Single-vision measuring method of space three-dimensional attitude of variable-focus video camera

Abstract

The present invention provides a single-view measuring method of the three-dimensional pose of the space by a zoom type vidicon. The method includes: a plane cooperative target consisting of three square patterns is provided; a plane cooperative target image is picked up in a certain position of the space; the plane cooperative target image is processed, and the processing steps are: 1) geometric distortion exists in the plane cooperative target image because of the optical lens distortion, as a result, the geometric distortion of the outline of the plane cooperative target image is proofread by using a quick distortion proofreading method based on the second pels edge line point; 2) the second pels edge beeline parameter of the plane cooperative target image that has been proofread is obtained; then, the single-view measuring of the three-dimensional pose of the space by a zoom type vidicon relative to the plane cooperative target is performed by adopting a method of a main point searching list according to the vidicon perspective projection model to obtain the focus of the vidicon and the external parameter through the linear transform.

Description

(1) Technical field: [0001] The invention relates to a single-view measurement method for the three-dimensional pose of a variable-focus camera in space, which can be implemented in various systems that need to realize machine vision guidance: such as industrial automatic assembly robots, underwater robots, unmanned aerial vehicles, space interactive automatic docking, etc. , belonging to the field of automation. (two) background technology: [0002] In the realization of intelligent machine systems such as unmanned aerial vehicle autonomous landing, underwater robot, and space interactive automatic docking, it is of great significance to realize the autonomous guidance of the machine system, and part of the guidance control signal mainly comes from the distance between the machine system and the cooperation target. Absolute position and orientation information. Among the existing guidance methods, based on computer vision, the visual guidance system with large field of vie...

AI Technical Summary

Problems solved by technology

Since the image features of quadrilateral vertices are easily affected by light and noise, the extraction accuracy is reduced, so the reliability and application range of this method are greatly limited.

In view of this, "A Method for Measuring Three-Dimensional Position and Attitude of Camera in Space" (Application No.: 200510000274.1) proposed a real-time measurement method for three-dimensional position and attitude of a camera based on a double-circle plane cooperative target, but this method is only applicable to the calibration of a fixed-focus camera , the calibration measurement must require at least one of the camera or the planar cooperation target to be stationary, and the planar cooperation target to move at least 5 positions, take 5 target images, and the measurement efficiency is low; in the measurement of the three-dimensional pose based on a single planar cooperation target image, Someone proposed "camera calibration method using only one plane calibration object image" (application number: 200510111518.3), and "single-view plane measurement method based on parallel lines" (application number: 01140336.5), but both methods must Known physical dimension parameters of planar cooperative target patterns

And the "Plane Measurement Method Based on Single Image" (application number: 01140335.7) proposed by someone is also only applicable to fixed-focus cameras, and the attitude and orientation of the camera cannot be determined

Images