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Pose measuring method based on coaxial circle characteristics of target

A technology of pose measurement and coaxial circles, which is applied in the directions of measuring devices, photogrammetry/video metrology, surveying and navigation, etc., and can solve the problem of manual design of templates with a single plane

Active Publication Date: 2015-04-15
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides a target pose measurement method based on coaxial circular features, which solves the shortcomings of the traditional monocular vision measurement method that requires manual design of templates for auxiliary measurement and that most of the features on the template are geometric features of a single plane

Method used

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  • Pose measuring method based on coaxial circle characteristics of target
  • Pose measuring method based on coaxial circle characteristics of target
  • Pose measuring method based on coaxial circle characteristics of target

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Experimental program
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Effect test

Embodiment

[0099] The experiment uses Basler pilot's high-speed area array camera to collect images, the camera model is piA1600-35gc, the number of CCD lattices is 1606×1206, and the pixel size is 7.4×7.4μm 2 , and the PC interface is a Gigabit Ethernet port.

[0100] The standard focal length of the camera lens used in the experiment is 25mm, so f d =25 / 0.0074=3378.38. The experiment uses a Bevel Box goniometer to measure the angle and serve as a reference standard with a resolution of 0.1°. The experiment is aimed at a cylindrical barrel with a hollow top and a sealed bottom, a radius of 285mm, and a height of 870mm. The distance from the front of the barrel to the camera is between 3.0m and 3.5m.

[0101] The camera is calibrated using Zhang Zhengyou’s checkerboard calibration method. After calibration, the focal length of the camera is f=25.311mm, the principal point is (752.45521,559.10071) (pixels), and the radial distortion correction is performed on the picture.

[0102] Bef...

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Abstract

The invention relates to a pose measuring method based on coaxial circle characteristics of a target and belongs to the technical field of computer vision measurement. The pose measuring method is characterized in that the target is provided with coaxial circle characteristics, curve extraction and ellipse fitting technologies are combined to obtain two coaxial circular projection equations in an image, and circular point projection coordinates and vanishing line equation of a target plane are obtained by means of relation of absolute conic, vanishing line and circular points in projection geometry of the circle characteristics; by means of the polar line-pole theorem, circular center projection coordinates of two coaxial circles are obtained by the vanishing line equation of the plane, and pose and position information of the target is solved by taking the actual distance of the coaxial circles as prior condition and combining the projection of the circular points and the projection coordinates of the circular centers. The pose measuring method based on the coaxial circle characteristics of the target has the advantages that measuring of target pose is completed by means of a single target image of coaxial circle characteristics, so that the pose measuring method is simple to operate and applicable to measurement in real time. Meanwhile, without manual intervention, high-precision measurement is realized.

Description

technical field [0001] The invention belongs to the technical field of computer vision measurement, and is a method for measuring the spatial attitude and position of a target with coaxial circle characteristics. Background technique [0002] Visual measurement is an emerging measurement technology based on image processing, which comprehensively uses electronics, photoelectric detection, image processing and computer vision to achieve non-contact measurement of the size or pose of the target. In the visual measurement technology, the camera is used to collect the image of the measurement target, and the collected image is analyzed and processed by the image processing system, and the known characteristics or prior conditions of the target are used to complete the geometric size of the target or the position and posture of the target. measurement of other information. [0003] According to the number of cameras used, the visual measurement system is divided into monocular, ...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG01C11/00G01C11/04
Inventor 孙怡魏诗白
Owner DALIAN UNIV OF TECH
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