Monocular camera pose measurement device and method based on iterative updating

A pose measurement and iterative update technology, applied in image data processing, instruments, calculations, etc., can solve the problems of poor robustness of the pose measurement system, iteration non-convergence, data deterioration, etc., to achieve convenient calculation and simplified measurement accuracy calibration The effect of the process and the small amount of calculation

Active Publication Date: 2018-12-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although it can avoid the error of large error and data deterioration when calculating the translation vector at close range, and improve the accuracy of pose calculation, but the optima

Method used

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  • Monocular camera pose measurement device and method based on iterative updating
  • Monocular camera pose measurement device and method based on iterative updating
  • Monocular camera pose measurement device and method based on iterative updating

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0019] Embodiment one: if figure 1 As shown, the monocular camera pose measurement device based on iterative update involved in this embodiment includes an industrial camera, a camera bracket, a target to be measured, a motion platform, an image acquisition card, and a pose measurement industrial computer, the camera bracket and the industrial camera Fixed connection, the industrial camera is placed above the target to be measured, and the target to be measured performs two-dimensional translation and one-dimensional rotation on the motion platform, the signal output end of the industrial camera is connected to the signal input end of the image acquisition card, and the image acquisition card The output end is connected with the input end of the pose measurement industrial computer.

[0020] The camera bracket is fixedly connected with the industrial camera and is used to fix and support the industrial camera. The target to be measured performs two-dimensional translation and...

Embodiment 2

[0021] Embodiment two: if figure 1 As shown, the iterative update-based monocular camera pose measurement method involved in this embodiment, the specific steps of the iterative update-based monocular camera pose measurement method are:

[0022] Step 1: First, deduce the three-dimensional world coordinates from the two-dimensional measurement data extracted from the measurement image;

[0023] Step 2: Realize the pose measurement of the target to be measured through iterative update of the pose.

[0024] The homogeneous coordinates in the image coordinate system are

[0025]

[0026] The homogeneous coordinates in the normalized coordinate system are

[0027]

[0028] The internal parameter matrix obtained by camera calibration is

[0029]

[0030] According to the pinhole imaging model of the camera, it can be obtained

[0031]

[0032] According to the knowledge of linear algebra, it can be obtained that the internal parameter matrix of the camera is an inver...

Embodiment 3

[0069] Embodiment three: as figure 1 As shown, in the monocular camera pose measurement method based on iterative update involved in this embodiment, the specific steps for realizing the pose measurement of the target to be measured through iterative update of the pose are: the first step is to measure the target The initial pose is determined, and the second step is to iteratively update the pose of the target to be measured.

[0070] initial time t 0 Corresponding object coordinate system S 0 The coordinates of the origin O of the coordinates in the world coordinate system are shown in formula (20)

[0071]

[0072] In order to solve It is necessary to rotate the target to be measured 3 times around its rotation axis, and record the world coordinates of the marker point A after each rotation, which are denoted as

[0073]

[0074]

[0075]

[0076] From the fixed connection between the marker point A and the target to be measured, it can be seen that the dis...

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Abstract

The invention provides a position and posture measuring device and a method of a monocular camera based on iterative updating, belonging to the field of image processing and high-precision measurement. In the monocular camera pose measuring device based on iterative updating, the camera bracket is fixedly connected with the industrial camera, the industrial camera is arranged above the target to be measured, the target to be measured is two-dimensional translated and one-dimensional rotated on the moving platform, the signal output end of the industrial camera is connected with the signal input end of the image acquisition card, and the output end of the image acquisition card is connected with the input end of the industrial control computer for position and posture measurement. The specific steps of the monocular camera pose measurement method based on iterative updating are as follows: according to the two-dimensional measurement data extracted from the measurement image, the three-dimensional world coordinates are deduced; the posture measurement of the object to be measured is realized by the way of posture iterative updating. The device and the method for calibrating the measurement accuracy of the posture measurement system provided by the invention can obtain a large amount of measurement data only by taking a measurement picture once, thereby greatly simplifying the calibration process of the measurement accuracy.

Description

technical field [0001] The invention relates to a monocular camera pose measurement device and method based on iterative update, and belongs to the fields of image processing, image tracking and high-precision measurement. Background technique [0002] The paper "Research on the Method of Monocular Vision Pose Measurement of Space Objects" (Ph. Iterative algorithm and simultaneous pose estimation and correspondence determination algorithm based on differential evolution. The algorithm proposed in this paper can provide technical support for the space maneuvering platform to obtain the short-range / ultra-short-range shape information of the target in real time under the space-based background, and can be further extended to application fields such as visual servoing, mobile robot positioning and navigation, and virtual reality. . Although it can provide technical support for the space maneuvering platform to obtain the short-range / ultra-short-range shape information of the t...

Claims

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Application Information

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IPC IPC(8): G06T7/73
CPCG06T2207/10004G06T7/73
Inventor 夏红伟张昊翔马长波马广程王常虹
Owner HARBIN INST OF TECH
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