CN106524906B - Laser scanner method for homing and laser scanner - Google Patents
Laser scanner method for homing and laser scanner Download PDFInfo
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- CN106524906B CN106524906B CN201610893734.6A CN201610893734A CN106524906B CN 106524906 B CN106524906 B CN 106524906B CN 201610893734 A CN201610893734 A CN 201610893734A CN 106524906 B CN106524906 B CN 106524906B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
A kind of laser scanner method for homing and laser scanner are disclosed in the embodiment of the present invention, which comprises obtain reset image after the splicing of initial position；Reset image after the splicing is translated along line direction, every translation is primary, obtains the Y-PSNR of reset image and uncalibrated image after splicing after a splicing；When the translational movement of reset image is the columns of uncalibrated image after splicing after the splicing, the peak-peak signal-to-noise ratio in the multiple Y-PSNR is obtained；Obtain the corresponding reset translational movement of the peak-peak signal-to-noise ratio；Reset angle is obtained according to the reset translational movement；According to the reset angle, laser scanner is rotated to demarcating position.Working efficiency when laser scanning can be improved in the embodiment of the present invention.
Description
Technical field
The present invention relates to laser scanning field, in particular to a kind of laser scanner method for homing and laser scanner.
Background technique
Laser scanner is a kind of equipment that high-precision scan data is obtained using contactless measurement, and three-dimensional
The panoramic scanning image of available three dimensions of laser scanner, therefore it is widely used in various fields.
Usually three-dimensional laser scanner to be placed in three-dimensional system of coordinate convenient for data processing, XOY is kept when obtaining data
Plane is motionless, so that camera lens is rotated 180 degree about the z axis to obtain static field sight spot cloud.Stimulated light scanner scanning angle and installation side
The limitation of position is realized that the scanning of a wide range of static scene is usually required using two or more scanners while being carried out, and is being swept
Complete scene point cloud is spliced into after the completion of retouching.For the continuity and accuracy for guaranteeing scene point cloud, swept in three-dimensional laser
It retouches instrument to start to need to demarcate more laser scanners before scanning, by more scanner calibrations to standard three dimensional coordinate system
In.
It is needed when more laser scanner calibration using calibration transformation matrix, calibration transformation matrix is non-to the orientation of scanner
Often sensitive, if the position of scanner changes, transformation matrix will change therewith.In practical applications, it encounters disconnected
When the abnormal conditions such as electricity, software fault, laser scanner can deviate initial alignment position, and original transformation matrix will be no longer applicable in,
In this case, laser scanner, which works on, can not just ensure the correct acquisition of scan data.
Summary of the invention
A kind of laser scanner method for homing and laser scanner are provided in the embodiment of the present invention, can improve laser scanning
The working efficiency of instrument.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
On the one hand, a kind of laser scanner method for homing is provided, which comprises
Reset image after the splicing of acquisition initial position；
Reset image after the splicing is translated along line direction, every translation is primary, obtain after a splicing reset image with
The Y-PSNR of uncalibrated image after splicing；
When the translational movement of reset image is the columns of uncalibrated image after splicing after the splicing, the multiple peak value is obtained
Peak-peak signal-to-noise ratio in signal-to-noise ratio；
Obtain the corresponding reset translational movement of the peak-peak signal-to-noise ratio；
Reset angle is obtained according to the reset translational movement；
According to the reset angle, laser scanner is rotated to demarcating position.
Optionally, the method also includes:
When system initialization, uncalibrated image is obtained；
The uncalibrated image that will acquire is spliced into uncalibrated image after splicing.
Optionally, reset image after the splicing for obtaining initial position, comprising:
The laser scanner is set to obtain the reset image of the initial position；
The reset image that will acquire is spliced into reset image after splicing；
Optionally, the line direction is scanner direction of rotation；
The column direction is scanner field of view angle direction.
Optionally, reset image after the splicing is translated along line direction, the primary translational movement of every translation is a pixel.
Optionally, after the splicing reset image and splicing after uncalibrated image Y-PSNR are as follows:
Wherein, I1(i, j) is pixel value of the uncalibrated image at coordinate (i, j) after splicing, I2(i, j) is to reset after splicing
Pixel value of the image at coordinate (i, j), n1 are the initial row of reference picture, and n2 is the end line of reference picture, and width is to spell
The columns of rear uncalibrated image is connect, the reference picture is some or all of uncalibrated image after splicing.
