为了解决单目视觉中单圆位姿测量方法存在虚假解的问题, 提出了矩形约束消除位姿二义性的方法。在相机已标定的情况下, 采集目标上圆与矩形的图像, 要求圆与矩形共面或者两个平面相互平行。首先通过相关数学推导可获得圆特征的圆心位置和过圆心法向量, 但是圆心位置和过圆心法向量均存在二义性虚假解; 其次由先验条件未知的矩形所确定的平面法向量与过圆心的真实法向量平行为约束条件, 可有效消除虚假解; 最后由相关算法可计算出真实法向量所包含的物体姿态参数, 同时可确定物体的真实位置。经实验验证, 物体姿态测量的绝对误差小于0.5°, 表明该方法简单易行, 可有效消除单圆位姿测量虚假解。

In order to solve the false pose of a single circle feature in the monocular vision measurement, a method for eliminating the pose duality of a single circle based on rectangle constrain is proposed. When the camera is calibrated in advance, the images of the circle and rectangle of the target are acquired, and the planes of circle and rectangle are required to be coplanar or parallel to each other. Firstly, the center position of the circle feature and the normal vector of the circle plane can be obtained by the mathematical derivation which has a false solution. Secondly, based on the constrain condition that the real normal vectors between the circle plane and the normal vector of the rectangle plane whose priory condition is unknown are parallel to each other, the false solution can be effectively eliminated. Finally, the real pose parameters of the object can be calculated by the related algorithm, so the real position of the object is acquired. The experimental results show that the absolute error of the object attitude measurement is less than 0.5°, which shows that the proposed method is simple and easy to implement and can eliminate the false pose effectively.