A method for a high precision solution of pose parameters based on minimization of reconstruction errors
A technology of pose parameters and reconstruction errors, which is applied in the field of high-precision solution of pose parameters based on the minimization of reconstruction errors, can solve the problem of low solution accuracy of pose parameters, achieve the effect of reducing influence and improving solution accuracy
Active Publication Date: 2018-12-28
北京航宇天穹科技有限公司
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[0006] In order to solve the defect of low accuracy in solving the pose parameters in the prior art, the purpose of the present invention is to provide a method for minimizing the pose based on the reconstruction error for the conical target Parameter high-precision solution method
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[0021] Below in conjunction with accompanying drawing and a typical specific implementation mode, a kind of high-precision solution method of pose parameter based on reconstruction error minimization for conical target of the present invention is described in detail, and this algorithm specifically comprises the following parts:
[0022] Firstly, the conical target imaging process is analyzed, and the analysis process is as follows:
[0023] The camera model is used as the perspective projection model, and O c -X c Y c Z c The coordinates of any point P are (X, Y, Z), the focal length of the camera is f, and the camera model is projected into point p in o-xy, and the coordinates are (x, y). The perspective projection model is expressed as:
[0024]
[0025] The target imaging process is as figure 2 As shown, it is projected by the camera into a "fan-like shape" composed of straight line features L1, straight line features L2 and ellipse features L3. The linear featur...
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The invention relates to a high-precision solution method for a conical target based on minimizing reconstruction error and posture parameters. The method includes the following steps: analyzing the imaging process of the target, selecting the features to be used for solving the pose parameters, and calculating the initial solution of the pose parameters by using the algebraic spatial circle three-dimensional reconstruction model; the geometric parameters of projected ellipse and target pose parameters being derived, and the 3D reconstruction model of projected ellipse in geometric form beingestablished; the geometrical parameters of the circle being used to estimate the errors of the geometrical parameters by using the 3D reconstruction model of the circle in geometric form; according tothe three-dimensional coordinates of the vertices of the cone reconstructed by the camera model, the distance between the vertices and the bottom surface circle, i.e. the length of the generatrix, being calculated, and the reconstructed error of the length of the generatrix being calculated according to the known geometric parameters of the cone-height and the radius of the bottom surface; according to the range of the true value of the posture parameters, the reconstruction error being minimized, the initial solution of the posture parameters being modified, and the corrected value of the posture parameters being obtained. The invention designs a high-precision posture solving method based on minimizing reconstruction error for solving the posture of a conical target, effectively improving the precision of the posture solving.
Description
technical field [0001] The invention relates to the field of computer image processing, in particular to a high-precision solution method for a conical target based on minimizing the reconstruction error pose parameters. Background technique [0002] The measurement data of the micro-motion parameters of the flying target can provide basic data support for the parameter design and improvement of the target structure, and is of great significance to ensure the stability of the target structure and flight attitude. way. The visual measurement system has been relatively maturely used in the measurement of the pose parameters of flying targets in the fields of aviation, spaceflight, and national defense. Compared with the inertial measurement pose and the radar measurement pose, the visual measurement pose has the advantages of non-contact, strong intuitiveness, high measurement accuracy, strong anti-electromagnetic interference ability, simple structure, and low measurement co...
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CPCG06T17/10
Inventor 宫久路谌德荣王泽鹏陈乾彭林科胡宏华
Owner 北京航宇天穹科技有限公司