High-velocity motion object pose vision measurement method based on structured light

A high-speed motion and visual measurement technology, which is applied in the directions of measuring devices, photogrammetry/video metrology, surveying and navigation, etc.

Inactive Publication Date: 2014-04-16
DALIAN UNIV OF TECH
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Problems solved by technology

It solves the problem of accurately and quickly measuring the motion pose information of th

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  • High-velocity motion object pose vision measurement method based on structured light
  • High-velocity motion object pose vision measurement method based on structured light
  • High-velocity motion object pose vision measurement method based on structured light

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Embodiment Construction

[0043] The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings. attached figure 1 It is a schematic diagram of the pose measurement method for high-speed moving objects based on structured light strips. This method adopts two left and right high-speed cameras 1, 1' to collect the images of the measured cylinder 4 and the vertical laser stripes 2, transmit the collected images to the graphics workstation 5, and utilize the laser stripes generated by the measured cylinder 4 The distance constraint from the deformation part 3 to the axis is optimized to obtain the target axis, and finally the position and attitude information of the target is obtained.

[0044] First install the measuring device, fix the left and right high-speed cameras 1, 1', adjust the focal length so that the common field of view of the focal plane 600mm away from the camera is 1m×1m. Laser stripes 2 are projec...

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Abstract

The invention discloses a high-velocity motion object pose vision measurement method based on structured light, belongs to the technical field of computer vision measurement, and relates to a large-view-field small-target high-velocity motion space pose measurement method. The measurement method comprises the following steps: shooting auxiliary crossed laser by left and right high-speed cameras by adopting vertical laser strips and auxiliary crossed laser, recognizing crossed points, and recording the imaging positions of the auxiliary crossed laser at left and right high-speed cameras respectively; and collecting images of a measured cylinder and the vertical laser stripes by utilizing left and right high-speed cameras, transmitting the collected images to a diaphragm workstation, binding and optimizing a target axis by utilizing the distance from the deformation parts of the laser stripes generated by the measured cylinder to the axis, thereby obtaining the position and pose information of the target object finally. According to the invention, the pose information of high-speed motion target objects with high precision without any treatment by utilizing the laser stripes can be obtained, the image collecting quality is improved, and the influence by noisy points is prevented effectively.

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 attitude of a small cylindrical target with a large field of view and a high-speed movement. Background technique [0002] Object pose information plays a very important role in the fields of aerospace, robot navigation, and automobile industry. In order to ensure the real-time controllable target pose under various working conditions, it is very necessary to measure the object pose. It also puts forward many new requirements for the object pose information measurement technology. Especially for the pose measurement of small targets with large field of view and high-speed movement, in order to ensure the true restoration of working conditions, without any processing on the target, fast and accurate measurement of the target pose information is the main problem to be solved at this stage. [0003] At present, there...

Claims

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Application Information

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IPC IPC(8): G01C11/00
CPCG01C11/00G01C25/00
Inventor 刘巍贾振元尚志亮马鑫张洋李肖
Owner DALIAN UNIV OF TECH
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