光学学报, 2017, 37 (8): 0815002, 网络出版: 2018-09-07   

基于单目视觉和棋盘靶标的平面姿态测量方法 下载: 1263次

Plane Pose Measurement Method Based on Monocular Vision and Checkerboard Target
作者单位
1 军械工程学院无人机工程系, 河北 石家庄 050003
2 军械工程学院电子与光学工程系, 河北 石家庄 050003
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3 m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
Aim

ing at the problem of plane target pose measurement, a monocular vision measurement method is proposed based on the checkerboard target. The method does not need to design and install complexly, and simplifies the measurement process while ensuring the measurement precision. Firstly, the camera is calibrated based on the checkerboard target. Then, to obtain the three pose angles, the external parameter matrix is solved by taking advantage of the homography condition, hereafter, it is decomposed with Givens matrix. Finally, when the target is installed arbitrarily the self-calibration method of the target installation deviations is studied based on the constraint conditions of the rotation matrix. Experimental results show that with a distance of 3 m, the static measurement precision of the pose angle which is perpendicular to the optical axis is 0.02°, and the measurement precision of two other pose angles is 0.05°. The dynamic measurement precision of the pose angle which is perpendicular to the optical axisis is 0.1°, and the measurement precision of two other pose angles is 0.5°.

苏建东, 齐晓慧, 段修生. 基于单目视觉和棋盘靶标的平面姿态测量方法[J]. 光学学报, 2017, 37(8): 0815002. Jiandong Su, Xiaohui Qi, Xiusheng Duan. Plane Pose Measurement Method Based on Monocular Vision and Checkerboard Target[J]. Acta Optica Sinica, 2017, 37(8): 0815002.

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