It is optionally, described that reset angle is obtained according to the reset translational movement, comprising:
Obtain the corresponding rotation angle of single pixel；
According to the reset translational movement and the corresponding rotation angle of single pixel, reset angle is obtained.
Second aspect, provides a kind of laser scanner, and the scanner includes:
Image processing unit, reset image after the splicing for obtaining initial position；
Data processing unit, for translating reset image after the splicing along line direction, every translation is primary, obtains one
The Y-PSNR of reset image and uncalibrated image after splicing after splicing；
The translational movement that the data processing unit is also used to the reset image after splicing is uncalibrated image after splicing
When columns, the peak-peak signal-to-noise ratio in multiple Y-PSNRs is obtained；
The data processing unit is also used to obtain the corresponding reset translational movement of the peak-peak signal-to-noise ratio；
The data processing unit is also used to obtain reset angle according to the reset translational movement；
Machine assembly, for according to the reset angle, rotating laser scanner to demarcating position.
Optionally, the peak value noise of reset image and uncalibrated image after splicing after the splicing that the data processing unit obtains
Than are as follows:
Wherein, I1(i, j) is pixel value of the uncalibrated image at coordinate (i, j) after splicing, I2(i, j) is to reset after splicing
Pixel value of the image at coordinate (i, j), n1 are the initial row of reference picture, and n2 is the end line of reference picture image, width
For the columns of uncalibrated image after splicing, the reference picture is some or all of uncalibrated image after splicing.
Optionally, the data processing unit obtains reset angle according to the reset translational movement, comprising:
The data processing unit obtains the corresponding rotation angle of single pixel；
The data processing unit obtains according to the reset translational movement and the corresponding rotation angle of single pixel and resets angle
Degree.
A kind of laser scanner method for homing is disclosed in the embodiment of the present invention, in the method, by multiple after splicing
Difference after bit image and splicing between uncalibrated image adjusts the angle of laser scanner, makes after playback laser scanner and just
The calibration position of the laser scanner of beginningization is identical, can continue to scan on without adjusting transformation matrix, therefore can mention
The precision of high laser scanner, simultaneously as also saving the time without adjusting transformation matrix, improving efficiency.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 show the flow chart of the laser scanner method for homing of the embodiment of the present invention；
Fig. 2 show the flow chart of the laser scanner method for homing of the embodiment of the present invention；
Fig. 3 show the structural schematic diagram of the laser scanner of the embodiment of the present invention.
Specific embodiment
Following examples of the present invention provide a kind of laser scanner method for homing, can improve the precision of laser scanner,
Simultaneously as also saving the time without adjusting transformation matrix, improving efficiency.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 show the flow chart of the laser scanner method for homing of the embodiment of the present invention, as shown in Figure 1, the method
Include:
Step 101, reset image after the splicing of initial position is obtained.
In abnormal conditions such as power-off, software fault, hardware faults or when laser scanner is restarted, if to utilize
Original calibration matrix then needs to restore laser scanner to original calibration position.In the embodiment of the present invention, laser scanning
Position where when instrument failure fire is restarted becomes initial position.
Laser scanner is restored from initial position can be by gear unit or machine assembly come complete to calibration position
At, but due to the presence of machine error or driving error etc., after only completing reset by gear unit or machine assembly, laser is swept
Retouching might have fraction of error between the reset position of instrument and the calibration position of laser scanner, therefore also need to finely tune.
Before step 101, the method also includes:
When system initialization, uncalibrated image is obtained；
The uncalibrated image that will acquire is spliced into uncalibrated image after splicing.
In the embodiment of the present invention, for laser scanner scans visual field close to 360 degree, scanner lens rotate 180 degree about the z axis,
To realize 360 degree of panoramic scannings.The data that laser scanner saves also are made of the 180 degree scene point cloud of both direction, because
This, in the embodiment of the present invention, each width scan image requires to overturn the original image of one of 180 degree, then
Two 180 degree scan images are spliced into complete 360 degree of panoramic pictures.
In the embodiment of the present invention, the uncalibrated image of acquisition is also two 180 degree images, therefore is also required to one of mark
Determine Image Reversal, and two uncalibrated images are spliced into uncalibrated image after splicing.
The line direction of uncalibrated image is scanner direction of rotation after splicing, and column direction is scanner field of view angle direction.
