Unlock instant, AI-driven research and patent intelligence for your innovation.

Three-dimensional visual pose measurement device and its measurement method based on planar grating

A flat grating and three-dimensional vision technology, applied in measuring devices, photogrammetry/video metrology, camera devices, etc., to achieve high measurement accuracy

Active Publication Date: 2016-03-23
HARBIN INST OF TECH
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But this method can only measure plane displacement

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Three-dimensional visual pose measurement device and its measurement method based on planar grating
  • Three-dimensional visual pose measurement device and its measurement method based on planar grating
  • Three-dimensional visual pose measurement device and its measurement method based on planar grating

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] A three-dimensional visual pose measuring device based on a plane grating, comprising an image acquisition device 1, a plane grating marker, 6, a backlight source 20, an image and data processing system 5 and a fixed marker platform 7, the image acquisition device 1 and the image and The data processing system 5 is connected with electric signals, the backlight source 20 is fixedly connected to the lower part of the plane grating marker 6, the backlight source 20 is fixed on the fixed marker platform 7, and the image acquisition device 1 collects the image of the plane grating marker 6 in real time, And the image is transmitted to the image and data processing system 5; the plane grating marker 6 includes a double-layer transmission grating sheet and a grating pattern, and the grating pattern is arranged on a double-layer transmission grating sheet; the described image and data processing system 5 includes Computer hardware, image and data processing software, and displa...

Embodiment 2

[0041] A three-dimensional visual pose measurement method based on a plane grating, the steps are as follows:

[0042] (8) Use an image acquisition device to collect images, and transmit them to the image and data processing system, and perform denoising and image enhancement preprocessing on the collected images;

[0043] (9) Obtain grating dark stripes and auxiliary marking features formed by each group of grating patterns of the planar grating marker through image segmentation and feature extraction;

[0044] (10) Using the auxiliary marks at the four corners of the planar grating marker, first locate the centroid of the circle marking point, and then roughly estimate the relative pose through the PnP algorithm, and ensure the uniqueness of the solution through the rectangular feature positioning and discrimination;

[0045] (11) For the coarse grating fringe, first, the main axis correction is performed by the method based on the image moment, and the fringe direction is c...

Embodiment 3

[0052] Attitude measurement device for air bearing platform based on industrial control computer

[0053] combine figure 1 and figure 2 Describe this embodiment, the device of this embodiment is by the image acquisition device 1 that comprises high-definition camera, the planar grating marker 6 of specific design, the backlight light source 20 that is connected with 6, uses the hardware platform of industrial control computer, image and data processing Software 5, fixed marker platform 7 and air floating platform 21 constitute. The air-floating platform 21 is the target to be measured, which can perform attitude movement in three directions of pitch, azimuth and roll; the attitude to be measured is a three-degree-of-freedom attitude. The grating marker 6 includes two groups of grating markers perpendicular to each other, which are fixedly connected with the fixed marker platform 7 and powered by the fixed marker platform. Each group of markers is composed of multiple trans...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a three-dimensional visual pose measuring device based on plane grating and a measuring method thereof. The device comprises an image collecting device, a plane grating marker, a backlight light source, an image and data processing system and a marker fixing platform; the image collecting device is connected to the image and data processing system through electric signals; the backlight light source is tightly attached to the lower part of the plane grating marker, is fixedly connected to the plane grating marker, and is fixed on the marker fixing platform; and the image collecting device collects the images of the plane grating marker in real time, and then sends the images to the image and data processing system. The measuring method comprises the following steps: carrying out a pretreatment on the collected images; extracting the grating dark fringes and auxiliary identification characteristics of the marker; carrying out pose rough estimation by using the auxiliary characteristics; calculating the precise angle offset by using a plurality of groups of coarse gratings and fine gratings; and emerging the data of the rough calculation results and the precise calculation results so as to obtain the final pose estimation result. The three-dimensional visual pose measuring device achieves highly-precise three-dimensional pose measurement, and has a high automation degree in measurement.

Description

technical field [0001] The invention relates to a three-dimensional visual pose measuring device and a measuring method based on a plane grating. Background technique [0002] Compared with traditional measurement methods, vision-based three-dimensional position and attitude measurement has the characteristics of non-contact, fast dynamic response, convenient operation, and high degree of automation. It has developed rapidly since the late 1980s and has been widely used in manufacturing and processing industries, aerospace In the fields of measurement and ground simulation systems, autonomous aircraft and ground vehicles. Existing pose measurement methods include theodolite, inertial device combination (inertial group), linear / circular grating, three-coordinate measuring machine, laser measurement, structured light measurement, and three-dimensional measurement based on specific optical markers, etc. Theodolite and three-coordinate measuring machine have high measurement ac...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01C11/04
CPCG01C11/02G01C11/04
Inventor 屈桢深乔宇李思聪李清华王常虹
Owner HARBIN INST OF TECH