公开(公告)号：US20130058581A1

公开(公告)日：2013-03-07

申请号：US13696982

申请日：2011-04-25

申请人： Guangjun Zhang ,  Zhenzhong Wei ,  Weixian Li ,  Zhipeng Cao ,  Yali Wang

发明人： Guangjun Zhang ,  Zhenzhong Wei ,  Weixian Li ,  Zhipeng Cao ,  Yali Wang

IPC分类号： G06K9/46

CPC分类号： G01B11/005 ,  G02B21/22 ,  G02B21/365

摘要： The present disclosure provides a microscopic vision measurement method based on the adaptive positioning of the camera coordinate frame which includes: calibrating parameters of a microscopic stereo vision measurement model (201); acquiring pairs of synchronical images and transmitting the acquired images to a computer through an image acquisition card (202); calculating 3D coordinates of feature points in a scene according to the matched pairs of feature points in the scene obtained from the synchronical images and the calibrated parameters of the microscopic stereo vision measurement model (203); and performing specific measurement according to the 3D coordinates of the feature points in the scene (204). With the method, the nonlinearity of the objective function in the microscopic vision calibration optimization is effectively decreased and a better calibration result is obtained.

摘要翻译： 本公开提供了一种基于相机坐标系的自适应定位的微观视觉测量方法，其包括：校准微观立体视觉测量模型（201）的参数; 获取成对的同步图像并通过图像采集卡（202）将所获取的图像发送到计算机; 根据从同步图像获取的场景中的特征点匹配对和微观立体视觉测量模型（203）的校准参数，计算场景中特征点的3D坐标; 以及根据场景（204）中的特征点的3D坐标进行特定测量。 利用该方法，有效降低了微观视觉校准优化中目标函数的非线性，获得了更好的校准结果。

公开(公告)号：US08934721B2

公开(公告)日：2015-01-13

申请号：US13696982

申请日：2011-04-25

申请人： Guangjun Zhang ,  Zhenzhong Wei ,  Weixian Li ,  Zhipeng Cao ,  Yali Wang

发明人： Guangjun Zhang ,  Zhenzhong Wei ,  Weixian Li ,  Zhipeng Cao ,  Yali Wang

IPC分类号： G06K9/36 ,  G01B11/00 ,  G02B21/36 ,  G02B21/22

CPC分类号： G01B11/005 ,  G02B21/22 ,  G02B21/365

摘要： The present disclosure provides a microscopic vision measurement method based on the adaptive positioning of the camera coordinate frame which includes: calibrating parameters of a microscopic stereo vision measurement model (201); acquiring pairs of synchronical images and transmitting the acquired images to a computer through an image acquisition card (202); calculating 3D coordinates of feature points in a scene according to the matched pairs of feature points in the scene obtained from the synchronical images and the calibrated parameters of the microscopic stereo vision measurement model (203); and performing specific measurement according to the 3D coordinates of the feature points in the scene (204). With the method, the nonlinearity of the objective function in the microscopic vision calibration optimization is effectively decreased and a better calibration result is obtained.

摘要翻译： 本公开提供了一种基于相机坐标系的自适应定位的微观视觉测量方法，其包括：校准微观立体视觉测量模型（201）的参数; 获取成对的同步图像并通过图像采集卡（202）将所获取的图像发送到计算机; 根据从同步图像获取的场景中的特征点匹配对和微观立体视觉测量模型（203）的校准参数，计算场景中特征点的3D坐标; 以及根据场景（204）中的特征点的3D坐标进行特定测量。 利用该方法，有效降低了微观视觉校准优化中目标函数的非线性，获得了更好的校准结果。

公开(公告)号：US20090112487A1

公开(公告)日：2009-04-30

申请号：US12258398

申请日：2008-10-25

申请人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Fuqiang Zhou ,  Qingbo Li ,  Zhen Liu ,  Qianzhe Liu

发明人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Fuqiang Zhou ,  Qingbo Li ,  Zhen Liu ,  Qianzhe Liu

IPC分类号： G01B11/00

CPC分类号： G01B11/2513 ,  B61K9/08 ,  G01B11/2522

摘要： The invention discloses a vehicle dynamic measurement device for comprehensive parameters of rail wear, which comprises a vision sensor, a computer and a milometer. A high-speed image acquisition card and a measurement module are installed in the computer. The vision sensor comprises imaging system for rail cross-section and a raster projector which can project more than one light plane perpendicular to the measured rail. The measurement module is used for calculating vertical wear, horizontal wear, the amplitude and wavelength of corrugation wear. The invention also discloses a vehicle dynamic measurement method for comprehensive parameters of rail wear. The invention can increase the sampling rate of image sensing and acquisition hardware equipment with no need of improving the performance of it, thereby satisfy high-speed on-line dynamic measurement requirements for corrugation wear, and the amplitude and wavelength of corrugation wear can be calculated more precisely.

