A target pose measurement method and device

Abstract

The invention provides a target pose measurement method and device. The target pose measurement method comprises the step of determining object image sequences shot by cameras of two stations, object models and a simulated imaging space and further comprises the steps that the steps N1 to N7 are cyclically executed till the poses of objects in all images in the object image sequences are determined: N1, object contour lines in the two-station images of current frames in the object image sequences are extracted; N2, barycentric coordinates of the objects in the two-station images of the current frames are calculated; N3, the positions of the object models in the simulated imaging space are determined; N4, the simulated images of the object models in the simulated imaging space are obtained, and the simulated contour lines of the simulated images are extracted; N5, the simulated contour lines are matched with the corresponding object contour lines; N6, the current poses of the objects are determined; N7, whether the current frames are the last frames in the object image sequences or not is judged, and if not, the next frames are used as the current frames, and the step N1 is executed. The accuracy of object pose measurement is improved.

Description

technical field [0001] The invention relates to the field of photogrammetry, in particular to a method and device for measuring a target pose. Background technique [0002] With the rapid development of science and technology, the measurement technology of target pose is widely used in different fields such as military, aerospace, aviation, etc., to determine the position of the target in space and the attitude of the target, so as to realize the control of the target. [0003] In the existing technology, the target pose can be solved by the binocular measurement method, which means that two cameras simultaneously observe the target in the same scene from different angles, and according to the image sequence captured by the two cameras, solve The coordinates and pose of the target in space. At present, there are two main methods of binocular measurement, one of which is to manually specify the control points of the model, and then, according to the corresponding image point...

AI Technical Summary

Problems solved by technology

Difficult to meet the other is to shoot the image sequence when the target is perpendicular to the photographing direction, so as to ensure that the imaging of the target central axis after projection is the contour central axis of the imaging area in the image, so that the spatial position of the target can be calculated by the central axis space equation and gesture

However, in practical applications, due to the complexity of the target, it is difficult to specify the model control points, and it is also difficult to ensure that the target is perpendicular to the shooting direction. Then, through the above method, the accuracy of target pose measurement may be low

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