Pose Visual Measurement Method Based on Combination Features of Points and Lines

Abstract

The invention discloses a visual position-pose measurement method based on point-line combination characteristics, which belongs to the technical field of computer vision measurement and relates to a method applicable to measurement on the position and pose of a split-type cylinder-like object moving at high speed. The surface point-line combination characteristics of the cylinder-like object moving at high speed are acquired by a binocular visual system; a target axis and a local coordinate system can be obtained through five steps of calibrating by a high-speed camera, segmenting a point-line characteristic image, extracting characteristic marks, matching the characteristic marks, and acquiring the position and the pose, and then target position-pose information is acquired according to the target axis and the local coordinate system; the point-line combination characteristics consists of circle reflection marks with two axes respectively formed at the front segment and the rear segment of a target object coinciding with target axes, and four point reflection marks which are uniformly distributed at the circumference of the middle segment of the target object and are restrained from different distances to the circle at the front end. The problems that the axis of the cylinder-like object is not easy to acquire, the precision of the acquired axis is low, and the surface mark can not be precisely positioned due to the repeated assembly of the split-type object are solved by utilizing straight-line characteristics of strong anti-noise capacity and large information amount which are matched with point characteristics.

Description

Technical field

[0001] The invention belongs to the technical field of computer vision measurement, and relates to a method for measuring the spatial position and posture of a split-type cylinder suitable for high-speed motion. Background technique

[0002] The posture information of the object includes the position information of the object in space and the posture information during the movement. Object pose information has an extremely important position in the aerospace, aviation, and defense industries. With the continuous advancement of modern technology, the pose measurement technology of moving objects is particularly important in various fields. Especially in the military industry, moving objects have a high moving speed, and at the same time, they are accompanied by rolling around themselves. Attitude measurement puts forward new requirements.

[0003] The patent number invented by Huo Ju and others of Harbin Institute of Technology is CN102032871A "A feature line-based...

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