Similar to above-mentioned uncalibrated image, reset image also has two parts, needs to rotate a portion, and by two parts
It is spliced into reset image after splicing.
Step 102, reset image after splicing is translated along line direction, every translation is primary, obtains reset diagram after a splicing
As the Y-PSNR with uncalibrated image after splicing.
In the embodiment of the present invention, reset image after the splicing is translated along line direction, the primary translational movement of every translation is
One pixel or multiple pixels.
In other embodiments of the present invention, reset image after the splicing is translated along line direction, every translation is primary to be put down
Shifting amount is also possible to multiple presetted pixels, such as two pixels, three pixels.
In the embodiment of the present invention, the Y-PSNR of reset image and uncalibrated image after splicing after splicing are as follows:
Wherein, I1(i, j) is pixel value of the uncalibrated image at coordinate (i, j) after splicing, I2(i, j) is to reset after splicing
Pixel value of the image at coordinate (i, j), n1 are the initial row of reference picture, and n2 is the end line of reference picture, and width is to spell
The columns of rear uncalibrated image is connect, the reference picture is some or all of uncalibrated image after splicing.
In the embodiment of the present invention, reference picture is a part of uncalibrated image after having intercepted splicing, is swept for three-dimensional laser
Instrument imaging characteristic is retouched, the pixel after splicing near image row/2 is usually chosen and calculates image Y-PSNR, improve algorithm process
Speed, wherein row is the line number of uncalibrated image after splicing.
It is to improve efficiency to save calculation amount using reference picture.
In the embodiment of the present invention, in three-dimensional system of coordinate, laser scanner keeps XOY plane motionless when obtaining data, makes
Camera lens rotates to obtain static field sight spot cloud about the z axis, that is, the initial row of uncalibrated image is also reset image after splicing after splicing
Initial row, the end line of uncalibrated image is also the end line of reset image after splicing after splicing, and similarly, width is to mark after splicing
Determine the columns of image, and after splicing reset image column.
Step 103, reset image after splicing is moved to after splicing after uncalibrated image, is obtained in multiple Y-PSNRs
Peak-peak signal-to-noise ratio.
Step 104, the corresponding reset translational movement tran of peak-peak signal-to-noise ratio is obtained.
Step 105, reset angle is obtained according to reset translational movement.
In the embodiment of the present invention, reset translational movement be pixel value, it is therefore desirable to according to laser scanner rotate angle at
As size, angle alpha corresponding to single pixel is calculated, if uncalibrated image columns is width after splicing, thenReset angle β=tran*alpha of laser scanner, wherein tran answers for what is obtained in step 105
Position translational movement.
Step 107, according to reset angle, laser scanner is rotated to demarcating position.
The reseting precision of the laser scanner of the embodiment of the present invention is related with the columns width of uncalibrated image after splicing, will
Reset image is translated along line direction after the splicing, if one pixel of translation, reseting precision can achieve a pixel every time,
It is scaled the corresponding angle of angle i.e. single pixelFor example, if the pixel of uncalibrated image is 7200*4200 after splicing,
=0.05 degree then reseting precision are as follows: (360/7200).If translation is n pixel every time, reseting precision is (360/7200) *
N degree.
In the laser scanner method for homing of the embodiment of the present invention, pass through reset image after the splicing of initial position and calibration
Difference after splicing at position between uncalibrated image adjusts the angle of laser scanner, makes after playback laser scanner and just
The calibration position of laser scanner when beginningization is identical, can be with there is no need to adjust transformation matrix to continue to scan on
The precision of laser scanner is improved, simultaneously as also saving the time without adjusting transformation matrix, improving efficiency.
Fig. 2 show the flow chart of the scanner method for homing of the embodiment of the present invention, as shown in Figure 2, which comprises
Step 201, when system initialization, uncalibrated image is obtained, the uncalibrated image that will acquire is spliced into calibration maps after splicing
Picture.
Step 202, judge whether laser scanner needs to playback, if desired playback, go to step 203, if not needing to return
Position, goes to step 208.
Step 203, reset image after the splicing of initial position is obtained.
Step 204, reset image after splicing is translated along line direction, every translation is primary, obtains reset diagram after a splicing
As the Y-PSNR with uncalibrated image after splicing.
Step 205, when the translational movement of reset image is the columns of uncalibrated image after splicing after the splicing, multiple peak values are obtained
Peak-peak signal-to-noise ratio in signal-to-noise ratio.
