Method for measuring three-dimensional position and stance of object with single camera

A three-dimensional position, single-camera technology, applied in the field of visual measurement in information technology, can solve problems such as weight increase and measurement system volume increase

Inactive Publication Date: 2010-09-22
XI AN JIAOTONG UNIV
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Problems solved by technology

In order to improve the measurement accuracy, the distance between the two cameras is requir

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  • Method for measuring three-dimensional position and stance of object with single camera
  • Method for measuring three-dimensional position and stance of object with single camera
  • Method for measuring three-dimensional position and stance of object with single camera

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Embodiment Construction

[0060] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0061] The present invention includes five parts: camera calibration, marking of target marker points, feature point detection, matching of feature points and marker points, position and attitude calculation,

[0062] like figure 1 As shown, the method proceeds in the following steps:

[0063] Step 1.1 sets the entire working range to 12m × 8m, then in order to monitor and detect the overall situation and locate the target, it is necessary to select a lens with a relatively large field of view. However, the larger the field of view of the lens, the smaller the focal length, and the more serious the distortion after imaging, which is not conducive to target detection and position and attitude calculation. Taking these factors into consideration, a lens with a focal length of 5mm (its horizontal field of view is about 60 degrees) can be selected for global mo...

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Abstract

The invention discloses a method for measuring the three-dimensional position and the stance of an object with a single camera. The method comprises the following steps of: acquiring an image of a target to be measured by utilizing a single camera; confirming the real-time three-dimensional position and stance information of the target to be measured by accurately identifying marking points on the target to be measured; selecting a suitable camera according to a detection scene and a range and calibrating the camera to acquire inner and outer parameters of the camera; designing target marking points according to the target to be measured and reasonably arranging the marking points; then, detecting the target, identifying characteristic points according to the image shot by the camera, and matching the detected characteristic points with the marking points; and finally, solving the three-dimensional position and stance information of the target to be measured according to the corresponding relation between the measuring points and the object marking points. Whether a non-rigid object is deformed or not can also be detected by using the method. In the invention, the single camera is adopted to realize three-dimensional measurement, acquire the information of the target in a three-dimensional space, such as space geometrical parameters, position, stance, and the like, decrease the measuring cost and the size of a measuring system, and facilitate the operation.

Description

Technical field: [0001] The invention belongs to the field of visual measurement in information technology, and relates to a visual measurement method for determining the three-dimensional position and posture of a target to be measured by using camera calibration and target detection. Background technique: [0002] The visual measurement method can accurately measure and locate the geometric dimensions of the space. It is an important research field in the current information technology. Fields such as positioning and aiming have been applied. At present, binocular cameras or single cameras plus light projectors are generally used to realize 3D measurement. In order to improve the measurement accuracy, the distance between the two cameras is required to be as large as possible, which increases the size and weight of the measurement system. And generally, most measurement objects are rigid objects, and the geometric parameters, position and posture information of the objec...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01B11/26G01B11/16G01C11/04
Inventor 薛建儒王飞田丽华杜少毅平林江穆帆
Owner XI AN JIAOTONG UNIV
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