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Attitude measurement method based on phase guidance binocular vision dense mark point matching

A technology of binocular vision and measurement method, applied in image analysis, instrumentation, calculation, etc., can solve the problem of epipolar matching error points, ambiguity matching of epipolar search matching points, etc., so as to improve the accuracy of pose measurement and reduce the amount of calculation. , the effect of improving the accuracy of coordinate extraction

Active Publication Date: 2021-08-10
SICHUAN UNIV +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the problem of ambiguity matching in the epipolar line search matching point that exists in the prior art when the feature marker point set layout amount is large and regular, and the same will also occur due to image distortion, perspective projection and image noise. The problem of causing more epipolar line matching error points provides an attitude measurement method based on phase-guided binocular vision intensive marker point matching

Method used

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  • Attitude measurement method based on phase guidance binocular vision dense mark point matching
  • Attitude measurement method based on phase guidance binocular vision dense mark point matching
  • Attitude measurement method based on phase guidance binocular vision dense mark point matching

Examples

Experimental program
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Effect test

Embodiment 1

[0049] Since the prior art search matching point on the polar line will appear ambiguous match, such as figure 1 As shown, the P point and N point are located on the same pole plane, the corresponding polar line of the two points, the left image point M on the corresponding pole line L 'of the right image, M' and N ', (additional due to image distortion, perspective Projection and image noise also cause more polar matching error points), this embodiment provides a posture measurement method that matches phase-guided binocular visual intensive marker points, such as figure 2 As shown, specifically includes the following steps:

[0050] S101, first calibration and calibration of binocular camera system parameters, the method is as follows:

[0051] The two-dimensional planar target algorithm proposed by Zhang Zhengyou is calculated to calculate the relative positional relationship between the internal parameters of the camera and the left and right cameras in the two-dimensional vis...

Embodiment 2

[0076] Since the prior art is most likely to match the characteristic point of the rule, it is easier to match the polarity, and therefore, in the present embodiment, the marker point is pasted as a comparative row, and then the method described in Example 1 is used. Example 1 The left and right camera markings captured by the calibrated two-purpose camera system Image 6 Indicated.

[0077] S201, the left-right image of the shot is separately elliptical, including binarization, regional selection, edge detection, elliptical center positioning, etc., 660 markings of the captured image are successfully extracted, where the mark of the left image Point extraction results Figure 7 Indicated.

[0078] S202, randomly select 20 in the markup point of the left image, looking for the same name point in the right image, performing the same name match by the polar line search, inevitably cause match failure. like Figure 8 As shown, 20 markup points of the left image are selected for example,...

Embodiment 3

[0083] At least one processor, and a memory connected to at least one processor, including a memory connected to at least one processor, and a memory that can be communicated with at least one processor, the memory stores at least one processor. A processor is executed such that at least one processor can perform the method described in any of the above.

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Abstract

The invention relates to the field of antenna attitude measurement based on binocular vision, in particular to an attitude measurement method based on phase guidance binocular vision dense mark point matching, which comprises the following steps of: S1, acquiring left and right images of a measured object by using a binocular camera, and respectively extracting mark points; S2, calculating to obtain a to-be-matched homonymy point set of the left image mark points in the right image according to the epipolar geometry principle by the image coordinates of the left image mark points and the system parameters of the binocular camera; S3, obtaining the phase value of each mark point in the left image and the right image; calculating the phase difference between each point in the homonymy point set to be matched in the right image and the mark point of the left image, wherein the mark point corresponding to the minimum phase difference is an unambiguous matching point; s4, performing coordinate optimization based on the unambiguous matching point to obtain an optimal matching point which is equivalent to the left image mark point in phase; and S5, calculating a three-dimensional coordinate and a rotation attitude based on the optimal matching point. The problem of multi-matching in epipolar matching is solved, and the real homonymy point coordinate extraction precision is improved.

Description

Technical field [0001] The present invention relates to the field of antenna attitude measurement based on bicker visual, and in particular, to a posture measurement method that matches the phase guidance bisewhere visual intensive marker point. Background technique [0002] The gesture measurement can be used for satellite grab positioning, satellite antenna attitude angle measurement, moon car navigation and antenna attitude analysis, non-contact measurement of rocket engine tail nozzle, wind cave, aircraft visual attitude measurement. At present, visual imaging systems typically use feature points to achieve posture measurements, and there is a disadvantage of a single feature point dependence. With binocular visual stereo matching and obtaining some three-dimensional point data of the target according to the triangular measurement principle, using the feature point three-dimensional coordinates relative to the attitude of the visual system, high measurement robustness is guar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/60G06K9/62
CPCG06T7/74G06T7/60G06F18/22
Inventor 薛俊鹏隆昌宇李长勋祁广明王子文张子罡王辰星孙伟綦磊季宇张禹杭
Owner SICHUAN UNIV
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