摘要翻译： 本发明公开了一种用于轨道磨损综合参数的车辆动态测量装置，其包括视觉传感器，计算机和千米。 计算机中安装有高速图像采集卡和测量模块。 视觉传感器包括用于轨道横截面的成像系统和光栅投影仪，该投影仪可以投影多个垂直于测量轨道的光平面。 测量模块用于计算垂直磨损，水平磨损，波纹磨损的振幅和波长。 本发明还公开了一种用于铁路磨损综合参数的车辆动态测量方法。 本发明可以增加图像感测和采集硬件设备的采样率，不需要提高其性能，从而满足波纹磨损的高速在线动态测量要求，并且可以计算波纹磨损的幅度和波长 更确切地说。

公开(公告)号：US07773797B2

公开(公告)日：2010-08-10

申请号：US11276117

申请日：2006-02-15

申请人： Guangjun Zhang ,  Dazhi Chen ,  Ying Wang ,  Fuqiang Zhou ,  Zhenzhong Wei

发明人： Guangjun Zhang ,  Dazhi Chen ,  Ying Wang ,  Fuqiang Zhou ,  Zhenzhong Wei

IPC分类号： G06K9/00 ,  H04N15/00

CPC分类号： G01B11/2513 ,  B64C33/02 ,  G01B11/167 ,  G01B11/2545

摘要： The present invention relates to a high-performance computer vision system and method for measuring the wings deformation of insects with high flapping-frequency, large stroke-amplitude and excellent mobility during free-flight. A geometrical optic unit composed of a polyhedral reflector with four reflection-planes and four planar reflectors is used to image one high-speed CMOS camera to four virtual cameras, combined with double laser-sheet sources, multiple virtual stereo and structured-light sensors are available to observe the free-flight of insect at different viewpoints simultaneously. In addition, an optoelectronic guiding equipment is included to lead the free-flight of insect and trigger the camera to capture the image sequences of insect-flight automatically. The deformation of insect-wings can be reconstructed by the spatial coordinates of wing-edges and the distorted light-lines projected on the surface of wings.

摘要翻译： 本发明涉及一种高性能计算机视觉系统和方法，用于测量自由飞行期间具有高扑动频率，大冲程振幅和极好移动性的昆虫的翅膀变形。 使用由具有四个反射面的多面体反射器和四个平面反射器组成的几何光学单元将一个高速CMOS相机成像到四个虚拟相机，结合双激光片源，多个虚拟立体声和结构光传感器 可以同时观察不同观点的昆虫自由飞行。 另外还包括一个光电引导设备，以引导昆虫的自由飞行，并触发相机自动捕获昆虫飞行的图像序列。 昆虫翅膀的变形可以通过翼缘的空间坐标和投射在翅膀表面上的变形的光线来重建。

公开(公告)号：US20080050042A1

公开(公告)日：2008-02-28

申请号：US11561696

申请日：2006-11-20

申请人： Guangjun Zhang ,  Suqi Li ,  Zhenzhong Wei ,  Zhen Liu

发明人： Guangjun Zhang ,  Suqi Li ,  Zhenzhong Wei ,  Zhen Liu

IPC分类号： G06K9/32

CPC分类号： G01B11/2504 ,  G06T7/85 ,  G06T19/006 ,  G06T2207/10012

摘要： The disclosure relates to a hardware-in-the-loop simulation system and method for computer vision. An embodiment of the disclosed system comprises a software simulation and a hardware simulation. The software simulation includes a virtual scene and an observed object that are generated by virtual reality software. The virtual scene images are obtained at different viewpoints. The hardware simulation includes the virtual scene images being projected onto a screen by a projector, wherein the projected scene images are shot by a camera, and where in the direction of the camera is controlled by a pan-tilt.

摘要翻译： 本公开涉及一种用于计算机视觉的硬件在环仿真系统和方法。 所公开的系统的实施例包括软件仿真和硬件仿真。 软件模拟包括由虚拟现实软件生成的虚拟场景和观察对象。 以不同的观点获得虚拟场景图像。 硬件模拟包括通过投影仪投影到屏幕上的虚拟场景图像，其中投影的场景图像被照相机拍摄，并且通过摇摄来控制相机的方向。

