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Monocular vision pose measurement method based on weighting and constraining of side, interior angle and shape factor of triangle

A shape factor and weighted constraint technology, applied in the direction of photo interpretation, can solve problems that are not involved

Active Publication Date: 2015-08-26
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In summary, none of the above methods involves constructing pose iterative calculation methods using the weighted relationship of triangle side length, interior angle, and shape factor features.

Method used

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  • Monocular vision pose measurement method based on weighting and constraining of side, interior angle and shape factor of triangle
  • Monocular vision pose measurement method based on weighting and constraining of side, interior angle and shape factor of triangle
  • Monocular vision pose measurement method based on weighting and constraining of side, interior angle and shape factor of triangle

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Embodiment Construction

[0034] The method of the present invention will be further described below in conjunction with specific examples.

[0035] The specific process of the present invention is as figure 1 shown. A monocular vision pose measurement method based on the weighted constraints of triangle side length, interior angle and shape factor,

[0036] (1) Imaging the target and obtaining the target image (such as image 3 shown). First, it is set that the target consists of three feature points to form a triangle (such as figure 2 shown), the 3-dimensional coordinate set {W 1 ,W 2 ,W 3}, get the triangle side length parameter L, interior angle parameter Ang, shape factor F,

[0037] L 12 =17.25mm

[0038] L 23 =24.4mm

[0039] L 31 =17.25mm

[0040] Ang 123 = π / 4

[0041] Ang 231 = π / 4

[0042]Ang 312 = π / 2

[0043] F=0.54

[0044] (2) Identify the triangular target feature points. Recognize the image obtained in step (1) and extract the coordinates of the target feature po...

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Abstract

The invention discloses a monocular vision pose measurement method based on weighting and constraining of the side, the interior angle and the shape factor of a triangle. The method comprises the following steps: (1) obtaining a triangle target image; (2) extracting triangle target feature points in the image; (3) establishing a side, interior angle and shape factor feature weighting and constraining relation; (4) resolving a pose based on the side, interior angle and shape factor feature weighting and constraining relation. The monocular vision pose measurement method applies an image recognition manner, the weighted error constraining relation is established based on the side, interior angle and shape factor features, and the target monocular vision pose measurement precision is improved.

Description

technical field [0001] The invention relates to a monocular vision pose measurement method, in particular to a monocular vision pose measurement method based on the weighted constraints of triangle side length, interior angle and shape factor. Background technique [0002] Target pose measurement has a wide range of applications in industrial control, aerospace operations and other fields. Among them, the vision-based target pose (position, attitude) measurement has the advantages of non-contact, low equipment cost, and intuitive monitoring. Especially in the field of aerospace, the use of vision to accurately measure the pose of the aircraft is the first condition for many space missions. [0003] Visual pose measurement can be divided into cooperative target measurement and non-cooperative target measurement. Due to the advantages of high precision, mature measurement technology and reliability, cooperative target measurement is widely used in the space field. The cooper...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/34
CPCG01C11/34
Inventor 赵汝进王进赵人杰王明富洪裕珍颜坤游迪
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI