A method and system for ekf-based laser ranging-assisted monocular vision measurement

Abstract

The invention discloses an EKF (extended Kalman filter)-based laser ranging assisted monocular vision measurement method and device. The method comprises the following steps: a camera and a laser rangefinder are rigidly and fixedly connected, a target with a diffuse reflection area and a luminous characteristic point on the surface is designed and can be used in cooperation with vision and the laser rangefinder; then, coordinates of the characteristic points on the target and the distance value measured by the laser rangefinder are obtained by visual measurement, and coordinates of a light emergent point of the laser rangefinder in a camera coordinate system and the direction cosine value of an optical axis of the laser rangefinder are obtained with an EKF method; finally, the position andpose of a target plane measured by a camera relative to the camera coordinate system are corrected on the basis of distance data measured by the laser rangefinder. The device comprises the camera, the laser rangefinder, the target and a measuring module. The method and the device can be used for performing high-precision pose measurement on an object at night.

Description

technical field [0001] The invention relates to the technical field of monocular vision measurement, in particular to an EKF laser ranging-assisted monocular vision measurement method and system. Background technique [0002] Monocular vision measurement is to obtain the picture of the measured object through the camera, and process the image information to obtain the position and attitude information of the measured object. Monocular vision measurement is widely used because of its non-contact measurement and simple operation. When the vision is used in the night environment, it needs to be equipped with a light source. In the application of long-distance and small targets, a backlight light source made of glass is generally used. [0003] In monocular vision measurement, due to the limitation of the model itself, the displacement measurement accuracy along the optical axis of the camera is generally much lower than that along the optical axis perpendicular to the camera. ...

AI Technical Summary

Problems solved by technology

However, the measurement accuracy of the laser rangefinder is affected by the surface material of the measured object. The laser point hits the glass, and the measurement data is inaccurate. Therefore, in the dark environment, the laser rangefinder cannot directly assist the monocular vision measurement, making the monocular The accuracy of visual measurement is greatly reduced

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