Method for disambiguating space round gesture recognition ambiguity based on angle restriction

A technology of ambiguity and circle posture, which is applied in the field of ambiguity elimination of space circle posture recognition based on angle constraints, to achieve the effect of eliminating ambiguity and improving practicability and reliability

Inactive Publication Date: 2009-03-04
BEIHANG UNIV
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Problems solved by technology

[0006] In view of this, the main purpose of the present invention is to provide a method for eliminating ambiguity in space circle gesture recognition based on angle constraints, to solve the problem of ambiguity in existing space single circle gesture recognition methods

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  • Method for disambiguating space round gesture recognition ambiguity based on angle restriction
  • Method for disambiguating space round gesture recognition ambiguity based on angle restriction
  • Method for disambiguating space round gesture recognition ambiguity based on angle restriction

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Embodiment Construction

[0034] The technical solutions of the present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments.

[0035] A method for eliminating ambiguity in space circle gesture recognition based on angle constraints provided by the present invention, such as figure 1 As shown, it is divided into a calibration phase and a measurement phase.

[0036] Calibration phase:

[0037] In step 101, the camera is calibrated to obtain internal parameters of the camera.

[0038] The specific operations are: 1) setting the target, which is a digital two-dimensional plane target generated by a computer, such as figure 2 As shown in , the target has checkerboard-like black and white squares, and there are preset feature points on the target.

[0039] select figure 2 The vertices of the white square near the center are feature points, with a total of 14×18 feature points. Of course, the number of rows and columns of feature points can b...

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Abstract

The invention discloses a spatial circular attitude identification ambiguity elimination method based on angle constraint. The method comprises the following contents: an inner parameter of the camera is obtained by calibration; the measuring image is obtained by taking a photo for spatial circular through the camera; the elliptical edge points and the characteristic points of geometrical elements in the measuring image is treated; the center coordinate of the spatial circular under the camera coordinate system and the normal vector of the plain on which the spatial circular is arranged are calculated.; furthermore, the formula of the spatial geometrical elements which is corresponding to the geometrical elements on the measuring image can be obtained; based on the spatial geometrical elements formula and the known spatial angel constraint, the true normal vector of the plain can be determined. By introducing the coplanar geometrical elements on the spatial circular plain and based on the angle constraint, the method effectively eliminates the ambiguity in the spatial circular attitude identification, and improves the practicability and reliability of the spatial circular attitude identification.

Description

technical field [0001] The invention relates to a posture measurement technology of a space object, in particular to a method for eliminating ambiguity in space circle posture recognition based on angle constraints. Background technique [0002] The problem of measuring the pose and orientation of space objects through a single image is a basic and important problem in the field of machine vision, and has extensive and important applications in visual navigation, robot positioning, object recognition, visual monitoring, and industrial measurement. The so-called pose measurement refers to, under the condition that the camera has been calibrated, through the corresponding relationship between the three-dimensional primitives in space (such as points and lines, etc.) and the two-dimensional primitives in the image, the relationship between the camera coordinate system and the object coordinate system is obtained. The rigid body transformation relationship, so that the position ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
Inventor 魏振忠赵征张广军王巍
Owner BEIHANG UNIV
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