标系下的坐标。实验结果显示:该测量系统在2~10 m空间长度测量标准差不大于0.095 mm,能够满足中等精度的大型工件现场测量要求。     

机器视觉系统中摄像机定标策略

摄像机定标是从拍摄的二维图像中获取三维信息必不可少的步骤，一直为机器视觉领域的研究热点之一。本文阐述了几种定标方法的基本原理，并论述了如何在工业视觉系统中根据不同的任务来选择不同的定标方法问题。     

单相机几何量检测新方法

按照常规摄影测量,如果仅使用一台相机而要获取点的三维坐标则至少需要在2个不同的位置进行摄影.本文则提出了利用单台相机仅拍摄单像片,来对平面内的几何量进行检测的方法:借助一个带有3个以上基准长度的共面工装,来辅助计算原始图像与正射摄影图像的转换参数;使用上述转换参数,将原始图像转换为正射图像;由正射图像的相似比例关系,进行平面内几何量的检测.另外,通过实验验证了本文所述的单台相机测量原理及所达到的相关精度.     

Estimation of plasma position from tangentially viewed images on a toroidally symmetric device

Images of plasma from a fast-framing camera are the most intuitive and reliable data to understand the status of tokamak plasmas. Generation, movement, size variation, and disruptions of plasmas can be clearly observed from these images. However, it is not a simple task to obtain the exact positions and sizes of plasmas using these images because measured two-dimensional images inevitably lose the three-dimensional position information of their targets. In this paper, the exact positions and sizes of plasmas have been calculated from tangentially viewed images using the toroidal symmetry of the plasma in the Korea Superconducting Tokamak Advanced Research (KSTAR) device. The positions and sizes of the plasmas have been manually determined with displayed cursors on images and automatically determined using a correlation factor with calculated virtual plasma images as well. These two results correspond well with each other. The estimated positions have also been compared with those obtained from magnetic diagnostics analysis.     

Heat transfer characteristics of liquid-solid suspension flow in a horizontal pipe

Particles in liquid-solid suspension flow might enhance or suppress the rate of heat transfer and turbulence depending on their size and concentration, The heat transfer characteristics of liquid-solid suspension in turbulent flow are not well understood due to the complexibility of interaction between solid particles and turbulence of the carrier fluid. In this study, the heat transfer coefficients of liquid-solid mixtures are investigated using a double pipe heat exchanger with suspension flows in the inner pipe. Experiments are carried out using spherical fly ash particles with mass median diameter ranging from 4 to 78 μm. The volume concentration of solids in the slurry ranged from 0 to 50% and Reynolds number ranged from 4,000 to 11,000. The heat transfer coefficient of liquid-solid suspension to water flow is found to increase with decreasing particle diameter. The heat transfer coefficient increases with particle volume concentration exhibiting the highest heat transfer enhancement at the 3% solid volume concentration and then gradually decreases. A correlation for heat transfer to liquid-solid flows in a horizontal pipe is presented.     

反求工程中基于照片重构点云数据的研究

通过在不同的方位所拍摄的两幅照片,根据双目视觉匹配原理,以循环淘汰式鲁棒性匹配结果做为种子点,用唯一性和连续性约束实现区域扩散的对应点匹配,并利用相机非线性优化方法的标定结果和SFM重建算法来恢复物体三维结构信息。本方法仅仅利用数码相机作为图像传感器来测量物体的三维模型,避免了其他的测量方法操作复杂,测量物体尺度限制性等,通过照片就能够直接生成面向反求工程的点云数据。试验结果表明本文的方法能够达到理想的精度,是有效可行的。     

克服动态问题影响的相机响应函数标定

利用图像之间的亮度映射函数而不是图像本身各像素点信息进行相机响应函数的标定,避免了成像系统的晃动或者拍摄场景的动态问题带来的图像配准之间的误差给后续标定算法带来的影响。采用直方图规则化的方法分析不同曝光量图像之间的各颜色通道不同亮度级的统计特征,获得了不同图像对之间的亮度映射函数。然后,利用图像对之间的亮度映射函数结合各帧图像的直方图建立求解相机响应函数的超定方程模型。最后,利用最小二乘法解算模型获得相机响应函数。验证实验表明,本文相机响应函数标定算法具有克服相机的动态问题的能力;不同输入帧数图像的分组实验显示,最小输入4帧图像能够获得较为理想的响应函数标定结果。     

长度约束下双相机外参数不稳定定向

动态立体视觉测量技术在几何量测量特别是大视场测量中应用越来越广。在分析动态双相机立体视觉测量相对定向算法的基础上,提出了一种基于一定数量距离约束的相机不稳定定向算法。在测量场中固定放置一定数量的一维标定靶标,双相机获取标定靶标上点的中心坐标,由极线几何约束快速准确解算双相机外参数,每次测量根据标定靶重新定向相机,由靶标补偿相机在测量过程中的位置变动,保证在测量场中即使相机站位发生位置变化仍可精确测量。实验中对分布范围2.5 m×1.6 m×4.5 m测量场中90个自反射目标点进行测量,选用5对点间距离作为距离约束,并与V-STARS/S进行结果比对。结果表明在相机站位发生明显变动情况下,90个空间点三维重建位置误差小于0.160 mm,标准差小于0.042 mm。将该方法应用于合成孔径雷达测量,得到相近结果。     

基于粒子群算法的摄像机标定过程优化

摄像机标定为机器视觉在物体位姿与姿态的测量过程中最重要一环,其映射物体三维空间与二维图像之间关系是一个复杂非线性最优化问题。为了更好地解决这一复杂优化问题,阐述了利用粒子群优化(PSO)算法计算摄像机标定过程的一种优化方法,重点描述了PSO算法的原理,单目视觉测量系统,以及基于CMOS摄像机的成像模型及其原理和算法。通过图像软件提取靶体模型上特征控制点,及摄像机标定算法建立了相应的计算公式。结合PSO算法优化像机外参,实验结果表明,PSO算法计算准确、速度快,具有很强的工程应用价值。