光学学报, 2015, 35 (12): 1212003, 网络出版: 2015-12-10
视觉与倾角传感器组合相对位姿测量方法
A Hybrid of Vision and Inclination Sensor Method for Estimating Relative Pose
测量 视觉测量 n 点透视定位 倾角传感器 位姿测量 measurement vision measurement perspective-n-point inclination sensor pose estimation
摘要
针对视觉相对位姿测量问题,提出了一种视觉与倾角传感器组合的相对位姿测量方法,通过在相机和被测物上各放置一个倾角传感器,利用固定倾角传感器所提供的角度信息提供额外的约束来求解n 点透视定位(PnP)问题。介绍了组合相对位姿测量方法的原理,通过仿真实验验证了该方法的正确性,并与现存的PnP问题求解方法比较,表明提出的方法具有较高精度,并且对噪声具有较强的稳健性,实验结果表明提出的方法对空间15个特征点在x 方向和y 方向的平均反投影误差均小于0.1 pixel,能够满足高精度位姿测量需求。
Abstract
To deals with the problem of estimating the relative pose between a camera and an object, this paper proposes a hybrid of vision and inclination sensor method for estimating relative pose.It is assumed that both the camera and the object are equipped with an inclination sensor, the resulting pose estimation problem can be seen as a PnP (perspective-n-point) problem with inclination constraint. First, this paper introduces the principle of the proposed method, simulations results certify that the proposed method can improve the computing accuracy and depress the image noise comparing with other solutions to the PnP problem. Finally, the experimental results show that the average reprojection errors of x and y directions for 15 feature points are less than 0.1 pixels by using the proposed method, which can meet the needs of pose measurement.
陈洋林, 嘉睿, 高扬, 任永杰, 邾继贵. 视觉与倾角传感器组合相对位姿测量方法[J]. 光学学报, 2015, 35(12): 1212003. Chen Yang, Lin Jiarui, Gao Yang, Ren Yongjie, Zhu Jigui. A Hybrid of Vision and Inclination Sensor Method for Estimating Relative Pose[J]. Acta Optica Sinica, 2015, 35(12): 1212003.