Measuring Method of Space Attitude Parameters of Specified Target and Its Application
A technology for specifying targets and spatial attitudes, applied to the interpretation of photos, etc., can solve problems such as narrowing the scope of measurement methods, limiting promotion, and small shooting ranges, and achieves convenient, accurate and reliable operations
Active Publication Date: 2018-10-30
ECOVACS COMML ROBOTICS CO LTD
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Problems solved by technology
For example, the height from the camera to the target plane is known in advance, or the angle between the camera plane and the target plane, etc., but these constraints greatly narrow the scope of the measurement method
Especially when multiple cameras are required to work together, the huge data volume and small shooting range will limit the promotion of this type of technology
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[0024] The invention provides a method for measuring spatial attitude parameters of a designated target, and finally obtained results include: in the camera coordinate system, the three-dimensional coordinates of the center of the designated target, the azimuth of the designated target, and the height from the camera to the designated target plane. figure 1 Schematic diagram of an object designated for the present invention. Such as figure 1 As shown, in order to facilitate the calculation of parameters, the specified target is composed of a circle 10 of a single color and a straight line segment 20 of a single color. In order to facilitate the distinction, the colors of the circle 10, the straight line segment 20 and the surrounding environment 30 need to be different. There is no special requirement for the color itself, as long as the colors of the three are different for easy distinction. Among the three shapes, only the size parameter of the circle 10, that is, the diame...
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The invention relates to a measurement method for the spatial attitude parameters of a specified target. The measurement method comprises: 100: calibrating a camera to acquire the internal parameters of the camera, and acquiring to obtain the image of a specified target; 200: carrying out a binaryzation treatment and region identification to respectively obtain the images of the circular region and the straight line segment region; 300: calculating the ellipse parameter and the straight line segment inclination angle in the image of the specified target; and 400: calculating through the internal parameters of the camera and the geometrical relationship between the specified target and the image of the specified target to obtain the spatial attitude parameters of the specified target, wherein the spatial attitude parameters comprise the three-dimensional coordinates of the circle center in the specified target in the camera coordinate system, the azimuth angle of the specified target, and the height from the camera to the specified target plane. According to the present invention, the spatial attitude parameters of the target can be determined according to the geometric size and the imaging size of the target, and the method has advantages of simple operation, accuracy, and reliability.
Description
technical field [0001] The invention relates to a method for measuring a space attitude parameter of a designated target and an application thereof, belonging to the technical field of space object pose measurement. Background technique [0002] Most of the existing vision-based target space attitude detection methods need to use other technical means to obtain one or several target pose parameters in advance, and then use vision detection to obtain other parameters on this basis. For example, the height from the camera to the target plane is known in advance, or the angle between the camera plane and the target plane, etc., but these constraints greatly narrow the scope of the measurement method. Especially when multiple cameras are required to work together, the huge data volume and small shooting range will limit the promotion of this type of technology. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a metho...
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IPC IPC(8): G01C11/34
CPCG01C11/34
Inventor 刘承胤
Owner ECOVACS COMML ROBOTICS CO LTD