A fully parametric visual measurement method for continuous motion parameters of body targets

A motion parameter, vision measurement technology used in directions such as navigation through velocity/acceleration measurements

Active Publication Date: 2020-06-26
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is the observation of moving objects by a moving monocular platform. In the case that only the orientation information of the moving monocular object in space can be obtained, but the distance information cannot be obtained, by designing an algorithm Solve to obtain the structural parameters and motion position and attitude parameters of the observed object

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  • A fully parametric visual measurement method for continuous motion parameters of body targets
  • A fully parametric visual measurement method for continuous motion parameters of body targets
  • A fully parametric visual measurement method for continuous motion parameters of body targets

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Embodiment Construction

[0096] The present invention proposes a practical process of a fully parametric visual measurement method for continuous motion parameters of a body target as follows:

[0097] 1) Design the motion track of the moving monocular platform itself, and use the moving monocular platform to continuously take photos of the observation object within a certain period of time under the designed motion track;

[0098] 2) Calculate the orientation in space of the last feature point of the object with respect to the moving monocular center at each shooting moment according to the obtained photographs;

[0099] 3) Taking the motion trajectory parameters of the moving monocular platform and the obtained orientation information of each feature point of the body target as input data, the structural parameters and motion position and attitude parameters of the body target to be solved are carried out using the fully parametric visual measurement method of the continuous motion parameters of the ...

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Abstract

The invention relates to a full-parameterized vision measurement method for continuous movement parameters of a body target. The full-parameterized vision measurement method comprises the following steps: carrying out full parameterization on movement parameters of a moving body target and establishing a whole solving equation; substituting full-parameterized movement parameters of the body target and unknown structural parameters into the equation and solving to finally obtain a variable needing to be solved. The method provided by the invention has relatively high solving precision and can meet the requirements on the solving precision under almost conditions. The method provided by the invention still has relatively good performance under the condition that an observation error exists and the stability of a calculation method is relatively good. The full-parameterized vision measurement method provided by the invention can be applied to an observation task on the moving body target by adopting a movement monocular platform in a target range light measurement process and has important theoretical research significance and a wide application prospect.

Description

technical field [0001] The invention is mainly used for moving monocular platform to measure the moving position and posture of the moving object, using the design algorithm to solve the observation object under the limitation that the orientation information of the moving object can only be observed through the monocular and the distance information cannot be obtained. Structural and motion parameters, belonging to the field of photogrammetry. Background technique [0002] In the actual measurement task, there is a kind of problem that requires the three-dimensional observation of the moving target by the monocular of the mobile platform. The three-dimensional motion state of the target, including the three-dimensional trajectory, velocity, acceleration, attitude angle, angular velocity, etc., including the distance information along the camera axis and the attitude information of the target itself; Observing the motion parameters of the target; in various applications suc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/12
CPCG01C21/12
Inventor 尚洋裴宇于起峰张红良徐志强
Owner NAT UNIV OF DEFENSE TECH
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