Variable focal length flexibility pose vision measurement method

Abstract

The invention provides a variable focal length flexibility pose vision measurement method, belongs to the technical field of computer vision measurement, and relates to a flexible and convenient variable focal length monocular pose measurement method. The method comprises the steps that the position and posture, relative to a camera coordinate system, of a motion model are calculated through feature points of coordinates of a known spatial local coordinate system, the position, relative to a world coordinate system, of a camera and an intrinsic matrix of the camera are kept invariable in the camera calibrating and target pose measuring process, two-dimensional image features are directly converted into three-dimensional coordinates through calibrating point parameters after calibrating is completed, and then the pose of a three-dimensional target is solved. According to the method, a measurement system does not need to be calibrated, real-time measurement on position and pose information of the object under the variable focal length condition is achieved according to marking points with known relative relations on the surface of the measured object, and therefore not only is the flexibility of the system improved, but also the convenience of the system is improved.

Description

technical field [0001] The invention belongs to the technical field of computer vision measurement, and relates to a flexible and convenient variable focal length monocular pose measurement method. Background technique [0002] In various fields, the application of multi-body simultaneous delivery technology is increasing. Due to the continuous advancement of modern technology, the measurement requirements for multi-body delivery poses are also continuously improved. Especially in high-speed multi-body delivery, it is very important to obtain the pose parameters of each unit in a safe, efficient and high-precision manner. In response to this measurement requirement, visual measurement has become the first choice for non-contact measurement due to its high response and high precision. However, because the focal length of the camera needs to be adjusted frequently in many occasions, and the camera needs to be recalibrated after each focal length adjustment, the calibration p...

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, invent a variable focal length flexible pose visual measurement method, solve the problem that the parameters of the existing visual measurement system cannot be changed after calibration, and adopt 4 known coordinates As a constraint, the traditional pose measurement method that cannot change the focal length of the camera after calibration is extended to a pose measurement method that the focal length can be changed at any time, which improves the flexibility of the system and solves the need to recalibrate the camera when changing the focal length during the measurement process. The problem

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