基于单目视觉和棋盘靶标的平面姿态测量方法 下载: 1263次
ing at the problem of plane target pose measurement, a monocular vision measurement method is proposed based on the checkerboard target. The method does not need to design and install complexly, and simplifies the measurement process while ensuring the measurement precision. Firstly, the camera is calibrated based on the checkerboard target. Then, to obtain the three pose angles, the external parameter matrix is solved by taking advantage of the homography condition, hereafter, it is decomposed with Givens matrix. Finally, when the target is installed arbitrarily the self-calibration method of the target installation deviations is studied based on the constraint conditions of the rotation matrix. Experimental results show that with a distance of 3 m, the static measurement precision of the pose angle which is perpendicular to the optical axis is 0.02°, and the measurement precision of two other pose angles is 0.05°. The dynamic measurement precision of the pose angle which is perpendicular to the optical axisis is 0.1°, and the measurement precision of two other pose angles is 0.5°.
苏建东, 齐晓慧, 段修生. 基于单目视觉和棋盘靶标的平面姿态测量方法[J]. 光学学报, 2017, 37(8): 0815002. Jiandong Su, Xiaohui Qi, Xiusheng Duan. Plane Pose Measurement Method Based on Monocular Vision and Checkerboard Target[J]. Acta Optica Sinica, 2017, 37(8): 0815002.