基于单目视觉和棋盘靶标的平面姿态测量方法

发布时间：2018-01-19 10:29

本文关键词： 机器视觉视觉测量安装偏差 PnP问题姿态测量棋盘靶标　出处：《光学学报》2017年08期 　论文类型：期刊论文

【摘要】：针对平面目标姿态测量问题,提出了一种基于棋盘靶标的单目视觉测量方法,设计安装简单,在保证测量精度的同时简化了测量过程。首先,基于棋盘靶标对摄像机进行标定;然后,利用单应性条件得到外参矩阵,并利用Givens矩阵对外参矩阵进行分解,求得姿态角;最后,在靶标任意安装的情况下,基于旋转矩阵约束条件研究了安装偏差的自标定方法。实验结果表明:距离3m时,在静态测量时垂直光轴方向姿态角的测量精度可达0.02°,其他两个姿态角的测量精度可达0.05°;动态测量时垂直光轴方向姿态角的测量精度可达0.1°,其他两个姿态角的测量精度可达0.5°。
[Abstract]:Aiming at the problem of planar target attitude measurement, a monocular vision measurement method based on chessboard target is proposed, which is simple in design and installation, and simplifies the measurement process while ensuring the measurement accuracy. The camera is calibrated based on the chessboard target. Then, the outer parameter matrix is obtained by using the homotropic condition, and the attitude angle is obtained by decomposing the external parameter matrix of the Givens matrix. Finally, in the case of arbitrary installation of the target, the self-calibration method of the installation deviation is studied based on the rotation matrix constraint condition. The experimental results show that the distance is 3m. In static measurement, the measurement accuracy of vertical optical axis attitude angle can reach 0.02 掳, and that of the other two attitude angles can reach 0.05 掳. In dynamic measurement, the measurement accuracy of the vertical optical axis attitude angle can reach 0.1 掳, and the other two attitude angles can reach 0.5 掳.
【作者单位】：军械工程学院无人机工程系;军械工程学院电子与光学工程系;
【分类号】：TP391.41
【正文快照】： 1引言随着计算机技术的发展,单目视觉测量被广泛应用在航空、航海、航天、工业、军事等不同的领域[1]。相比传统基于惯性器件的测量方法,单目视觉位姿测量具有非接触性、不受被测物体内部结构限制等优点,是目前的研究热点。根据选取特征的不同,单目视觉位姿测量可以分为

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