本文選題：仿生復(fù)眼 + 目標(biāo)定位��； 參考：《中國科學(xué)技術(shù)大學(xué)》2017年碩士論文

【摘要】：視覺定位作為三維測量技術(shù)的一種重要手段,已廣泛應(yīng)用在工業(yè)檢測、醫(yī)學(xué)診療、影視特效和安防監(jiān)控等領(lǐng)域。隨著應(yīng)用領(lǐng)域的拓展,對視覺系統(tǒng)的大視場、小型化和高精度等方面的要求越來越高。自然界中很多節(jié)肢動物的復(fù)眼以其結(jié)構(gòu)緊湊、大視場和對物體運動高度敏感性等優(yōu)勢日益受到視覺測量領(lǐng)域的關(guān)注。因此本課題組以自然復(fù)眼為基礎(chǔ),設(shè)計制作了一種新型仿生復(fù)眼定位裝置。本論文為實現(xiàn)復(fù)眼的標(biāo)定與定位,從研制的復(fù)眼系統(tǒng)特征出發(fā),觀測分析了系統(tǒng)成像的畸變特性,提出了一種基于虛擬雙球面的標(biāo)定方案,對標(biāo)定和定位過程的關(guān)鍵問題進(jìn)行了探究,完成了對空間物體對象的三維定位,并對定位精度作出了評估。具體的研究內(nèi)容如下:(1)對仿生復(fù)眼裝置的機(jī)械結(jié)構(gòu)、光學(xué)設(shè)計和圖像采集系統(tǒng)等方面進(jìn)行了詳細(xì)描述,通過實驗觀測了不同子眼成像通道的畸變情況,指出了系統(tǒng)畸變特點,明確了系統(tǒng)標(biāo)定對該仿生復(fù)眼系統(tǒng)的重要性。在調(diào)研多種非線性相機(jī)標(biāo)定方法基礎(chǔ)上,針對復(fù)眼大視場、子眼較多和畸變復(fù)雜等諸多特點,探討了復(fù)眼系統(tǒng)的標(biāo)定方法,提出基于虛擬雙球面的標(biāo)定方案,該方法通過構(gòu)建圖像點和對應(yīng)入射光線的映射關(guān)系來實現(xiàn)標(biāo)定。建立了標(biāo)定數(shù)學(xué)模型,搭建了主要由單LED、二維轉(zhuǎn)臺、一維導(dǎo)軌和自動控制軟件組成的標(biāo)定平臺。(2)從標(biāo)定原理出發(fā),合理規(guī)劃了標(biāo)定步驟,首先對標(biāo)定平臺進(jìn)行了合理調(diào)整;接著針對光斑圖像特征,確定了光斑中心提取步驟與算法;為保證空間靶標(biāo)的均勻性分布,針對轉(zhuǎn)臺轉(zhuǎn)動特點,引入正二十面體細(xì)分方案,合理規(guī)劃了靶點位置;對多通道同時成像于同一圖像面的狀況,將轉(zhuǎn)臺轉(zhuǎn)動角度和子眼位置納入同一極坐標(biāo)系中,探索了光斑與子眼之間的匹配方法;為建立非線性映射關(guān)系,在對三種映射方法分析對比中選擇了最適合本系統(tǒng)的方法;最后對復(fù)眼開展了標(biāo)定實驗,建立了圖像點和入射光線的非線性映射關(guān)系。(3)從雙目視覺和系統(tǒng)標(biāo)定原理出發(fā),探討了復(fù)眼定位理論,并以此為基礎(chǔ),研究了根據(jù)光斑點反求成像通道的方法。使用復(fù)眼對空間三維點進(jìn)行了測量,結(jié)果表明,標(biāo)定后的復(fù)眼裝置在60°視場內(nèi)的目標(biāo)相對定位誤差優(yōu)于0.5%,定位角度均方根誤差約為1.96 mrad。最后對簡單面形進(jìn)行了測量重構(gòu),表明了復(fù)眼的實際應(yīng)用價值。
[Abstract]:As an important means of three-dimensional measurement technology, visual positioning has been widely used in the fields of industrial testing, medical diagnosis, special effect and security monitoring. With the expansion of the application field, the large field of view, miniaturization and high precision of the visual system are becoming higher and higher. The advantages of compact, large field of view and sensitivity to motion of objects are increasingly concerned in the field of visual measurement. Therefore, based on natural compound eye, a new type of bionic compound eye positioning device is designed and manufactured. This paper is designed to realize the calibration and positioning of the compound eye. From the features of the compound eye system developed, the system is observed and analyzed. A calibration scheme based on virtual bipheric surface is proposed. The key problems of calibration and positioning process are explored, the three-dimensional location of space object objects is completed and the positioning accuracy is evaluated. The specific research contents are as follows: (1) the mechanical structure, optical design and image mining of the bionic compound eye device. The distortion of different subocular imaging channels is observed by experiments, the characteristics of the system distortion are pointed out, and the importance of the system calibration to the bionic compound eye system is clarified. On the basis of investigating the calibration methods of multiple nonlinear cameras, many of the eyes are large and the distortion is complex and so on. The calibration method based on the virtual double sphere is proposed. The calibration method based on the virtual double sphere is proposed. The calibration model is established by constructing the image point and the mapping relation of the incident light. A calibration platform is set up. The calibration platform, which is composed of single LED, two dimensional turntable, one dimensional guide and automatic control software, is built. (2) from the standard. According to the fixed principle, the calibration steps are reasonably planned. First, the calibration platform is adjusted reasonably. Then the spot center extraction procedure and algorithm are determined according to the feature of the spot image. In order to ensure the uniformity distribution of the space target, the positive twenty plane subdivision scheme is introduced to the rotation characteristic of the turntable, and the target location is reasonably planned. In the same image plane, the rotation angle and the subeye position of the turntable are included in the same polar coordinate system, and the matching method between the spot and the eye is explored. In order to establish the nonlinear mapping relation, the method for the analysis and contrast of the three mapping methods is selected. Finally, the calibration experiment is carried out for the compound eye, The nonlinear mapping relation between the image point and the incident ray is established. (3) based on the binocular vision and the system calibration principle, the theory of the compound eye location is discussed. On the basis of this, the method of searching the imaging channel according to the light spots is studied. The measurement of the three-dimensional point of the space is carried out with the compound eye. The results show that the calibrated compound eye is in the 60 degree field. The relative positioning error of the target is better than 0.5%, the root mean square root error is about 1.96 mrad., and the simple surface shape is measured and reconstructed at the end, which shows the practical application value of the compound eye.

【學(xué)位授予單位】：中國科學(xué)技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41

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