Step 206, the corresponding reset translational movement of peak-peak signal-to-noise ratio is obtained, resets angle according to resetting translational movement and obtaining
Degree.
Step 207, according to reset angle, laser scanner is rotated to demarcating position.
Step 208, laser scanner continues to scan on.
The laser scanner method for homing of the embodiment of the present invention, without adjusting transformation matrix after playback, playback precision is high, effect
Rate is high.
Corresponding with above-mentioned laser scanner method for homing, the embodiment of the invention also provides one kind can return using above-mentioned
The laser scanner of position method, as shown in figure 3, the laser scanner includes:
Image processing unit 301, reset image after the splicing for obtaining initial position；
Data processing unit 302, for translating reset image after the splicing along line direction, every translation is primary, obtains
The Y-PSNR of reset image and uncalibrated image after splicing after one splicing；
The data processing unit 302 is also used to the translational movement of the reset image after splicing as uncalibrated image after splicing
Columns when, obtain the peak-peak signal-to-noise ratio in multiple Y-PSNRs；
The data processing unit 302 is also used to obtain the corresponding reset translational movement of the peak-peak signal-to-noise ratio；
The data processing unit 302 is also used to obtain reset angle according to the reset translational movement；
Machine assembly 303, for according to the reset angle, rotating laser scanner to demarcating position.
The laser scanner of the embodiment of the present invention can be with automatic homing, and the precision that playbacks is high, high-efficient.
In the laser scanner of the embodiment of the present invention, after the splicing that the data processing unit 302 obtains reset image with
The Y-PSNR of uncalibrated image after splicing are as follows:
Wherein, I1(i, j) is pixel value of the uncalibrated image at coordinate (i, j) after splicing, I2(i, j) is to reset after splicing
Pixel value of the image at coordinate (i, j), n1 are the initial row of reference picture, and n2 is the end line of reference picture image, width
For the columns of uncalibrated image after splicing, the reference picture is some or all of uncalibrated image after splicing.
The data processing unit 302 obtains reset angle according to the reset translational movement, comprising:
The data processing unit obtains the corresponding rotation angle of single pixel；
The data processing unit obtains according to the reset translational movement and the corresponding rotation angle of single pixel and resets angle
Degree.
The laser scanner of the embodiment of the present invention can be with automatic homing, and the precision that playbacks is high, high-efficient.
A kind of laser scanner method for homing and laser scanner, the method for homing are disclosed in the embodiment of the present invention
In, the angle of laser scanner is adjusted by the difference between uncalibrated image after reset image after splicing and splicing, makes to playback
Laser scanner is identical with the calibration position of the laser scanner of initialization afterwards, can continue without adjusting transformation matrix
Scanning, therefore the precision of laser scanner can be improved, simultaneously as also saving the time without adjusting transformation matrix, improve
Efficiency.The embodiment of the invention also discloses a kind of laser scanner that can apply above-mentioned method for homing, can with automatic homing,
And precision is high after playbacking, it is high-efficient.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to it by specialized hardware include specific integrated circuit, dedicated cpu, private memory, special components and parts etc. come real
It is existing, but the former is more preferably embodiment in many cases.Based on this understanding, the technical solution sheet in the embodiment of the present invention
The part that contributes to existing technology can be embodied in the form of software products in other words in matter, which produces
Product can store in storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disk, CD etc., including some instructions are used so that computer equipment (can be
People's computer, server or network equipment etc.) it executes described in certain parts of each embodiment of the present invention or embodiment
Method.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of laser scanner method for homing, which is characterized in that the described method includes:
Reset image after the splicing of acquisition initial position；
Reset image after the splicing is translated along line direction, every translation is primary, obtains reset image and splicing after a splicing
The Y-PSNR of uncalibrated image afterwards；
When the translational movement of reset image is the columns of uncalibrated image after splicing after the splicing, multiple peak value noises are obtained
Peak-peak signal-to-noise ratio than in；
Obtain the corresponding reset translational movement of the peak-peak signal-to-noise ratio；
Reset angle is obtained according to the reset translational movement；
According to the reset angle, laser scanner is rotated to demarcating position.
2. the method as described in claim 1, which is characterized in that the method also includes:
When system initialization, uncalibrated image is obtained；
The uncalibrated image that will acquire is spliced into uncalibrated image after splicing.
