Monocular pose measurement method for rolling object based on color image

Abstract

The invention relates to a monocular pose measurement method of a rolling object based on a color image, which belongs to the field of computer vision, and relates to a method for measuring the pose of a rolling object model in a wind tunnel environment by using a monocular vision principle combined with self-illuminating coded marker points. The measurement method arranges color-coded self-illuminating marker points on the surface of the object to be measured in the way of surrounding group arrangement, and uses the monocular vision system to measure the displacement, pitch angle, and deflection angle of the rolling object in the X, Y, and Z directions Six-parameter pose measurement of heading angle and roll angle. The color-coded self-luminous marker points on the surface of the target are used as feature marks, and the color-coded feature images of the moving target surface are collected. On the basis of high-speed camera calibration, after the image processing steps of color-coded mark feature identification and extraction, the roll is solved. The position and attitude information of the body target. The invention uses a monocular camera to cooperate with a color image to measure, and has the characteristics of high measurement efficiency, simple equipment and wide application range.

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 revolving body with rolling motion. Background technique [0002] With the gradual improvement and improvement of aerospace and aviation technology, the measurement of the position and orientation information of the aircraft and its objects during the execution of the mission plays an extremely important role in the design and test phase of the aircraft. Machine vision measurement technology has the advantages of non-contact, flexibility, and high measurement accuracy, and is widely used in the pose measurement of aircraft and its launch models. The characteristics of fast moving speed and large motion space of rolling objects in the actual motion process put forward higher requirements for the pose measurement of moving objects. [0003] Liu Wei of Dalian University of Technology and others proposed ...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved in the present invention is to overcome the problems of the prior art, and to invent a method for measuring the monocular pose of rolling objects based on color images. The camera collects the image of the target object, which overcomes the problem that the traditional binocular vision system has a small measurement field of view and is difficult to cover the entire movement space of the target; compared with the binocular system that uses two cameras for measurement, the monocular measurement system has simple equipment; in addition, There is no need to consider the problem of simultaneous triggering of two cameras; the self-illuminated marker points evenly distributed along the circumference of the gyratory can solve the problem of image features being blocked when the object rolls, and the marker points are coded in a wrap-around color coding method without feature Matching can realize the pose measurement of the moving target and meet the requirements of monocular measurement

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