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Cooperative target remote high-precision six-degree-of-freedom pose measurement method

A technology for cooperative target and pose measurement, which is applied in line-of-sight measurement, distance measurement, and measurement devices, etc., can solve problems such as large measurement errors, and achieve the effects of eliminating errors, high stability, and small amount of calculation

Active Publication Date: 2021-08-31
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

[0004] Aiming at the problem of large measurement errors along the optical axis of the camera in the existing monocular vision measurement, the present invention provides a long-distance and high-precision six-degree-of-freedom pose measurement method for cooperative targets, which is a solution based on multi-sensor fusion method

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  • Cooperative target remote high-precision six-degree-of-freedom pose measurement method
  • Cooperative target remote high-precision six-degree-of-freedom pose measurement method
  • Cooperative target remote high-precision six-degree-of-freedom pose measurement method

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Embodiment Construction

[0034] The present invention will be described in further detail below in conjunction with specific examples.

[0035] The specific flow chart of a long-distance and high-precision six-degree-of-freedom pose measurement method for a cooperative target of the present invention is as follows: figure 1 As shown, the test distance is set to 10 meters. Cooperation target design see figure 2 , the exact coordinates of the six LEDs calibrated by the three-coordinate instrument are shown in Table 1.

[0036] Table 1 The exact coordinates of the six LEDs

[0037]

[0038] Concrete steps of the present invention are as follows:

[0039] Step (1), obtain the cooperative target image, and calculate the initial pose T of the cooperative target according to the PnP algorithm i =[R i |t i ], the concrete process of described step (1) is:

[0040] Step (11), camera imaging, and then extract the sub-pixel coordinates of the cooperative target feature imaging center point based on th...

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Abstract

The invention discloses a remote high-precision six-degree-of-freedom pose measurement method for a cooperative target. The method comprises the following steps of (1) obtaining an initial six-degree-of-freedom pose and an initial depth value of the cooperative target; (2) calculating a laser spot circle equation; (3) solving an equation of a space straight line determined by two three-dimensional space points of the initial position and the optical center of the camera; (4) solving an intersection point of a light spot circle and a space straight line, and correcting an initial pose; and (5) further optimizing the correction result by using a nonlinear optimization method. According to the method, an accurate depth value provided by the laser range finder is used for correcting the large error in the monocular vision pose measurement sight line direction, and meanwhile interference errors introduced by laser spot dispersion of the laser range finder can be eliminated.

Description

technical field [0001] The invention relates to the technical field of pose measurement based on multi-sensor fusion, in particular to a long-distance and high-precision six-degree-of-freedom pose measurement method for a cooperative target. Background technique [0002] Targeted high-precision six-degree-of-freedom pose measurement facilitates precise and efficient machine manipulation, and thus finds wide application in areas such as autonomous robotics, precision machining, and spacecraft docking. Monocular vision is a non-contact six-degree-of-freedom attitude measurement method, which has the advantages of low hardware complexity, high precision, and wide measurement range. It is currently one of the most commonly used six-degree-of-freedom attitude measurement methods. However, due to the limitations of the model itself, the measurement accuracy along the optical axis of the camera is usually much lower than the measurement accuracy in the other two directions. 2014, ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C3/00G01C11/04
CPCG01C21/005G01C3/00G01C11/04
Inventor 赵汝进朱自发马跃博颜坤刘恩海易晋辉曾思康
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI