提出了一种基于灭点理论的目标姿态角单站测量方法,利用单台光测设备的参数信息和目标在图像上的灭点位置计算目标特征直线的方向,从而获得目标的姿态信息.同时给出了灭点精度评价指标,可作为姿态测量精度的评价标准和加权融合时的权重因子.通过模拟实验和实物实验验证了方法的可行性和准确性.该方法与中轴线法测量偏差均值为0.2°,表明所给出的方法对类柱状目标的姿态测量具有精度高、易于实现的特点.

A novel monocular method for objectvs attitude measurement based on vanishing point was proposed,which used parameters of monocular camera and the location of vanishing point in the image to compute the direction of characteristic straight line and object's attitude.Meanwhile,vanishing point accuracy evaluation index was presented,which could be used as evaluation criterion of attitude measurement accuracy and weight factor for weighting fusion.The feasibility and accuracy of the proposed method were tested by experiments with simulated data and real images.Results show that it is an accurate and easy method for attitude measurement of columnar objects.The mean-error between this paper and the axes-symmetry method is less than 0.2°.