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
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[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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