Method for recognizing position and attitude of space plane object

Abstract

The invention discloses a dimensional and planar object pose recognition method, which does not need the prior matching information of any object point and image point. In the method, the pose is calculated based on a plane point set, which is independent of the geometric shape of a planar object; the ambiguity problem under the calculation of the pose of the planar object is solved through the calibration of Tsai planar targets. As no additional diagnostic information is needed in the method, the conditional restrictions of computing the poses of dimensional and planar objects are reduced; the application scope of computing poses is widened; the method is very robust in blocked and confused environment under the circumstance of noise with different levels, which is very valuable in application.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a method for recognizing the pose of a spatial plane object. Background technique [0002] The pose calculation of objects is one of the basic tasks of machine vision, and it has extensive and important applications in visual navigation, robot positioning, object recognition, visual monitoring, industrial measurement, etc. The so-called pose calculation refers to obtaining the rigid body transformation between the camera coordinate system and the object coordinate system through the corresponding relationship between the spatial three-dimensional primitives such as points or lines and the image two-dimensional primitives under the condition that the camera has been calibrated relationship, so as to obtain the position and attitude of the object in the camera coordinate system, that is, to recognize the position and attitude of the object in the camera coordinate system by calculat...

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Problems solved by technology

However, this type of method must be carried out under the condition that the object point and the image point match are known, so the restrictive conditions for calculating the object pose are relatively strict.

[0004] Another type of method is a method based on geometric features. For example, some methods in this type of method are based on circular features to solve the pose of spatial plane objects. However, these methods are only suitable for objects whose geometric features are circular. The scope of application are limited, and such methods require additional features such as points or lines to resolve ambiguities

[0005] In addition, these two types of methods can only calculate the object's pose based on special points of the object's geometric characteristics, such as the four corners of a rectangle, the two endpoints of a straight line, etc.

[0006] It can be seen that the pose calculation of some existing spatial plane objects must be carried out under some specific conditions, and the scope of application is limited.

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