基于双目视觉空间投影恢复的圆柱形构件裂缝检测方法  

Crack Detection Method for Cylindrical Members with Spatial Projection Restoration and Binocular Stereo Vision

作　　者：张玉栋 丁丽荣 潘钻峰[1] ZHANG Yudong;DING Lirong;PAN Zuanfeng(State Key Laboratory of Disaster Reduction in Civil Engineering,Tongji University,Shanghai 200092,China;China Highway Engineering Consulting Group Co.,Ltd.,Beijing 100089,China)

机构地区：[1]同济大学土木工程防灾减灾全国重点实验室,上海200092 [2]中国公路工程咨询集团有限公司,北京100089

出　　处：《结构工程师》2025年第2期1-8,共8页Structural Engineers

基　　金：国家自然科学基金(52078368)。

摘　　要：提出了一种基于双目视觉空间投影恢复的圆柱形构件裂缝检测方法,该方法以裂缝边缘点在左相机成像平面上的对应像点为投影点,以圆柱形构件的侧表面为投影圆柱面,基于获得的投影点世界坐标及投影圆柱面的方程,通过计算原点和投影点的连线与投影圆柱面的交点获得实际裂缝边缘点的世界坐标,从而实现裂缝空间形态恢复,基于此可进行裂缝特征值的检测。该方法可实现对裂缝图像的倾斜拍摄,真实地还原裂缝原始空间形态和尺寸,提高识别精度;同时仅需一次双目相机标定及对有限个特征标识点的特征匹配即可获得全部所需参数,计算效率高,匹配效果好,检测精度对光照变化不敏感,克服了传统双目视觉三维重建技术较难直接在恢复出的结构面三维点云模型上提取裂缝边界的困难,适用于对圆柱形构件开裂表面的裂缝识别和参数提取。A crack detection method for cylindrical members based on binocular stereo vision and spatial projection restoration is proposed.By this method,the image point of the crack edge on the image plane of the left camera is selected as the projection point,and the side surface of the cylindrical member is selected as the projection cylinder surface.Based on the obtained world coordinate of the projection point and the equation of the projection cylinder surface,the world coordinate of the actual crack edge point can be obtained by calculating the intersection of the line connecting the coordinate origin and the projection point and the projection cylindrical surface.In this way,the spatial shape of the crack can be restored,and further,based on this,the characteristic value of the crack can be detected.The method proposed can realize oblique photography of cracks,truly restore the original spatial shape and size of cracks,and improve the recognition accuracy of cracks.At the same time,this method only needs to perform binocular camera calibration once and perform stereo matching on a limited number of feature marker points based on their geometric features to obtain all the required calculation parameters.It has high computational efficiency,good matching effect,and the detection accuracy is not sensitive to illumination changes.This method solves the defect that the traditional 3D reconstruction technology based on binocular stereo vision is difficult to directly extract the crack boundary on the 3D point cloud of the structure surface,and is suitable for crack identification and parameter extraction of cracked surface of cylindrical members.

关 键 词：裂缝检测 双目视觉 圆柱形构件 投影恢复 

分 类 号：TU375.3[建筑科学—结构工程] TP391.4[自动化与计算机技术—计算机应用技术]