本文選題：不對稱雙目機(jī)器視覺 + 嵌入式測量裝置　； 參考：《浙江大學(xué)》2012年碩士論文

【摘要】：傳統(tǒng)的基于單目視覺的尺寸測量方法使用單幅圖像反映待測物尺寸的全貌,當(dāng)需要對某些大尺寸復(fù)雜零件的整體和局部同時進(jìn)行測量,或者待測物幾何尺寸會發(fā)生較大改變時,某些幾何尺寸相對較小的部位由于占有像素數(shù)較少而無法實現(xiàn)較高精度的測量。而且,現(xiàn)有的視覺測量裝置往往是基于PC機(jī)的,其經(jīng)濟(jì)性與靈活性不能滿足工業(yè)測控的需求,因此對嵌入式視覺測量方法及裝置的研究具有重要的現(xiàn)實意義。 本文結(jié)合雙目機(jī)器視覺和單目機(jī)器視覺的特點,設(shè)計并實現(xiàn)了一種基于不對稱雙目機(jī)器視覺的嵌入式尺寸測量系統(tǒng),完成對待測物大尺寸和小尺寸部件的同時測量。整個測量過程完全在基于ARM的嵌入式軟硬件平臺上實現(xiàn),通過客戶端自帶的瀏覽器,可以實現(xiàn)遠(yuǎn)程操作和監(jiān)控。主要研究內(nèi)容如下： 1.提出了一種基于不對稱雙目立體視覺技術(shù)的測量方法和幾何尺寸測量步驟,并設(shè)計了基于ARM的嵌入式軟硬件實現(xiàn)方案,對其中的重要設(shè)備選型原則作了說明。 2.在研究圖像邊緣提取算法時,提出了一種結(jié)合Sobel算法和Zernike矩算法的亞像素邊緣提取算法,以及一種Sobel-Zernike-Forstner亞像素角點提取算法。在此基礎(chǔ)上,運用基于平面方格點的攝像機(jī)標(biāo)定方法,實現(xiàn)了對系統(tǒng)的標(biāo)定。 3.利用一種基于極線約束、特征匹配與區(qū)域匹配相結(jié)合的立體匹配方法,結(jié)合本雙目視覺不對稱的實際,匹配若干圖像邊緣點對,得到其對應(yīng)空間點的空間位置,結(jié)合本文提出的平面確定方法,得到測件所在平面的空間位置；一旦得到了測量平面的位置,只需合適的單攝像機(jī),就可完成需要的平面尺寸參數(shù)測量。 4.完成了嵌入式樣機(jī)的制作。硬件部分,完成了系統(tǒng)的選型與構(gòu)建；軟件部分,通過EVC開發(fā)平臺將對攝像機(jī)的操作以及尺寸測量相關(guān)的各種算法封裝成COM組件,采用"ASP+COM"的結(jié)構(gòu)技術(shù),實現(xiàn)了遠(yuǎn)程操作和監(jiān)控。通過對圓參數(shù)測量的驗證實驗表明,本嵌入式測量系統(tǒng)能夠?qū)崿F(xiàn)預(yù)期的功能。
[Abstract]:The traditional dimension measurement method based on monocular vision uses a single image to reflect the whole picture of the object under test. When it is necessary to measure the whole and part of some large and complex parts at the same time, or the geometric size of the object to be measured will change greatly. Because of the small number of pixels, some parts with relatively small geometric size can not achieve high precision measurement. Moreover, the existing visual measurement devices are often based on PC, their economy and flexibility can not meet the needs of industrial measurement and control, so the research of embedded vision measurement methods and devices has important practical significance. Based on the characteristics of binocular machine vision and monocular machine vision, an embedded size measurement system based on asymmetric binocular machine vision is designed and implemented in this paper. The whole measurement process is completely implemented on the embedded software and hardware platform based on ARM, and remote operation and monitoring can be realized through the browser which is included in the client. The main contents of the study are as follows: 1. This paper presents a method of measurement and geometric dimension measurement based on asymmetric binocular stereo vision, designs the embedded hardware and software implementation scheme based on ARM, and explains the important equipment selection principle. 2. A sub-pixel edge extraction algorithm combining Sobel algorithm with Zernike moment algorithm and a Sobel-Zernike-Forstner sub-pixel corner extraction algorithm are proposed in this paper. On this basis, the calibration of the system is realized by using the camera calibration method based on plane grid points. 3. A stereo matching method based on polar line constraint, feature matching and region matching is used to match a number of edge point pairs of images, and the spatial position of the corresponding spatial points is obtained by combining the reality of this binocular vision asymmetry. Combined with the plane determination method proposed in this paper, the spatial position of the plane in which the measuring piece is located is obtained. Once the position of the measuring plane is obtained, only a suitable single camera is required to complete the measurement of the required plane dimension parameters. 4. The embedded prototype is made. In the hardware part, the selection and construction of the system are completed. In the software part, the operation of the camera and the algorithms related to the dimension measurement are encapsulated into COM components through the EVC development platform, and the structure technology of "ASP COM" is adopted. The remote operation and monitoring are realized. The experimental results show that the embedded measurement system can achieve the desired function.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TP391.41;TP368.1

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 張少輝;沈曉蓉;范耀祖;;一種基于圖像特征點提取及匹配的方法[J];北京航空航天大學(xué)學(xué)報;2008年05期

2 周立功;;如何選擇適合當(dāng)前項目的嵌入式操作系統(tǒng)[J];單片機(jī)與嵌入式系統(tǒng)應(yīng)用;2010年01期

3 賀忠海,王寶光,廖怡白;理想邊緣產(chǎn)生方法的研究[J];光學(xué)精密工程;2002年01期

4 伍濟(jì)鋼;賓鴻贊;;機(jī)器視覺的薄片零件尺寸檢測系統(tǒng)[J];光學(xué)精密工程;2007年01期

5 何博俠;張志勝;戴敏;史金飛;;基于序列局部圖像的高精度測量[J];光學(xué)精密工程;2008年02期

6 王忠立,劉佳音,賈云得;基于CCD與CMOS的圖像傳感技術(shù)[J];光學(xué)技術(shù);2003年03期

7 付秋瑜;林清宇;張萬成;吳南健;;面向?qū)崟r視覺芯片的高速CMOS圖像傳感器[J];光學(xué)學(xué)報;2011年08期

8 金浩,姜文華,于新瑞,王石剛;基于不同區(qū)域的亞像素的插值方法[J];光學(xué)儀器;2003年04期

9 王一;劉常杰;楊學(xué)友;葉聲華;;工業(yè)機(jī)器人視覺測量系統(tǒng)的在線校準(zhǔn)技術(shù)[J];機(jī)器人;2011年03期

10 羅敏;王琰;;一種利用Roberts-Zernike矩的亞像素邊緣檢測方法[J];計算機(jī)工程與應(yīng)用;2011年05期

相關(guān)博士學(xué)位論文 前1條

1 卞曉東;基于機(jī)器視覺的車輛幾何尺寸測量系統(tǒng)研究[D];東南大學(xué);2005年

，

本文編號：1964534