Six-degree-of-freedom measurement method for checkerboard cooperative target based on monocular vision of mobile phone and application thereof

Abstract

The invention relates to a six-degree-of-freedom measurement method for a checkerboard cooperative target based on monocular vision of a mobile phone. The six-degree-of-freedom measurement method comprises the following steps: 1, defining a body coordinate system and pasting a checkerboard on a measured object; 2, erecting a mobile phone and setting a focal length to be unchanged, and shooting onecheckerboard image by a camera of the mobile phone; taking a movable flat plate to be pasted to the checkerboard, moving or rotating the checkerboard, enabling the camera to collect n checkerboard images in different directions, wherein n is larger than or equal to 2; 3, calibrating the n+1 checkerboard images by using a Zhengyou calibration method to obtain internal and external parameters of the camera, including a pose relationship between a coordinate system of the checkerboard and a coordinate system of the mobile phone camera; and 4, solving the pose relationship between the body coordinate system and the mobile phone camera coordinate system according to the pose relationship between the checkerboard coordinate system and the body coordinate system and the pose relationship betweenthe checkerboard coordinate system and the mobile phone camera coordinate system. The invention further relates to application of the method. The method is low in equipment complexity, reduces the cost of six-degree-of-freedom measurement, is high in accuracy, and belongs to the technical field of vision measurement.

Description

technical field [0001] The invention relates to visual measurement technology, in particular to a six-degree-of-freedom measurement method of a checkerboard cooperation target based on mobile phone monocular vision and its application. Background technique [0002] The six degrees of freedom of an object in space is a set of very important parameter information, which represents the accurate position and attitude of the object in space. It has important uses in precision manufacturing, assembly, aerospace and other fields. Its measurement often uses laser, Hall sensor, vision, etc. [0003] Laser measurement methods include laser tracker, laser collimation method, and laser interferometer. These methods have high measurement accuracy, but because the refractive index of laser is easily affected by the environment, this type of method cannot be used in scenes with changing environments. Under the accurate measurement. On the other hand, the laser collimation method and lase...

AI Technical Summary

Problems solved by technology

Although monocular vision has outstanding advantages, it cannot accurately restore the depth information of the measured object

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