Angular rate and angular acceleration measuring method based on monocular vision

Abstract

The invention discloses an angular rate and angular acceleration measuring method based on monocular vision, and the method mainly comprises the steps that firstly, a feature mark motion sequence image fastened on a working table of a rotary motion generation device is acquired through collection and imaging equipment; secondly, a template matching method is adopted to determine an interested area only containing motion features on the feature mark motion sequence image, and circular templates with different sizes circularly match the mark image to determine interested areas of images acquired at different shooting distances and rotation positions; then, a straight line segmentation detection method is used to realize feature straight line edge sub-pixel extraction in the interested areas , and only a straight line edge in a motion direction is reserved through constraint of edge points; and finally, the angular rate and the angular acceleration of the rotary motion are resolved by using the extracted linear edge in the motion direction.

Description

technical field [0001] The invention belongs to the field of motion measurement and pose estimation, and more specifically, relates to a method for measuring angular rate and angular acceleration of rotational motion. Background technique [0002] The angular rate and angular acceleration measurement of rotational motion has a wide range of applications in the fields of pose estimation, inertial navigation, angular vibration calibration, and rotational speed testing. Rotational motion is the basic unit of multi-degree-of-freedom motion, and its measurement accuracy is crucial to the performance guarantee of practical engineering applications. In order to meet the rapidly growing demand for high-precision measurement in engineering applications, it is necessary to improve the measurement accuracy of the rotational angular rate and angular acceleration. Therefore, it is very important to study a high-precision method for measuring the angular rate and angular acceleration of ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies such as high system cost and complexity, poor flexibility, limited measurement frequency range and precision in the current rotational motion angular rate and angular acceleration measurement method, the present invention provides an efficient, flexible and accurate rotational motion angular rate and angular acceleration measurement method ,include:

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