基于Radon变换的轴对称目标三维姿态测量方法

赵江涛; 张锁平; 张东亮; 董涛; 刘宁

半导体光电, 2015, 36 (5): 843, 网络出版: 2015-11-30

基于Radon变换的轴对称目标三维姿态测量方法

3D Pose Measurement Method for Axes Symmetry Object Based on Radon Transform

论文大纲

赵江涛 ^*张锁平张东亮董涛刘宁

作者单位

国家海洋技术中心,天津300112

姿态测量 Radon变换中轴线提取双目立体视觉 pose measurement Radon transform axes detection binocular stereo vision

摘要

为测量轴对称目标的俯仰角和偏航角,提出了一种基于Radon变换的轴对称目标三维姿态测量新方法。首先分析了目标成像模型和三维姿态测量原理；其次采用Radon变换算法提取目标的初始中轴线,然后利用最小二乘拟合法优化得到更加精确的结果；最后,以投弃式温深仪探头为对象,设计了仿真及物理实验来验证所提方法。仿真及物理实验表明,该方法能精确地提取目标的中轴线,中轴线角度平均误差小于0.02°。搭建的双目视觉测量系统可以用于目标三维姿态测量,测量精度满足应用需求。

Abstract

In order to measure the yaw angle and pitching angle of the axes symmetry object,a novel method of measuring its 3D pose based on Radon transform was proposed. Firstly,the model of imaging and the principle of 3D pose measurement were analyzed. Secondly,Radon transform was used to extract the object's initial axes and the least square algorithm was used to gain more accurate results. Finally,simulation and physical experiments were designed to confirm the proposed method using XBT probe. Experimental results show this method can extract the axes of symmetry object in high precision and the mean error of the axes angle is within 0.02°. The binocular stereo vision measurement system can be used to measure objects 3D pose and the precision can satisfy application requirements.

参考文献

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赵江涛, 张锁平, 张东亮, 董涛, 刘宁. 基于Radon变换的轴对称目标三维姿态测量方法[J]. 半导体光电, 2015, 36(5): 843. ZHAO Jiangtao, ZHANG Suoping, ZHANG Dongliang, DONG Tao, LIU Ning. 3D Pose Measurement Method for Axes Symmetry Object Based on Radon Transform[J]. Semiconductor Optoelectronics, 2015, 36(5): 843.

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