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A Method for Measuring the Rotating Motion Parameters of Space Circular Objects Based on Perspective Projection

A technology of perspective projection and motion parameters, applied in measurement devices, devices using optical methods, instruments, etc., can solve the problem that research results have not yet appeared, and achieve the effects of easy operation and implementation, good reliability, and high measurement accuracy.

Inactive Publication Date: 2011-12-21
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Although many researchers at home and abroad have studied the position and attitude of spatial circular features, and there have been researches on camera position estimation and camera calibration using circular targets, but for the motion of circular features, especially rotational motion Research results have not yet appeared

Method used

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  • A Method for Measuring the Rotating Motion Parameters of Space Circular Objects Based on Perspective Projection
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  • A Method for Measuring the Rotating Motion Parameters of Space Circular Objects Based on Perspective Projection

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with accompanying drawing.

[0047] The circular target in the method of the present invention is an object with a circular shape, or a circular mark on the surface of the object. This method is only for the case where the rotation angle of the circular target is within ±90°. The specific content of the method is as follows:

[0048] (1) Calculate the effective focal length of the camera by taking an image of a horizontally placed object of known size:

[0049] f = wL W

[0050] In the formula: w is the width of the target object image on the camera imaging plane (image sensor target surface); W is the width of the target object; L is the distance between the target object and the camera lens.

[0051] The calculation method of w is: w = x X w 1 ...

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Abstract

The invention discloses a perspective projection-based method for measuring spatial rotary moving parameters of a circular object, belonging to the field of rotating parameter measuring of the circular object. The method comprises the following steps: firstly calculating an effective focal distance of a camera; obtaining a change of a diameter of the circular object by using a method of geometricreasoning based on the perspective projection principle of the camera when a rotary motion occurs in different rotating modes, i.e. in-plane rotating and non in-plane rotating; calculating a rotatingangle of the object and judging a rotating direction; and then calculating a rotating angular velocity of the object. The method disclosed by the invention has the advantages of high measuring accuracy, good reliability and easiness in realizing and is particularly suitable for measuring three-dimensional rotary moving parameters of objects based on image analysis.

Description

technical field [0001] The invention relates to a method for measuring motion parameters, in particular to a method for measuring rotation motion parameters of a circular object in space based on perspective projection, and belongs to the field of measurement of rotation parameters for circular objects. Background technique [0002] Estimating 3D information of objects from 2D image coordinates is a fundamental problem in computer vision. At present, the tracking and recognition of three-dimensional objects in space have been widely used in the fields of intelligent robots, automatic car navigation, camera calibration and industrial metrology. Image analysis methods based on computer vision and image processing have become commonly used methods in many fields such as real-time measurement and position estimation. In the existing research in the past, the main features used are point, line and circle features. As a special quadratic curve, the circle is the most common and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/26G01P3/36
Inventor 刘磊赵志敏汪东华
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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