应用光学, 2009, 30 (6): 974, 网络出版: 2010-05-10
基于目标特征点比例的单站图像定姿方法
Measuring cooperative target’s pose based on proportions of feature points
光学测量 实况记录系统 合作目标 三维姿态 共线方程 optical measurement live recording system cooperative target 3D pose collinear equation
摘要
为提高靶场实况记录设备的姿态测量能力,提出了一种针对实况记录图像的单站定姿方法,可以利用目标特征点坐标的比例信息快速准确地获取目标三维姿态。分析了目标成像模型及坐标系间位姿参数关系;推导出含特征点坐标比例的共线方程,采用迭代求解获得目标姿态参数;分析了算法的可行性及误差来源。仿真实验表明:该算法求解精度高,鲁棒性好,具有较强的工程实用性。
Abstract
A new method for measuring target’s 3D pose angle from mono-view in shooting ranges was presented in order to improve the measurement capability of 3D pose by live recording systems,which could get target’s 3D pose precisely and quickly by utilizing the proportions of feature points’coordinates. The model of imaging system and the definition of coordinates were introduced. The collinear equation was transformed including the scale of feature points on target, and the 3D pose angle of target was obtained by solving the nonlinear equations. The feasibility and errors of the algorithm were analyzed. Experiment results indicate that the algorithm is accurate and robust.
王鲲鹏, 张小虎, 于起峰. 基于目标特征点比例的单站图像定姿方法[J]. 应用光学, 2009, 30(6): 974. WANG Kun-peng, ZHANG Xiao-hu, YU Qi-feng. Measuring cooperative target’s pose based on proportions of feature points[J]. Journal of Applied Optics, 2009, 30(6): 974.