宇航计测技术 ›› 2019, Vol. 39 ›› Issue (6): 1-6.doi: 10.12060/j.issn.1000-7202.2019.06.01

• 论文 •    下一篇

单目视觉三维运动位姿测量方法研究

袁媛1；刘柯1；孙增玉1；高越1；刘华1   

  1. 1、北京航天计量测试技术研究所，北京100076
  • 出版日期:2019-12-25 发布日期:2019-12-25
  • 作者简介:袁媛（1989-），女，硕士，工程师，主要研究方向：几何量测量、视觉测量技术。

Study on Three-dimensional Pose Measurement Method with Monocular Vision

YUAN Yuan1；LIU Ke；1SUN Zeng-yu1；GAO Yue1；LIU Hua1   

  1. 1、Beijing Aerospace Institute for Metrology and Measurement Technology, Beijing 100076, China
  • Online:2019-12-25 Published:2019-12-25

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摘要： 针对基于点特征的单目视觉位姿测量，研究了一种基于不共面5个编码特征点的单目视觉解算算法，利用大靶面高分辨率相机采集运动物体姿态图像，利用目标物体上编码特征点间的几何约束关系，通过正交迭代解算算法完成目标物体的位姿测量。实验结果表明：位移测量不确定度优于0.5mm，姿态测量不确定度优于0.05°，可满足航空航天领域试验测量要求。

关键词: 单目视觉, 物体位姿, 正交迭代, 编码特征点, 算法

Abstract: Aiming at the pose measurement of monocular vision based on the point characteristics, the algorithm which uses non-coplanar five coded targets is studied. The system uses the high resolution camera with large target surface which can record the pose images of a moving object, then, using the geometric constraint relations of the encoded targets in target object and the orthogonal iteration algorithm, it can realize the pose measurement of the object. The experiment result shows that the displacement uncertainty of measurement is less than 0.5mm and the pose angle uncertainty of measurement is less than 0.05°, and it can meet the measuring demands in aeronautic and aerospace engineering.

Key words: Monocular vision , Object position, Orthogonal iteration , Coded target, Algorithm

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