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Tetrahedron side length and volume weighted constraint based monocular visual pose measurement method

A weighted constraint, monocular vision technology, applied in the direction of photo interpretation, etc.

Active Publication Date: 2015-09-02
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

In summary, none of the above methods involve the use of tetrahedron side length and volume feature weighting relationship to construct pose iterative solution method

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  • Tetrahedron side length and volume weighted constraint based monocular visual pose measurement method
  • Tetrahedron side length and volume weighted constraint based monocular visual pose measurement method
  • Tetrahedron side length and volume weighted constraint based monocular visual pose measurement method

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Embodiment Construction

[0031] The method of the present invention will be further described below in conjunction with specific examples.

[0032] The specific process of the present invention is as figure 1 shown. (1) Imaging the target and acquiring the target image. The simulation generates a tetrahedral target model (such as figure 2 shown), and obtain the target image (such as image 3 shown). Firstly, the target is set to consist of four non-coplanar circular feature points to form a tetrahedron. It is known that the four target feature points have a 3-dimensional coordinate set in the target coordinate system {W i}(i=1...n,n=4), the unit is mm,

[0033] W 1 =(11.5,0,0)

[0034] W 2 =(-11.5,0,0)

[0035] W 3 =(0,11.5,0)

[0036] W 4 =(0,0,-11.5)

[0037] According to {W i} Get tetrahedron side length parameter L, volume parameter V,

[0038] L 12 =23mm

[0039] L 23 =16.3mm

[0040] L 31 =16.3mm

[0041] L 41 =16.3mm

[0042] L 42 =16.3mm

[0043] L 43 =16.3mm

[004...

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Abstract

The invention discloses a tetrahedron side length and volume weighted constraint based monocular visual pose measurement method. The method includes the steps of 1), acquiring a tetrahedron target image; 2), extracting characteristic points of a tetrahedron target in the image; 3), establishing the tetrahedron volume and side length weighted constraint relation; 4), calculating poses on the basis of the tetrahedron volume and side length weighted constraint relation. An image recognition mode is adopted, the weighted error constraint relation is established according to tetrahedron volume and side length characteristics, and measurement precision of the targeted monocular visual poses 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 tetrahedron side length and volume weighted constraints. 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 cooperative markers that have be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/04
CPCG01C11/04
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
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