[go: up one dir, main page]

FR3098929B1 - Procédé de détermination de paramètres d'étalonnage extrinseques d'un système de mesure - Google Patents

Procédé de détermination de paramètres d'étalonnage extrinseques d'un système de mesure Download PDF

Info

Publication number
FR3098929B1
FR3098929B1 FR1908004A FR1908004A FR3098929B1 FR 3098929 B1 FR3098929 B1 FR 3098929B1 FR 1908004 A FR1908004 A FR 1908004A FR 1908004 A FR1908004 A FR 1908004A FR 3098929 B1 FR3098929 B1 FR 3098929B1
Authority
FR
France
Prior art keywords
point
measuring system
images
calibration parameters
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1908004A
Other languages
English (en)
Other versions
FR3098929A1 (fr
Inventor
Quentin Pentek
Tristan Allouis
Christophe Fiorio
Olivier Strauss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yellowscan
Centre National de la Recherche Scientifique CNRS
Universite de Montpellier
Original Assignee
Yellowscan
Centre National de la Recherche Scientifique CNRS
Universite de Montpellier
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yellowscan, Centre National de la Recherche Scientifique CNRS, Universite de Montpellier filed Critical Yellowscan
Priority to FR1908004A priority Critical patent/FR3098929B1/fr
Priority to EP20750308.7A priority patent/EP3999865A1/fr
Priority to PCT/FR2020/051184 priority patent/WO2021009431A1/fr
Priority to US17/597,686 priority patent/US11940569B2/en
Publication of FR3098929A1 publication Critical patent/FR3098929A1/fr
Application granted granted Critical
Publication of FR3098929B1 publication Critical patent/FR3098929B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L’invention porte sur un procédé d’étalonnage d’un système de mesure (5) comprenant un dispositif de prise de vue (3), un scanner laser(2) et une unité de positionnement (6). Le procédé comprend la préparation d’au moins deux images fournies par le dispositif de prise de vue (3) et la préparation d’un nuage de point 3D ; l’identification d’au moins un point homologue dans les images et une séquence d’optimisation pour déterminer au moins un paramètre d’étalonnage du système de mesure (5). La séquence comprend au moins une itération des étapes suivantes :* pour chaque image, identifier dans le nuage de point 3D au moins un point proche se projetant dans un voisinage du point homologue de l’image ; * élaborer une mesure de la distance séparant les points proches respectivement associés aux images ; * ajuster le paramètre d’étalonnage selon la mesure élaborée. Figure à publier avec l’abrégé : Fig. 4b
FR1908004A 2019-07-16 2019-07-16 Procédé de détermination de paramètres d'étalonnage extrinseques d'un système de mesure Active FR3098929B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1908004A FR3098929B1 (fr) 2019-07-16 2019-07-16 Procédé de détermination de paramètres d'étalonnage extrinseques d'un système de mesure
EP20750308.7A EP3999865A1 (fr) 2019-07-16 2020-07-03 Procede de determination de parametres d'etalonnage extrinseques d'un systeme de mesure
PCT/FR2020/051184 WO2021009431A1 (fr) 2019-07-16 2020-07-03 Procede de determination de parametres d'etalonnage extrinseques d'un systeme de mesure
US17/597,686 US11940569B2 (en) 2019-07-16 2020-07-03 Method for determining extrinsic calibration parameters for a measuring system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1908004 2019-07-16
FR1908004A FR3098929B1 (fr) 2019-07-16 2019-07-16 Procédé de détermination de paramètres d'étalonnage extrinseques d'un système de mesure

Publications (2)

Publication Number Publication Date
FR3098929A1 FR3098929A1 (fr) 2021-01-22
FR3098929B1 true FR3098929B1 (fr) 2021-06-18

Family

ID=68987794

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1908004A Active FR3098929B1 (fr) 2019-07-16 2019-07-16 Procédé de détermination de paramètres d'étalonnage extrinseques d'un système de mesure

Country Status (4)

Country Link
US (1) US11940569B2 (fr)
EP (1) EP3999865A1 (fr)
FR (1) FR3098929B1 (fr)
WO (1) WO2021009431A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL296946B2 (en) * 2022-09-29 2024-09-01 C Crop Ltd Plant phenotyping

