光子学报, 2014, 43 (5): 0512003, 网络出版: 2014-06-03   

基于共面特征点的单目视觉位姿测量误差分析

Error Analysis of Monocular Visual Position Measurement Based on Coplanar Feature Points
作者单位
1 哈尔滨工业大学 电气工程系,哈尔滨 150001
2 哈尔滨工业大学 控制与仿真中心,哈尔滨 150001
摘要
为了克服单目视觉测量中景深信息缺失的问题,运用改进的两段式迭代算法,对刚体位姿测量解算模型进行了优化.给出了特征标靶最优化布局,理论分析了标靶尺寸大小、标靶基线长度及特征圆点大小和解算准确度的关系.实验结果表明,优化的特征标靶布局、较大的特征标靶基线长度及较小的特征圆点靶标能够提高测量解算准确度.该研究对提高实际测量系统解算准确度具有一定的理论指导意义.
Abstract
In order to overcome the lack of depth information in monocular vision measurement, an improved two-stage iterative algorithm was proposed to optimize the posture and attitude measurement models. The characteristics of the target layout optimization were given. The relationships between the calculating accuracy with the target size, baseline length and characteristics of the target dot size were analyzed theoretically. Experimental results show that optimizing the layout of the target characteristic, the larger the length of the baseline and smaller characteristics of the target dots can improve the measurement target solver accuracy. The actual research has a certain guiding theoretical significance to improve the practical measurement system calculation accuracy.
参考文献

[1] 徐文福, 梁斌, 李成, 等. 基于立体视觉的航天器相对位姿测量方法与仿真研究[J]. 宇航学报, 2009, 30(4):1421-1428.

    XU Wen-fu, LIANG Bin, LI Cheng, et al. The approach and simulation study of the relative pose measurement between space-crafts based on stereo vision[J]. Journal of Astronautics, 2009, 30(4): 1421-1428.

[2] 赵汝进, 张启衡, 徐智勇, 等. 一种基于特征点间线段倾角的姿态测量方法[J]. 光子学报, 2010, 39(2):320-324.

    ZHAO Ru-jin, ZHANG Qi-heng, XU Yong, et al. A method of measuring attitude based on inclined angle of the line between feature points[J]. Acta Photonica Sinica, 2010, 39(2): 320-324.

[3] 彭晓东, 周泗忠, 刘波, 等. 惯量椭圆法在单站光测目标三维姿态测量中的应用[J] .光子学报,2007,36(3):568-573.

    PENG Xiao-dong, ZHOU Si-zhong, LIU Bo, et al. Application of ellipse of inertia in measuring t he object′s3D[J]. Acta Photonica Sinica, 2007, 36(3): 568-573.

[4] 晁志超, 伏思华, 姜广文, 等. 单目摄像机-激光测距传感器位姿测量系统[J]. 光学学报, 2011, 31(3): 0312001.

    CHAO Zhi-chao, FU Si-hua, JIANG Guang-wen, et al. Mono camera and laser rangefinding sensor position-pose measurement system[J]. Acta Optica Sinica, 2011, 31(3): 0312001.

[5] 邾继贵, 李艳军, 叶声华, 等. 单摄像机虚拟立体视觉测量技术研究[J] . 光学学报, 2005, 25(7): 943- 948.

    ZHU Ji-gui, LI Yan-jun, YE Sheng-hua, et al. Study on single camera simulation stereo vision measurement technology[J]. Acta Optica Sinica, 2005, 25(7): 943- 948.

[6] 孟庆利, 王锋, 张志敏, 等. 利用光测影像测量飞行目标姿态方法的误差分析[J] .光子学报,2007,36(6):1172-1175.

    MENG Qing-li, WANG Feng, ZHANG Zhi-min, et al. Error analysis of a method for measuring flying object′s 3D pose[J]. Acta Photonica Sinica, 2007, 36(6): 1172-1175.

[7] FISCHLER M A, BOLLES R C. Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography[C]. ACM, 1981, 381-395..

[8] LEPETIT V, MORENO-NOGUER F, FUA P. EPnP: an accurate O(n) solution to the PnP problem[J]. International Journal of Computer Vision, 2009, 81(2): 155-166.

[9] ZHANG S J, CAO X B, ZHANG F, et al. Monocular vision-based iterative pose estimation algorithm from corresponding feature points[J]. Science China-Information Sciences, 2010, 53(8): 1682-1696.

[10] GAO X S, HOU X R, TANG J, et al. Complete solution classification for the perspective-three-point problem[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2003, 25(8): 930-943.

[11] HU Z Y, WU F C. A note on the number of solutions of the noncoplanar P4P problem[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002, 24(4): 550-555.

[12] NISTER D. An efficient solution to the five-point relative pose problem[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2004, 26(6): 756-770.

[13] LEE P Y, MOORE J B. Gauss-Newton-on-manifold for pose estimation[J]. Journal of Industrial and Management Optimization, 2005, 1(4): 565-587.

[14] ANSAR A, DANIILIDIS K. Linear pose estimation from points or lines[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2003, 25(5): 578 -589.

[15] TANG J L, CHEN W S, WANG J. A novel linear algorithm for P5P problem[J]. Applied Mathematics and Computation, 2008, 205(2): 628-634.

[16] 陈鹏, 胡广大, 刘晓军. 基于虚拟控制点的像机姿态测量算法[J]. 中国激光, 2012, 39(11): 33-34.

    CHEN Peng, HU Guang-da, LIU Xiao-jun. Camera pose estimation based on virtual control points[J]. Chinese Journal of Lasers, 2012, 39(11): 33-34.

霍炬, 崔家山, 王伟兴. 基于共面特征点的单目视觉位姿测量误差分析[J]. 光子学报, 2014, 43(5): 0512003. HUO Ju, CUI Jia-shan, WANG Wei-xing. Error Analysis of Monocular Visual Position Measurement Based on Coplanar Feature Points[J]. ACTA PHOTONICA SINICA, 2014, 43(5): 0512003.

本文已被 4 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!