机器视觉中圆形特征的三维模型分析研究

 提出了一种机器视觉中圆形特征的三维模型分析方法。通过最小化数据点与所拟合椭圆的代数距离平方和,在满足二次曲线为椭圆的约束条件下,利用拉格朗日乘子法求得椭圆的5个特征参数。通过分析圆形特征的透视成像模型与原理,利用闭式解求得具有已知半径的圆形特征的三维位置和方向。对一组在标定模板上相同大小的圆进行特征检测与模型分析后,实验结果表明本文方法是有效和精确的。     

Out-of-focus color camera calibration with one normal-sized color-coded pattern

Conventional camera calibration methods always require well-focused target images for accurate feature detection. This requirement brings many challenges for long-range vision systems, due to the difficulty of fabricating an equivalent size target to the sensing field-of-view (FOV). This paper presents an out-of-focus color camera calibration method with one normal-sized color-coded pattern as the calibration target. The red, green and blue (RGB) channels of the color pattern are encoded with three phase-shift circular grating (PCG) arrays. The PCG centers used as feature points are extracted by ellipse fitting of the 2π-phase points. Experiments demonstrate that the proposed method can achieve accurate calibration results even under severe defocus.     

结构光三维测量系统标定的关键算法研究

系统参数标定是结构光三维测量系统的关键问题之一,标定板特征圆圆心检测精度与投影仪、相机镜头gamma效应引起的相位误差是系统参数标定的主要误差来源。采用Sobel算子粗定位标定板特征圆的边缘点,以正交傅里叶-马林矩(OFMM)算子对边缘点进行亚像素定位,用椭圆拟合法确定特征圆圆心的方法提高标定板特征圆检测精度。同时,推导结构光三维测量系统gamma非线性数学模型,将计算得到的系统gamma值的倒数作为投影正弦光栅的指数以降低gamma效应引起的相位误差。实验结果证明了该方法的准确性,与不采用亚像素边缘检测与gamma校正相比,X、Y方向的标定精度分别提高约3.5倍与5倍。     

The high precision positioning algorithm of circular landmark center in visual measurement

For vision measurement in the center circle landmark location problem, an improved center of the ellipse based on Zernike moments sub-pixel positioning algorithm was proposed. First, using Sobel operator edge of the image pixel level positioning and then use the constructed Zernike moments to solve the model, combined with Zernike orthogonal polynomials and completeness and plural moment magnitude rotational invariance calculated edge sub-pixel position; followed by analysis of the principle deviation generated by the moments template and ideals model, a correction formula was proposed to compensate and improved edge criterion used to image sub-pixel edge positioning; finally, using the least-squares ellipse fitting algorithm fitting circle center, reverse edge point, filtered residuals larger point, and then precise positioning of the ellipse center. The experimental results show that this method has good stability and high positioning accuracy can be efficiently used in many applications.     

光学测量中椭圆圆心定位算法研究

提出了一种椭圆圆心定位算法。先对图像中的椭圆目标进行粗定位,获取椭圆的粗定位信息,再用Canny算子对图像中的感兴趣区域进行边缘检测。根据椭圆的粗定位信息以及图像的边缘灰度分布特征,用高斯曲线拟合的方法求得精确的亚像素边缘点的坐标。针对亚像素边缘点中出现的“孤立点”以及噪声点,分别用曲率滤波和均值滤波的方法加以滤波,将滤波后的亚像素边缘点用最小二乘法加以拟合,求得精确的椭圆圆心数据。实验证明了该算法的定位精度和抑制噪声能力,通过测试算法运行时间,证明该算法具有很好的实时性。     

双目视觉测量系统特征点提取与匹配技术研究

自主研发了一种光笔式双目立体视觉大工件尺寸测量系统,对测量系统中特征点的提取及其匹配技术进行了研究。测量系统采用 Canny 算子和 Zernike 矩相结合的算法实现椭圆光斑的亚像素边缘提取,根据得到的亚像素边缘点,采用基于最小二乘的曲线拟合法得到椭圆光斑的中心坐标。针对特征点的匹配问题,提出了一种基于位置约束的快速匹配方法。实验结果显示:所提方法能提取到椭圆光斑亚像素边缘,可精确计算出椭圆光斑中心坐标,匹配率达到95%以上。     

A new ellipse fitting method of the minimum differential-mode noise in the atom interference gravimeter

Ellipse fitting is a useful tool to obtain the differential signal of two atom interference gravimeters. The quality standard of ellipse fitting should be the deviation between the true phase and the fitting phase of the interference fringe. In this paper, we present a new algorithm to fit the ellipse. The algorithm is to minimize the differential noise of two interference gravimeters and obtain a more accurate value of the gravity gradient. We have theoretically derived the expression of the differential-mode noise and implemented the ellipse fitting in the program. This new algorithm is also compared with the classical methods.     

CCD camera automatic calibration technology and ellipse recognition algorithm

A novel two-dimensional (2D) pattern used in camera calibration is presented. With one feature circle located at the center, an array of circles is photo-etched on this pattern. An ellipse recognition algorithm is proposed to implement the acquisition of interest calibration points without human intervention. According to the circle arrangement of the pattern, the relation between three-dimensional (3D) and 2D coordinates of these points can be established automatically and accurately. These calibration points are computed for intrinsic parameters calibration of charge-coupled device (CCD) camera with Tsai method. A series of experiments have shown that the algorithm is robust and reliable with the calibration error less than 0.4 pixel. This new calibration pattern and ellipse recognition algorithm can be widely used in computer vision.     

相关测速声呐时空相关函数模型改进研究

相关测速声呐通过对回波的理论时空相关函数和数据时空相关函数进行最小二乘拟合或其它优化算法来解算载体速度,因此理论时空相关函数模型的准确性对速度解算是至关重要的。通过对多次海试数据的处理发现,在某些情形下,相关测速声呐的理论空间相关函数和数据空间相关函数三维俯视图形状不匹配,导致速度估计结果不准确。通过对时空相关函数理论模型进行改进,将理论空间相关函数在水平面上的投影由圆形修改为椭圆,则其与数据空间相关函数拟合得更好,从而使相关测速声呐测速准确度得到了提高,并得出相关函数的三维俯视图呈椭圆形状与部分海底表面不平整性的各向异性有关的结论。     

基于平面互补靶标的线结构光标定系统

为提升线结构光传感器的标定效率与精度,设计了一种集成自背光可调节位姿的平面棋盘格-同心圆互补线结构光标定系统。该系统基于同心圆圆心的真实投影位置与投影椭圆圆心位置的几何关系,建立非线性优化偏心误差补偿模型,精确得到透射投影下圆心偏心误差补偿位置。该方法与传统标定方法对比降低重投影误差84.7%,有效解决了圆形标志物偏心误差补偿的高精度标定难题。通过将相机坐标系下过光心、光条中心线的平面与靶标平面结合,多次获取空间交线的坐标信息增加特征点,并使用最小二乘法拟合光平面方程,解决了因特征点少从而平面拟合标定精度较低的问题。在复杂环境下重复实验测得大尺寸砂轮外径误差均值为0.005 1 mm,结果表明该标定系统具有一定的准确性和简便实用性。     

无障板圆形活塞换能器波束特性建模

针对ka<π时无障板活塞声源波束特性不能用无限平面障板活塞换能器理论进行描述的问题,提出一种基于有限元方法结合曲线拟合的简便数学建模方法.模型采用了无限平面障板活塞换能器理论的基本函数表达,通过增加修正因子函数来改变模型的细节部分,用曲线拟合方法给出了较准确的两个修正因子函数的数学表达式。最终建立了无障板圆形活塞换能器波束特性经验公式模型,模型在ka为0.03~5.2范围内与有限元方法给出的波束曲线相一致,并且在ka取更大值时与无限平面障板活塞换能器理论公式等效.     

三维形貌柔性测量系统标定方法及验证

为了避免机器人模型误差对三维形貌柔性测量系统手眼标定的影响,对手眼关系的标定方法进行了研究。提出了一种融合特征点拟合的手眼标定方法。将三维形貌扫描仪安装在工业机器人末端搭建三维形貌柔性测量系统。标定时,首先利用激光跟踪仪对工业机器人末端法兰盘坐标系进行测量,得到两者转换关系;然后,利用三维形貌扫描仪和激光跟踪仪对空间固定的特征点组进行测量,利用特征点约束和基于罗德里格矩阵的算法求解两者转换关系即可间接地求解出手眼关系。基于ATOS三维扫描仪、安川HP20D机器人和API公司生产的激光跟踪仪进行了手眼标定实验,并进行了精度验证。结果表明:标定后的三维形貌柔性测量系统,其重复性测量精度(3σ)不超过0.1 mm,长度测量精度的均方根误差在0.2 mm以内,点云拼接精度优于±0.7 mm。该方法有效避免了传统手眼标定过程中会引入机器人模型误差的问题,在求解手眼关系解时采用了线性的解法,并且适用于三维形貌柔性测量系统。     

一种新的基于弧段提取的椭圆检测方法

为了克服椭圆检测过程中对椭圆完整性和边缘梯度信息依赖性较强的缺点,实现椭圆目标的快速有效检测,提出了一种新的基于弧段提取的椭圆拟合方法。首先将梯度方向符号相同的相邻边缘点连接成弧段,然后根据弧段的凸性和象限分类组成包含三段弧的弧组,定义了新的弧选择策略,利用位置约束和弧对的椭圆中心估计提取候选椭圆,最后采用改进的拟合算法拟合椭圆。实验结果表明,基于弧段提取的椭圆拟合方法相对于LMEDS算法和RHT3具有更好的准确性、鲁棒性和稳定性,实时性也有一定的提高。     

Quantifying in vivo MR spectra with circles

Accurate and robust quantification of in vivo magnetic resonance spectroscopy (MRS) data is essential to its application in research and medicine. The performance of existing analysis methods is problematic for in vivo studies where low signal-to-noise ratio, overlapping peaks and intense artefacts are endemic. Here, a new frequency-domain technique for MRS data analysis is introduced wherein the circular trajectories which result when spectral peaks are projected onto the complex plane, are fitted with active circle models. The use of active contour strategies naturally allows incorporation of prior knowledge as constraint energy terms. The problem of phasing spectra is eliminated, and baseline artefacts are dealt with using active contours-snakes. The stability and accuracy of the new technique, CFIT, is compared with a standard time-domain fitting tool, using simulated 31P data with varying amounts of noise and 98 real human chest and heart 31P MRS data sets. The real data were also analyzed by our standard frequency-domain absorption-mode technique. On the real data, CFIT demonstrated the least fitting failures of all methods and an accuracy similar to the latter method, with both these techniques outperforming the time-domain approach. Contrasting results from simulations argue that performance relative to Cramer-Rao Bounds may not be a suitable indicator of fitting performance with typical in vivo data such as these. We conclude that CFIT is a stable, accurate alternative to the best existing methods of fitting in vivo data.     

利用光谱吸收深度定量反演碳酸盐矿物的影响因素及应用分析

光谱吸收特征是矿物识别与定量反演的重要指标。为提高利用光谱吸收特征定量反演矿物精度,以方解石为代表,以线性混合光谱模型与连续统去除方法为基础,以连续统去除吸收深度(CRBD)为分析对象,按端元光谱在2.33 μm附近有无吸收特征对光谱进行分类,并分析每类数据与方解石混合光谱CRBD随丰度、反射率以及光谱特征等影响因素的变化规律,进而非线性拟合其变化范围并提出一种新的矿物含量表示方法。研究结果表明,端元丰度对CRBD值影响较大,方解石丰度越大,吸收特征越明显,CRBD值越大。同样,混合端元反射率与光谱特征对混合光谱CRBD值影响也较明显,当混合端元光谱在2.33 μm附近为无特征时,端元光谱反射率越小,CRBD随碳酸盐丰度变化上凸越明显,为反射峰特征时,端元光谱反射率越大,下凹越明显;混合端元在2.33 μm附近为吸收谷特征时,CRBD随碳酸盐丰度接近线性变化。通过交叉分析与多端元混合光谱CRBD变化分析发现,混合光谱CRBD随碳酸盐矿物丰度及混合端元反射率变化受限于一定范围,其上限拟合方程满足指数函数变化,下限拟合方程为三次多项式函数,且拟合精度较高,R2均高于0.99,RMSE低于0.005。为实现矿物含量的精确预测,根据拟合方程提出一种以变化范围替代定量值来表示碳酸盐矿物丰度分布的方法,实现碳酸盐矿物含量反演的范围表示。通过影响因素分析及范围表示法可为矿产监测、定量评估等提供新的表达方法,为建立具有普适性的地物定量反演模型提供理论参考。     

基于径向剪切干涉仪的三维位移测量技术

本文提出一种基于双圆光栅径向剪切干涉仪的三维位移测量方法,其测量原理是径向剪切干涉仪所形成的莫尔条纹不仅由二维平面内位移决定,轴向位移会在+1和–1级莫尔条纹之间产生一个特定的相移.首先,基于标量衍射理论对双圆光栅径向剪切干涉仪的+1和–1级莫尔条纹强度分布进行推导,建立了三维位移量与莫尔条纹强度分布的精确解析关系;其次,在频谱分析的基础上,利用半圆环滤波器进行空间滤波,实现+1和–1级莫尔条纹的同时成像;然后,提出了从莫尔条纹图中定量提取三维位移的算法,并通过数值模拟进行验证;最后,实验结果验证了该方法测量平面内位移的最大绝对误差为4.8×10^–3 mm,平均误差为2.0×10^–4 mm,轴向位移的最大绝对误差为0.25 mm,平均误差为8.6×10^–3 mm.该方法具有装置简单、测量精度高、非接触、瞬时测量等特点,可实现三维位移的同时测量.     

