Five-point relative orientation method based on forward intersection constraints

A technology of relative orientation and forward intersection, which is applied in image data processing, instrumentation, computing, etc., can solve the problems that coplanarity cannot ensure the intersection of pairs of rays with the same name, it is difficult to ensure the success of the essential matrix solution, and the failure of the essential matrix solution

Active Publication Date: 2014-10-08
INST OF HIGH SPEED AERODYNAMICS OF CHINA AERODYNAMICS RES & DEV CENT
View PDF4 Cites 9 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, it is difficult to ensure the success of the essential matrix solution only relying on the coplanar conditional equations of five pixels with the same name:
[0013] 1) The existing "five-point algorithm" adopts polynomial solving technology, so there are multiple solutions instead of a single solution, and there is a problem of eliminating misunderstandings;
[0014] 2) The coplanarity of five image points with the same na

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
  • Five-point relative orientation method based on forward intersection constraints
  • Five-point relative orientation method based on forward intersection constraints
  • Five-point relative orientation method based on forward intersection constraints

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0054] A five-point relative orientation method based on forward intersection constraints, comprising the following steps:

[0055] Step 1. Take two different perspective images of the measured object containing five points:

[0056] Use the binocular vision system or the same camera to shoot the measured object containing five points from different angles of view (such as figure 1 two images shown).

[0057] Step 2. Establish the coplanar equation of five points:

[0058] The specific method to establish the coplanar equation of a given point is as follows:

[0059] Such as figure 2 As shown, the first image I' taken may be called the left photo, the other image I" is called the right photo, and I' and I" are a pair; the five images on I' and I" Points with the same name are recorded as a set P, for P i The image point on I' is p i ', P i The image point on I″ is p i "; C'x'y'z' and C"x"y"z" are respectively the image space coordinate system of I' and I", C'(X s1 ,Y...

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 discloses a five-point relative orientation method based on forward intersection constraints. The method comprises the steps: firstly, shooting two images, with different visual angles, of an object to be measured, wherein the two images respectively comprise five points; secondly, constructing a coplanarity equation of the five pairs of points; thirdly, constructing a five-point relative orientation function based on the forward intersection constraints; fourthly, constructing an iterative equation of relative orientation elements, deriving and solving an unconstrained optimization objective function for the five-point relative orientation problem by constructing a homologous image point coplanar condition function containing the forward intersection constraints and orthogonality constraints, and solving the five relative orientation elements through the least-squares generalized inverse algorithm. Compared with an existing five-point algorithm, it can be guaranteed that the five pairs of homologous rays respectively intersect without removing error solutions. In addition, the method is high in solving precision and good in robustness and has practical value.

Description

technical field [0001] The invention relates to the technical field of optical imaging measurement, in particular to a five-point relative orientation method based on forward intersection constraints. Background technique [0002] Camera calibration is one of the hot issues in the research field of optical imaging measurement (such as machine vision, video measurement and digital close-range photogrammetry), and is the basis for realizing high-precision optical imaging measurement. Currently, camera calibration methods can be divided into three categories: [0003] 1) The traditional camera calibration method calculates the internal and external parameters of the camera by establishing the correspondence between the known three-dimensional coordinate points and their image points on the precision-processed calibration block. The advantage of this method is that it can obtain higher precision, but it is not suitable for online calibration and occasions where calibration bloc...

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
IPC IPC(8): G06T7/00
Inventor 张征宇黄叙辉朱龙周润高峰
Owner INST OF HIGH SPEED AERODYNAMICS OF CHINA AERODYNAMICS RES & DEV CENT
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap