Moving object posture measurement method based on prior knowledge model optimization

Abstract

The invention discloses a moving object posture measurement method based on prior knowledge model optimization, belongs to the technical field of computer vision measurement, and relates to a method for measuring moving object posture through the combination of a binocular vision principle and prior knowledge model posture optimization. The measurement method comprises the following steps: firstly establishing an offline prior model of a detected object, acquiring a movement image of the detected object in real time through a binocular camera, and extracting, matching and reconstructing the image features to obtain a three-dimensional coordinate of a mark point; optimizing mark point position information in posture measurement through the adoption of the prior distance relation between the mark points, thus improving the spatial position precision of the mark points, and finally achieving the high-precise posture measurement. The moving object posture measurement result is optimized through the prior model constraint, and the measurement precision and the stability of a posture measurement system under a complex environment are improved; a combined mark point is used as the image feature, the measurement precision is high, and the applicable range is wide.

Description

technical field [0001] The invention belongs to the technical field of computer vision measurement, and relates to a high-precision calculation method for the spatial position and attitude of a moving object of a revolving body. Background technique [0002] Aerospace, aviation, navigation, etc. are the frontier fields of the national industry. The pose measurement of its core components such as launch vehicles and ultra-high-speed aircraft launches is an important issue in the field of research, and its pose measurement accuracy directly affects Safety in the design and manufacture of aerospace core components. The computer vision measurement method has the advantages of non-contact, flexibility, and real-time measurement, and is an important means of measuring the pose of moving objects. However, due to the fast moving speed of the object and the large change of the surface curvature of the measured object, it is difficult to guarantee the center extraction accuracy of th...

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Problems solved by technology

[0004] The technical problem to be solved in the present invention is to overcome the defects of the prior art, and to invent a method for measuring the pose of a moving object based on prior knowledge model optimization. The optimized prior model overcomes the problem of low measurement accuracy caused by blurred edges of image features in the state of high-speed motion of the object; the high-precision calibrated binocular vision system is used with a high-precision rotating platform to establish an offline prior model of the measured object, It overcomes the problem that the probe is too large when the laser tracker is used to measure, and it is difficult to ensure the accuracy of the prior model

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