三坐标测量机驱动的单目立体视觉坐标测量方法  

Single Camera Stereo Vision Coordinate Measurement Method Driven by CMM

作　　者：王春梅[1] 黄风山[1] 

机构地区：[1]河北科技大学电气信息工程学院,石家庄050054

出　　处：《组合机床与自动化加工技术》2013年第12期71-74,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(51075119);河北省自然科学基金(E2010000868)

摘　　要：为了使三坐标测量机快速准确地识别出被测零件的位姿,提出了一种基于三坐标测量机平动的特征点三维坐标单目立体视觉测量方法。根据双目立体视觉原理,以三坐标测量机带动单个摄像机沿X轴或Y轴平移,在两个不同位置分别拍摄被测零件的一幅图像,利用本文提出的基于边缘图像质心偏移的同名像点匹配方法,实现单目立体视觉坐标测量,得到被测零件上各特征点在摄像机坐标系中的三维坐标。组建了测量系统,进行了测量实验,特征点坐标测量时间为1.818s,由实验测得结果计算出的特征点在机器坐标系中的三维坐标,与三坐标测量机直接测量的对应三维坐标相比,二者之差小于0.3mm,能满足智能三坐标测量机位姿实时识别要求,说明文章所提测量方法是可行的。In order to recognize parts＇pose on Coordinate Measuring Machine （CMM） corrcetly and fast,based on the translation of CMM,A single camera stereo vision measurement method for feature points＇ 3D coordinate on the measured parts is proposed.According to the double cameras stereo vision principle,a image of the part to be measured is capured by A CCD camera,which is driven by CMM along its X or Y axis,on two different position correspondly.Thus,the part＇s single camera stereo vision measurement is realized with the proposed image matching method,which is based on the centroid offset of image edge,on two images of the same feature point on the part,and each feature point＇s 3D coordinate in the camera coordinate system can be obtained.The measuring system is set up,and the experiment is conducted.The feature point＇s coordinate measuring time is 1.818s,and the difference value,which is between feature points＇ 3D coordinate calculated with the experiment result and that measured by CMM in the machine coordinate system,is less than 0.3mm.This measuring result can meet parts＇ pose real-time recognization requirement on the intelligent CMM,and also show that the method proposed in this paper is feasible.

关 键 词：单目立体视觉 视觉坐标测量 图像匹配 零件位姿识别 

分 类 号：TH165[机械工程—机械制造及自动化] TP391[自动化与计算机技术—计算机应用技术]