公开(公告)号：US08019147B2

公开(公告)日：2011-09-13

申请号：US12025741

申请日：2008-02-04

申请人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Qianzhe Liu

发明人： Guangjun Zhang ,  Junhua Sun ,  Zhenzhong Wei ,  Qianzhe Liu

IPC分类号： G06K9/00

CPC分类号： G06K9/209 ,  G06K2209/40 ,  G06T7/593 ,  G06T7/85 ,  G06T2207/10012

摘要： The present disclosure is directed to a three-dimensional data registration method for vision measurement in flow style based on a double-sided target. An embodiment of the disclosed method that comprises A. Setting up two digital cameras which can observe the entire measured object; B. Calibrating intrinsic parameters and a transformation between the two digital camera coordinate frames; C. A double-sided target being placed near the measured area of the measured object, the two digital cameras and a vision sensor taking images of at least three non-collinear feature points of the double-sided target; D. Removing the target, measuring the measured area by using the vision sensor; E. Respectively computing the three dimensional coordinates of the feature points in the global coordinate frame and in the vision sensor coordinate frame; F. Estimating the transformation from the vision sensor coordinate frame to the global coordinate frame through the three dimensional coordinates of the three or more non-collinear feature points obtained at step E, then transforming the three dimensional data of the measured area to the global coordinate frame; and G. Repeating step C, D, E, F, then completing three dimensional data registration for all measured areas. The present disclosure improves three dimensional data registration precision and efficiency.

摘要翻译： 本公开涉及一种用于基于双面目标的流动式视觉测量的三维数据登记方法。 所公开的方法的实施例包括A.设置可以观察整个测量对象的两个数码相机; B.校准固有参数和两个数码相机坐标系之间的变换; C.一个双面目标放置在测量对象的测量区域附近，两个数字照相机和视觉传感器拍摄双面目标的至少三个非共线特征点的图像。 D.去除目标，使用视觉传感器测量测量面积; E.分别计算全局坐标系和视觉传感器坐标系中特征点的三维坐标; F.通过在步骤E获得的三个或多个非共线特征点的三维坐标来估计从视觉传感器坐标系到全局坐标系的变换，然后将测量区域的三维数据变换为全局坐标 帧; 和G.重复步骤C，D，E，F，然后完成所有测量区域的三维数据登记。 本公开改进了三维数据配准精度和效率。

公开(公告)号：US07768527B2

公开(公告)日：2010-08-03

申请号：US11561696

申请日：2006-11-20

申请人： Guangjun Zhang ,  Suqi Li ,  Zhenzhong Wei ,  Zhen Liu

发明人： Guangjun Zhang ,  Suqi Li ,  Zhenzhong Wei ,  Zhen Liu

IPC分类号： G09G5/00 ,  G03B21/26

CPC分类号： G01B11/2504 ,  G06T7/85 ,  G06T19/006 ,  G06T2207/10012

摘要： The disclosure relates to a hardware-in-the-loop simulation system and method for computer vision. An embodiment of the disclosed system comprises a software simulation and a hardware simulation. The software simulation includes a virtual scene and an observed object that are generated by virtual reality software. The virtual scene images are obtained at different viewpoints. The hardware simulation includes the virtual scene images being projected onto a screen by a projector, wherein the projected scene images are shot by a camera, and where in the direction of the camera is controlled by a pan-tilt.

摘要翻译： 本公开涉及一种用于计算机视觉的硬件在环仿真系统和方法。 所公开的系统的实施例包括软件仿真和硬件仿真。 软件模拟包括由虚拟现实软件生成的虚拟场景和观察对象。 以不同的观点获得虚拟场景图像。 硬件模拟包括通过投影仪投影到屏幕上的虚拟场景图像，其中投影的场景图像被照相机拍摄，并且通过摇摄来控制相机的方向。

公开(公告)号：US20090059011A1

公开(公告)日：2009-03-05

申请号：US12022681

申请日：2008-01-30

申请人： Junhua Sun ,  Guangjun Zhang ,  Zhenzhong Wei

发明人： Junhua Sun ,  Guangjun Zhang ,  Zhenzhong Wei

IPC分类号： H04N17/00

CPC分类号： G01B11/2504

摘要： This disclosure provides a calibration method for structure parameters of a structured-light vision sensor, which includes setting up the coordinate frames of a camera, image plane and target for calibration. The calculation of coordinates in the camera coordinate frame of stripes, projected by structured-light, on the planar target and a structured-light equation fitting according to the coordinates in the camera coordinate frame of the stripes on the planar target, by moving the planar target arbitrarily multiple times. The calibration method of the structured-light vision sensor provided by the disclosure is easy to operate and no auxiliary apparatus is needed, which can not only promote the efficiency of the calibration of structured-light, but also extend the application scope of calibration of structured-light.

