A binocular video pose measurement method and target pattern for a cone-shaped target

Abstract

The invention relates to a binocular video pose measurement method of a conical target and a target pattern of the conical target. Make the conical target located in the common field of view of the two cameras, determine the common sub-sector of the target pattern from the images of the two cameras, and extract the image coordinates of the feature points, and then use the triangulation principle to find the feature points in the camera coordinate system. The three-dimensional coordinates of , and the pose of the conical target is solved. The surface of the conical target is set. The target pattern is centered on the apex of the cone, and the cone surface is equally divided into six sub-sectors spaced in gray and black, and the top area of ​​the cone is set to white. The coding area is set in the sub-sector, and the color of the coding area has a large contrast with the color of the sub-sector where it is located. Make the target pattern have more than 3 common feature points in the common field of view of the two cameras. The distribution position of the main feature points of the target pattern of the present invention is optimal, so that the target imaging has the strongest response to the change of the pose of the conical target.

Description

technical field [0001] The invention relates to a binocular video pose measurement method, in particular to a binocular video pose measurement method for a cone-shaped target, and a target pattern of the cone-shaped target used in the method. Background technique [0002] Shell fuzes and projectiles are usually designed to be cone-shaped or quasi-cone-shaped. The pose measurement of such targets is a difficult problem at present. The video-based pose measurement technology does not touch the target to be measured and has high measurement accuracy, which is suitable for the pose measurement of cone-shaped targets. To realize the video measurement of the cone-shaped target, it is necessary to have enough feature points on the target. If the target surface does not have enough feature points and the luminous body target cannot be installed, it is necessary to design some kind of target pattern on the surface of the cone-shaped target. The formed feature points provide feature ...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned defects existing in the prior art, solve the problem that the plane target cannot adapt to the curved surface structure of the conical target and improve the pose measurement accuracy of the conical target, the purpose of the present invention is to design a target on the surface of the conical target pattern, and provide a cone-shaped target binocular video pose measurement method

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