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Attitude measurement method based on phase-guided binocular vision dense marker matching

A technology of binocular vision and measurement method, which is applied in image analysis, instrumentation, calculation, etc., can solve the problems 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: 2022-07-12
SICHUAN UNIV +1
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  • Summary
  • 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-guided binocular vision dense marker matching
  • Attitude measurement method based on phase-guided binocular vision dense marker matching
  • Attitude measurement method based on phase-guided binocular vision dense marker matching

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Experimental program
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Effect test

Embodiment 1

[0049] Due to the existing technology searching for matching points on the polar line, there will be ambiguous matching, such as figure 1 As shown, point P and point N are located on the same polar plane, the corresponding polar lines of the two points are the same, the left image point m has m' and n' on the corresponding polar line l' of the right image, (in addition, due to image distortion, perspective projection and image noise will also cause more epipolar matching error points), this embodiment provides an attitude measurement method based on phase-guided binocular vision dense marker point matching, such as figure 2 shown, including the following steps:

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

[0051] The two-dimensional plane target algorithm proposed by Zhang Zhengyou is used to calculate the internal parameters of the camera in the binocular vision system and the relative pose relationsh...

Embodiment 2

[0076] Since the prior art only relies on epipolar matching for regularly arranged feature points, it is most likely to cause incorrect matching. Therefore, in this embodiment, the marked points are pasted as a relatively regular distribution of rows and columns, and then the method described in Embodiment 1 is used to implement Example 1 The left and right camera markers captured by the calibrated binocular camera system are as follows Image 6 shown.

[0077] S201, performing circle center extraction based on ellipse boundary fitting on the captured left and right images, including binarization, region selection, edge detection, ellipse center positioning, etc., all 660 marked points of the captured images are successfully extracted, among which the markings of the left image are Point extraction results such as Figure 7 shown.

[0078] S202: Randomly select 20 marked points in the left image, search for the points with the same name in the right image, and match the poin...

Embodiment 3

[0083] An attitude measurement device based on phase-guided binocular vision dense marker point matching, comprising at least one processor, and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by at least one processor. A processor executes to enable at least one processor to perform any of the methods described above.

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Abstract

The invention relates to the field of antenna attitude measurement based on binocular vision, in particular to a method for attitude measurement based on phase-guided binocular vision dense mark point matching, the steps include: S1, using a binocular camera to collect left and right images of a measured object, respectively Extract the marker points; S2, according to the image coordinates of the marker points in the left image and the system parameters of the binocular camera, according to the principle of epipolar line geometry, calculate the set of points with the same name to be matched in the right image of the marker points in the left image; S3, obtain the left and right images The phase value of each marker point in the right image; then calculate the phase difference between each point in the set of points of the same name to be matched in the right image and the marker point in the left image, and the marker point corresponding to the minimum phase difference is an unambiguous matching point; S4, based on the unambiguous matching point Coordinate optimization is performed to obtain the best matching point with the phase equivalent of the left image marker point; S5, based on the best matching point, the three-dimensional coordinates and the rotation attitude are calculated. Solve the problem of multiple matching in epipolar matching, and improve the accuracy of coordinate extraction of the real point with the same name.

Description

technical field [0001] The present invention relates to the field of antenna attitude measurement based on binocular vision, in particular to an attitude measurement method based on phase-guided binocular vision dense mark point matching. Background technique [0002] Attitude measurement can be used for satellite grasping and positioning, attitude angle measurement of satellite antennas, lunar rover navigation and antenna attitude analysis, non-contact measurement of rocket engine nozzles, and visual attitude measurement of aircraft in wind tunnels. At present, visual imaging systems usually use feature points to achieve attitude measurement, which is highly dependent on a single feature point, so there is a disadvantage of poor robustness. The stereo matching of binocular vision is used to obtain part of the 3D point set data of the target according to the principle of triangulation, and the 3D coordinates of the feature points are used to solve the attitude of the vision ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73G06T7/60G06V10/75G06K9/62
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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