Generalized phase shifting interferometry based on Lissajous calibration technology

The feasibility and limitation of directly using the Lissajous figure and ellipse fitting technology to correct the phase extraction error in generalized data reduction algorithm (GDRA) for phase extraction of randomly phase-shifted interferograms are analyzed and discussed. By combining Lissajous calibration technology, which represents the transformative process of Lissajous ellipse to circle (ETC), with advanced iterative algorithm (AIA) we propose a novel generalized phase shifting algorithm (GPSA), and here it is abbreviated as ETCI method. The phase distribution and phase shifts that extracted from randomly phase shifted interferograms by use of ETCI are more accurate and the whole process is far faster than AIA. Additionally, proposed method is less sensitive to non-uniform background intensity and modulation amplitude. Numerical simulations are conducted to evaluate the performance of ETCI, and some influential factors are elaborated. The experimental results further indicate proposed method is suitable for truly random phase shifted interferograms.     

三维电磁扩散场数值模拟及磁化效应的影响

采用矢量有限元法实现了三维电磁扩散场数值模拟,并成功将其应用在大地电磁的正演研究中.为灵活精确地拟合起伏地形和地下不规则构造,采用由不规则四面体单元组成的非结构化网格,可根据模型设计的需要调整网格的大小.引入了基于二次场理论,将解析的一次场从总场中扣除,直接计算二次场,使得误差仅局限于相对较小的二次场,以提高总场计算精度.常规的节点有限元法不满足电性分界面上法向电场不连续和无源区单元内电流密度无散,违反麦克斯韦方程组.为克服节点有限元法的弊端,使用矢量有限元法求解基于二次电场的偏微分方程.另外,在算法设计中,考虑了磁导率参数的变化,可以模拟磁导率不均匀的模型.通过与COMMEMI模型已发表的结果对比,证明了本文算法的正确性和精确性.为突显非结构网格优势,计算了椭球异常体模型和任意地形模型的MT响应,并详细讨论了地形和磁化效应对三维数值模拟结果的影响.     

高斯拟合算法在光谱建模中的应用研究

采用高斯拟合算法对光谱进行特征提取,利用拟合得到的特征参量表征光谱信息,并结合多元校正方法对光谱模型进行优化和解释,建立了样品快速准确的测定方法。实验以玉米活体叶片为研究对象,建立叶片光谱与叶绿素含量之间的关系模型,采用三个高斯峰对原始光谱的1 551个数据拟合后,光谱数据转换为9个高斯特征量(约为整个波段的0.58%),进而利用该高斯特征量来预测叶绿素含量。实验结果显示,采用高斯拟合分别与偏最小二乘法和主成分回归结合建模,其预测集相关系数分别为0.960和0.962;不采用高斯拟合算法而直接采用偏最小二乘法和主成分回归对全光谱建模,其预测集相关系数分别为0.957和0.919。可见,将高斯拟合算法运用到定量分析模型中是可行的,该方法不仅简化了模型参数,而且提高了模型的可解释性。     

Fast 3D modeling in complex environments using a single Kinect sensor

Three-dimensional (3D) modeling technology has been widely used in inverse engineering, urban planning, robot navigation, and many other applications. How to build a dense model of the environment with limited processing resources is still a challenging topic. A fast 3D modeling algorithm that only uses a single Kinect sensor is proposed in this paper. For every color image captured by Kinect, corner feature extraction is carried out first. Then a spiral search strategy is utilized to select the region of interest (ROI) that contains enough feature corners. Next, the iterative closest point (ICP) method is applied to the points in the ROI to align consecutive data frames. Finally, the analysis of which areas can be walked through by human beings is presented. Comparative experiments with the well-known KinectFusion algorithm have been done and the results demonstrate that the accuracy of the proposed algorithm is the same as KinectFusion but the computing speed is nearly twice of KinectFusion. 3D modeling of two scenes of a public garden and traversable areas analysis in these regions further verified the feasibility of our algorithm.