本文介绍了熔池视觉传感的国内外研究现状， 建立了铝合金双丝脉冲MIG焊双目熔池视觉图像传感系统，试验研究了传感条件(滤减光系统、传感方位、光圈、快门曝光率、镜头畸变)与双目熔池图像质量之间的关系，获得了较为清晰的铝合金熔池图像。 提出了一种基于双目立体视觉的三文重建方法,利用两个相同型号的 CCD传感器从不同的角度拍摄同一场景，通过计算空间点在两幅图像中的视差，获得该点的三文坐标值，并根据三文测距原理实现尺寸重建。 设计了三文重建软件，解决了图像采集、摄像机标定及图像畸变校正、基于特征点匹配的问题。实现了对实际物体(棋盘格、相机外壳)的三文形状尺寸的恢复，经验证实验恢复的尺寸与物体的实际尺寸之间的偏差在 1%左右。 关键词: 摄像机标定 双目立体视觉 三文重建 三文视觉传感6967
Title A research on camera calibration method
in the binocular stereo vision system of weld pool
Abstract
In this article the research situation of the weld pool vision sensing was
described and the binocular visual image sensing system of aluminum alloy
weld pool in twin-wire pulsed MIG welding was established. And after using
near infrared optical filtering to diminish the arc light intensity, clear
binocular weld pool images were obtained at proper sensing conditions.
Based on binocular stereo vision theory, a three dimensional reconstruction
method was proposed. Using two CCD sensors of the same type to acquire the
same scene from different angles, by calculating the parallax of spatial
points in the two images to obtain three-dimensional coordinates of the
point, and according the three-dimensional measurement principle to rebuild
the dimension of an object.
A software of three-dimensional reconstruction was designed. To verify the
accuracy of the method, the three-dimensional shape and size of the actual
objects such as checkerboard and camera case were recovered, and the error
between the experiment dimension and the actual dimension of the object is
about 1%.
Keywords camera calibration binocular stereo vision 3D
reconstruction 3D vision sensing
1 绪论 . 1
1.1 课题意义 . 1
1.2.1 熔池二文视觉传感 2
1.2.2 熔池三文视觉传感 3
1.3 双目立体视觉传感技术 5
1.3.1 双目熔池立体视觉传感原理 5
1.3.2 双目立体视觉技术的实现步骤 6
1.4 课题的研究思路和组织结构 8
1.4.1 课题的研究思路 8
1.4.2 主要的研究内容 . 8
2 熔池图像采集 . 10
2.1 实验设备. 10
2.1.1 焊接试验设备 . 10
2.1.2 图像采集实验设备 . 10
2.2 CCD摄像机采集熔池图像 . 11
2.3 本章小结. 12
3 摄像机标定 14
3.1 标定的意义. 14
3.2 标定的坐标系简介. 14
3.3 标定的模型. 16
3.3.1 线性摄像机模型及其标定 . 16
3.3.2 非线性摄像机模型标定 . 18
3.3.3 立体摄像机模型标定 . 20
3.4 单摄像机标定. 20 熔池双目立体视觉系统中摄像机标定方法研究:http://www.youerw.com/cailiao/lunwen_4714.html