光学 精密工程, 2009, 17 (11): 2835, 网络出版: 2010-08-31  

协方差矩阵在目标二维姿态测量中的应用

Application of covariance matrix to 2D object attitude measurement
作者单位
1 中国科学院 长春光学精密机械与物理研究所,吉林 长春 130033
2 中国科学院 研究生院, 吉林 长春 100039
摘要
针对现有姿态测量方法计算量大的问题,提出了一种新的基于协方差矩阵的目标二维姿态测量方法。首先,将图像二值化,提取出目标的重心坐标;其次,计算出目标所在区域的协方差矩阵,并进行正交分解,得到由协方差矩阵定义的椭圆区域的方程;最后,求出椭圆的两个轴的大小和方向。对256 pixel×256 pixel的飞机图片分别用对数极坐标算法和本文算法进行了仿真实验。实验结果表明,本文方法得到的旋转角度可以精确到±1°以内,缩放比例可以精确到±2%以内,两者均优于对数极坐标方法所得的结果,且计算时间仅为对数极坐标的1/16。因此,本文算法可以快速准确地计算出目标的旋转角度和缩放比例,且能够满足工程中实时处理的需求。
Abstract
Aiming at a large amounts of computation existing in attitude measurements, a new method of 2-D object attitude measurement based on a covariance matrix is presented. Firstly,an image is segmented by the threshold and the center of an object is extracted. Then,the covariance matrix of the object is computed and decomposed by a orthogonal decomposition,and the elliptic equation defined by the covariance matrix is gotten. Finally,the lengths and orientations of both axes are calculated to obtain the scale change and rotation between the two images. The attitudes of objects in 256 pixel×256 pixel images are calculated with a log-polar algorithm and the presented algorithm respectively. The experimental results show that the angle error is within ±1°, and the scale error is within ±2% with proposed method,which is superior to those computed by the log-polar method, while the computation time is only 1/16 that of the log-polar method. The presented method can calculate the rotation and scale change fast and accurately, and can meet the requirement of real-time processing.

纪华, 王大伟, 赵建, 韩广良, 王延杰. 协方差矩阵在目标二维姿态测量中的应用[J]. 光学 精密工程, 2009, 17(11): 2835. JI Hua, WANG Da-wei, ZHAO Jian, HAN Guang-liang, WANG Yan-jie. Application of covariance matrix to 2D object attitude measurement[J]. Optics and Precision Engineering, 2009, 17(11): 2835.

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