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3165945B1 (fr) * 2015-11-03 2024-01-03 Leica Geosystems AG Appareil de mesure de surface destiné à déterminer des coordonnées 3d d'une surface
US10408936B2 (en) * 2016-03-11 2019-09-10 Raytheon Bbn Technologies Corp. LIDAR light fence to cue long range LIDAR of target drone
DE102016113000A1 (de) * 2016-07-14 2018-01-18 Aesculap Ag Endoskopische Vorrichtung und Verfahren zur endoskopischen Untersuchung
US10445928B2 (en) * 2017-02-11 2019-10-15 Vayavision Ltd. Method and system for generating multidimensional maps of a scene using a plurality of sensors of various types
DE102017109039A1 (de) 2017-04-27 2018-10-31 Sick Ag Verfahren zur Kalibrierung einer Kamera und eines Laserscanners
CN109118542B (zh) * 2017-06-22 2021-11-23 阿波罗智能技术(北京)有限公司 激光雷达与相机之间的标定方法、装置、设备及存储介质
DE102018108874A1 (de) * 2018-04-13 2019-10-17 Isra Vision Ag Verfahren und System zur Vermessung eines Objekts mittels Stereoskopie
WO2020097796A1 (fr) * 2018-11-13 2020-05-22 Beijing Didi Infinity Technology And Development Co., Ltd. Procédés et systèmes de génération de nuage de points colorés
US11610337B2 (en) * 2019-02-17 2023-03-21 Purdue Research Foundation Calibration of cameras and scanners on UAV and mobile platforms
US11676307B2 (en) * 2019-07-05 2023-06-13 Nvidia Corporation Online sensor calibration for autonomous vehicles
US10859684B1 (en) * 2019-11-12 2020-12-08 Huawei Technologies Co., Ltd. Method and system for camera-lidar calibration

Also Published As

Publication number Publication date
US11940569B2 (en) 2024-03-26
US20220276359A1 (en) 2022-09-01
FR3098929A1 (fr) 2021-01-22
EP3999865A1 (fr) 2022-05-25
WO2021009431A1 (fr) 2021-01-21

Similar Documents

Publication Publication Date Title
US8345094B2 (en) System and method for inspecting the interior surface of a pipeline
US6795200B1 (en) Method and system for dimensioning boxes or other cuboid objects
CN109827511B (zh) 激光测厚对射光斑自动检测装置及方法
WO2008073700A3 (fr) Procédé d'évaluation de qualité de mise au point d'image
MA38122B1 (fr) Système et procédé destinés à ajuster l'orientation d'images vidéo capturées
Rodríguez-Martín et al. Macro-photogrammetry as a tool for the accurate measurement of three-dimensional misalignment in welding
CN114323571A (zh) 一种光电瞄准系统多光轴一致性检测方法
GB2554796A (en) Testing 3D imaging systems
CN105953741B (zh) 一种钢结构局部几何变形的测量系统和方法
CN106255863A (zh) 通过图像分析对场景进行三维重构的设备及方法
WO2023273217A1 (fr) Système et procédé d'étalonnage d'axe optique pour dispositif de mesure d'objectif
JP2019124678A (ja) 作業端末、漏油検出装置、及び、漏油検出方法
FR3093215B1 (fr) Procédé et dispositif de surveillance de l’environnement d’un robot
FR3098929B1 (fr) Procédé de détermination de paramètres d'étalonnage extrinseques d'un système de mesure
RU2017124259A (ru) Позиционирование двух тел системой визирования с очками данных
ZA202306011B (en) Systems and methods for using backscatter imaging in precision agriculture
Hapca et al. A digital photographic method for 3D reconstruction of standing tree shape
CN105891535A (zh) 一种用于返回式航天器的分离速度测量方法
JP2015201193A (ja) 画像認識装置及び画像認識方法
FR3124782B1 (fr) Méthode d’analyse de la qualité optique d’un vitrage, méthode de calibration d’une caméra, vitrage analysé
WO2024245025A1 (fr) Procédé et appareil d'évaluation pour bandelette de membrane de détection par immunobuvardage, support de stockage et dispositif électronique
CN109632087B (zh) 适用于成像亮度计的现场标定方法及成像亮度计标定装置
KR101658221B1 (ko) 전처리한 열화상 이미지를 이용한 실러 도포 품질 검사 장치 및 방법
KR102025888B1 (ko) 스마트폰 기반 농작물 잎의 엽록소 측정장치
JP2019060851A5 (fr)

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20210122

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7