Method for realizing attitude reconstruction of multi-degree-of-freedom moving object by adopting multiple cameras

Abstract

The invention relates to a method for realizing attitude reconstruction of a multi-degree-of-freedom moving object by adopting multiple cameras. The core content of the method is as follows: firstly, a plurality of high-speed cameras synchronously collect moving images of markers on the multi-degree-of-freedom moving object at a constant speed according to a set working mode; and attitude parameter calculation of the multi-degree-of-freedom moving object is completed through a multi-camera attitude reconstruction algorithm designed by the invention. The method has the advantages of non-contact, high precision and high-speed acquisition, can measure and calculate quantitative parameters such as spatial position parameters, attitude parameters, speed and acceleration of a multi-degree-of-freedom moving object, accurately reconstructs the moving attitude of the spatial object, realizes object pose information measurement of applications related to tremor and stability, and has a good application prospect in the field of motion detection.

Description

technical field [0001] The invention relates to the technical field of electronic information, in particular to a method for reconstructing the attitude of a moving object with multiple degrees of freedom by using multiple cameras. Background technique [0002] The degrees of freedom of motion are the minimum number of coordinates required to determine the exact position of a system in space. When a rigid body moves arbitrarily in space, it can be decomposed into translation of the center of mass and rotation around a fixed axis passing through the center of mass. It has both translation and rotation degrees of freedom. [0003] At present, for tremor and stability-related applications of multi-degree-of-freedom moving object attitude data acquisition, commonly used methods mainly include: (1) Contact measurement, portable wearable technology using sensors such as motion accelerometers and angular velocity meters, is widely used Stability detection of objects. However, the...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to meet the needs of reality, to provide a multi-degree-of-freedom moving object pose reconstruction method using multiple cameras, by using multiple high-speed cameras to collect the real-time pose of the multi-degree-of-freedom moving object, and to complete the motion pose of the object through multiple marker points Capturing overcomes the problem of camera parameter calibration accuracy and image matching in traditional single- and binocular stereo imaging. The resulting reconstructed object attitude accuracy can reach the micron level, and the sampling speed can reach the millisecond level, far satisfying the requirements of tremor and stability. Accuracy requirements for object pose measurement and analysis for related applications

Images