Shot monocular video pose measurement method and target pattern

Abstract

The invention relates to a target pattern for a shot and a monocular video pose measurement method applying the pattern. The target pattern is a strip region around the surface of the outer circumference of the shot; 6 sub-regions with colors set at intervals are equally divided in the direction of a shot axis; a code region is arranged inside each sub-region; 4 peaks of each sub-region are used as feature points. When the target pattern is utilized to perform pose measurement, the shot is required to be positioned in the view of a camera. An exclusive triad code is set for each sub-region. The sub-regions are identified according to the codes, and the feature points are identified according to positions of the feature points in the sub-regions. When shot pose is calculated, firstly image coordinates of the feature points in the image of the camera are determined, and then the coordinate value of the shot coordinate system of a corresponding feature point is utilized, and an equation set is established through the coordinate system transformation, so that the shot pose is obtained. The method is simple and wide in application range.

Description

technical field [0001] The invention relates to a projectile target pattern for a flying target and a monocular video pose measurement method for a projectile using the projectile target pattern. Background technique [0002] During the development and testing of projectiles, it is often necessary to obtain the pose parameters of the projectile, such as the landing attitude of the projectile. However, there is usually no precise pose measurement equipment installed on the projectile, so the pose measurement of the projectile becomes a difficult problem. [0003] Yu Qifeng et al.'s "Central Axis Method for Determining Pitch and Yaw Angles of Space Targets Using Optical Measuring Images" (Journal of National University of Defense Technology, 2000, Volume 22 (2): 15-19), proposed the central axis method, This method first uses the projectile contour features to fit the projectile's central axis equation, and then calculates the projectile's pitch angle and yaw angle according ...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problem that the existing planar target cannot adapt to the curved surface structure of the projectile, and to improve the measurement accuracy of the projectile's pose, the purpose of the present invention is to design a target pattern on the surface of the projectile, and the target pattern has four in the field of view of the camera. The above coplanar feature points, and the corresponding projectile monocular video pose measurement method is proposed

Images