A Monocular Vision Pose Measurement Method Based on Point Features

Abstract

The invention discloses a point character based monocular vision pose measurement method oriented to the practical engineering application by adopting a reasonably designed measurement system via fully utilizing the technical means of model constraint, redundancy character point mutual testing and the like, which can be used for measuring the relative positions and relative poses of two objects, and can be applied to complex variable background and illumination conditions. The point character based monocular vision pose measurement method comprises the following steps: firstly, a camera acts as a measurement sensor, and is matched with a special point character cooperative marker to form a measurement system; secondly, the camera is utilized for photographing an image comprising the cooperative marker, and a character point image region combination which meets the marker model constraint is found out via image processing to act as a candidate marker; thirdly, the relative positions and relative poses of two objects are calculated by utilizing a P3P measurement method; fourthly, the final test result is obtained by adopting a redundancy information mutual testing method. According to the invention, the problem of multi-solution, the problem of speed calculation and the problem of stability of a three-point character monocular vision measurement are solved, and the measurement precision is improved.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a monocular vision pose measurement method based on point features. Background technique [0002] With the continuous development of science and technology, the mutual cooperation between two objects (such as spaceships, aircrafts, mobile robots, manipulators, etc.) Three-dimensional pose relationship, such as space autonomous rendezvous and docking, automatic grasping operation of manipulator, target tracking, etc. Simply put, three-dimensional pose measurement is to measure the relative position and relative attitude angle between two object coordinate systems, using three position components (tx, ty, tz) and three angle components (ax, ay, az) respectively express. In order to realize three-dimensional pose measurement, ultrasonic measurement, laser measurement, electromagnetic measurement, microwave measurement, GPS measurement, visual measurement, etc. can be use...

AI Technical Summary

Problems solved by technology

In order to solve the multi-solution problem, a 4-point coplanar target with a unique solution is often used, but its measurement accuracy is low

Although the 3-point target can achieve high measurement accuracy, there are problems such as multiple solutions and complex calculations in engineering applications

And the model constraints of the 3-point target are relatively simple. When the background or lighting conditions are complex, it is easy to cause misrecognition and poor stability.

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