3. method according to claim 1 or 2, which is characterized in that reset image after the splicing for obtaining initial position,
Include:
The laser scanner is set to obtain the reset image of the initial position；
The reset image that will acquire is spliced into reset image after splicing.
4. method as claimed in claim 3, which is characterized in that the line direction is scanner direction of rotation；
Column direction is scanner field of view angle direction.
5. method as claimed in claim 4, which is characterized in that translate reset image after the splicing along line direction, often put down
Moving primary translational movement is a pixel or multiple pixels.
6. method as claimed in claim 5, which is characterized in that the peak of reset image and uncalibrated image after splicing after the splicing
It is worth signal-to-noise ratio are as follows:
Wherein, I1(i, j) is pixel value of the uncalibrated image at coordinate (i, j) after splicing, I2(i, j) is reset image after splicing
Pixel value at coordinate (i, j), n1 are the initial row of reference picture, and n2 is the end line of reference picture, and width is after splicing
The columns of uncalibrated image, the reference picture are some or all of uncalibrated image after splicing.
7. method as claimed in claim 6, which is characterized in that described to obtain reset angle, packet according to the reset translational movement
It includes:
Obtain the corresponding rotation angle of single pixel；
According to the reset translational movement and the corresponding rotation angle of single pixel, reset angle is obtained.
8. a kind of laser scanner, which is characterized in that the scanner includes:
Image processing unit, reset image after the splicing for obtaining initial position；
Data processing unit, for translating reset image after the splicing along line direction, every translation is primary, obtains a splicing
The Y-PSNR of reset image and uncalibrated image after splicing afterwards；
The data processing unit be also used to the reset image after splicing translational movement be splicing after uncalibrated image columns
When, obtain the peak-peak signal-to-noise ratio in multiple Y-PSNRs；
The data processing unit is also used to obtain the corresponding reset translational movement of the peak-peak signal-to-noise ratio；
The data processing unit is also used to obtain reset angle according to the reset translational movement；
Machine assembly, for according to the reset angle, rotating laser scanner to demarcating position.
9. laser scanner as claimed in claim 8, which is characterized in that resetted after the splicing that the data processing unit obtains
The Y-PSNR of uncalibrated image after image and splicing are as follows:
Wherein, I1(i, j) is pixel value of the uncalibrated image at coordinate (i, j) after splicing, I2(i, j) is reset image after splicing
Pixel value at coordinate (i, j), n1 are the initial row of reference picture, and n2 is the end line of reference picture image, and width is to spell
The columns of rear uncalibrated image is connect, the reference picture is some or all of uncalibrated image after splicing.
10. laser scanner as claimed in claim 8 or 9, which is characterized in that the data processing unit is according to the reset
Translational movement obtains reset angle, comprising:
The data processing unit obtains the corresponding rotation angle of single pixel；
The data processing unit obtains reset angle according to the reset translational movement and the corresponding rotation angle of single pixel.
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| CN103702607A (en) * | 2011-07-08 | 2014-04-02 | 修复型机器人公司 | Calibration and transformation of a camera system's coordinate system |
| CN204789992U (en) * | 2015-07-03 | 2015-11-18 | 中国计量科学研究院 | Playback measurement and control device |
| CN105164549A (en) * | 2013-03-15 | 2015-12-16 | 优步技术公司 | Methods, systems, and apparatus for multi-sensory stereo vision for robots |
| CN105866762A (en) * | 2016-02-26 | 2016-08-17 | 福州华鹰重工机械有限公司 | Laser-radar automatic calibration method and device thereof |
| CN106204583A (en) * | 2016-07-08 | 2016-12-07 | 众趣（北京）科技有限公司 | A kind of method of calibration for cameras angle of rotation |
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| TWI489082B (en) * | 2013-12-24 | 2015-06-21 | Univ Nat Taiwan Science Tech | Method and system for calibrating laser measuring apparatus |
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| CN103547939A (en) * | 2011-05-13 | 2014-01-29 | 赫克斯冈技术中心 | Calibration method for a device having a scan function |
| CN103702607A (en) * | 2011-07-08 | 2014-04-02 | 修复型机器人公司 | Calibration and transformation of a camera system's coordinate system |
| CN105164549A (en) * | 2013-03-15 | 2015-12-16 | 优步技术公司 | Methods, systems, and apparatus for multi-sensory stereo vision for robots |
| CN204789992U (en) * | 2015-07-03 | 2015-11-18 | 中国计量科学研究院 | Playback measurement and control device |
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