摘要翻译： 本公开提供了一种用于结构光视觉传感器的结构参数的校准方法，其包括设置相机，图像平面和用于校准的目标的坐标系。 通过平面目标上的结构光投影的条纹的相机坐标系中的坐标的计算和通过平面目标上的条纹的相机坐标系中的坐标拟合的结构光方程， 目标任意多次。 本发明提供的结构光视觉传感器的校准方法易于操作，不需要辅助设备，这不仅可以提高结构光的校准效率，而且可以扩展结构光校准的应用范围 -光。

公开(公告)号：US09524555B2

公开(公告)日：2016-12-20

申请号：US14360388

申请日：2011-12-12

申请人： Guangjun Zhang ,  Zhenzhong Wei ,  Wei Wang

发明人： Guangjun Zhang ,  Zhenzhong Wei ,  Wei Wang

IPC分类号： G06T7/00 ,  G06T3/00 ,  H04N13/02

CPC分类号： G06T7/0046 ,  G06T3/0075 ,  G06T7/75 ,  G06T2207/10012 ,  H04N13/239

摘要： A method and software for the simultaneous pose and points-correspondences determination from a planar model are disclosed. The method includes using a coarse pose estimation algorithm to obtain two possible coarse poses, and using each one of the two coarse poses as the initialization of the extended TsPose algorithm to obtain two candidate estimated poses; selecting one from the two candidate estimated poses based on the cost function value. Thus, The method solves the problem of pose redundancy in the simultaneous pose and points-correspondences determination from a planar model, i.e., the problem that the numbers of estimated poses increase exponentially as the iterations go. The disclosed embodiment is based on the coplanar points, and does not place restriction on the shape of a planar model. It performs well in a cluttered and occluded environment, and is noise-resilient in the presence of different levels of noise.

摘要翻译： 公开了一种用于从平面模型确定同时姿势和点对应关系的方法和软件。 该方法包括使用粗略姿态估计算法获得两种可能的粗略姿态，并且使用两个粗略姿势中的每一个作为扩展TsPose算法的初始化来获得两个候选估计姿态; 基于成本函数值从两个候选估计姿势中选择一个。 因此，该方法解决了从平面模型的同时姿态和点对应确定中的姿态冗余的问题，即估计姿态的数量随着迭代而呈指数级增加的问题。 所公开的实施例基于共面点，并且不对平面模型的形状施加限制。 它在杂乱无章的环境中表现良好，并且在存在不同程度的噪声的情况下具有抗噪声能力。

公开(公告)号：US08964027B2

公开(公告)日：2015-02-24

申请号：US13393555

申请日：2011-08-09

申请人： Guangjun Zhang ,  Zhen Liu ,  Zhenzhong Wei ,  Junhua Sun ,  Meng Xie

发明人： Guangjun Zhang ,  Zhen Liu ,  Zhenzhong Wei ,  Junhua Sun ,  Meng Xie

IPC分类号： H04N7/18 ,  G01C25/00 ,  G06T7/00

CPC分类号： G01C25/00 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30208

摘要： The present disclosure provides a global calibration method based on a rigid bar for a multi-sensor vision measurement system, comprising: step 1, executing the following procedure for at least nine times: placing, in front of two vision sensors to be calibrated, a rigid bar fasten with two targets respectively corresponding to the vision sensors; capturing images of the respective targets by their corresponding vision sensors; extracting coordinates of feature points of the respective targets in their corresponding images; and computing 3D coordinates of each feature points of the respective targets under their corresponding vision sensor coordinate frames; and Step 2, computing the transformation matrix between the two vision sensors, with the constraint of the fixed position relationship between the two targets. The present disclosure also provides a global calibration apparatus based on a rigid bar for a multi-sensor vision measurement system. Putting the present disclosure to use can increase the accuracy of the global calibration, and also be suitable for the calibration of the multi-sensor vision system in the extremely large working space, which enlarges the application range of the present disclosure.

摘要翻译： 本公开提供了一种基于用于多传感器视觉测量系统的刚性杆的全局校准方法，包括：步骤1，执行以下程序至少九次：将待校准的两个视觉传感器前面放置一个 刚性杆用两个目标分别对应于视觉传感器; 通过其相应的视觉传感器捕获各个目标的图像; 提取其对应图像中各个目标的特征点的坐标; 并计算其对应的视觉传感器坐标系下各个目标的每个特征点的3D坐标; 和步骤2，计算两个视觉传感器之间的变换矩阵，与两个目标之间的固定位置关系的约束。 本公开还提供了一种基于用于多传感器视觉测量系统的刚性杆的全局校准装置。 使用本公开可以提高全局校准的精度，并且还适合于在极大的工作空间中校准多传感器视觉系统，这扩大了本发明的应用范围。