Pose measurement method of high-speed moving target based on coded structured light

Abstract

The invention provides a high-speed moving target position and posture measurement method based on coding structured light, belongs to the technical field of computer vision measurement, and relates to the large-visual-field and small-target high-speed moving target position and posture measurement method. The method includes the steps of projecting a colored grid line containing coding information to a measured area through a colored projector, continuously shooting structured light coding grid line patterns, deformed through moving object surface modulation, through a high-speed camera, achieving corresponding point matching of an imaging plane and a projection plane after digital image decoding to obtain phase position change information, reversely calculating the three-dimensional dynamic morphology of a high-speed moving object through system structure parameters, matching the measured point with a prior model established on the basis of to-be-measured geometrical parameters, and finally accurately measuring position and posture information of the high-speed moving object. The purpose of matching in stereoscopic vision is effectively achieved through a colored stripe pseudorandom sequence and gray scale grid line phase position combined mode. A measurement system is low in cost, simple in mechanism and easy to operate.

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 non-cooperative high-speed moving target in a large field of view. Background technique [0002] Object pose information plays a very important role in the fields of aerospace, robot navigation, and automobile industry. In order to ensure the real-time controllable target pose under various working conditions, it is very necessary to measure the object pose. It also puts forward many new requirements for object pose measurement technology. Especially for the pose measurement of high-speed moving targets with a large field of view, in order to ensure the true restoration of working conditions, without any processing on the target object, the main problem to be solved at this stage is to quickly and accurately measure the target object pose information. [0003] At present, there are few studies on the...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to overcome the defects of the prior art and to invent a method for measuring the pose of a high-speed moving target based on coded structured light. This method adopts a high-speed measurement system composed of a monocular high-speed camera and a color projector The position and orientation measurement of high-speed moving targets in the field solves the accessibility problem that traditional measurement methods cannot install feature markers on the surface of non-cooperative targets and affect the accessibility of the measurement; The matching operation of the experimental model realizes the high-precision dynamic measurement of the pose information without any processing on the high-speed moving target; compared with the binocular pose measurement system, the structure is simple, the equipment investment is reduced, and the measurement is expanded. Field of view: solves the problem of accurately and quickly measuring the position and posture information of the target under the condition of large measurement field of view and high-speed motion of non-cooperative targets

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