激光与光电子学进展, 2019, 56 (3): 031202, 网络出版: 2019-07-31
基于图优化的多相机系统高精度自主定位方法 下载: 1206次
High-Precision Autonomous Positioning Method of Multi-Camera System Based on Graph Optimization
摘要
多相机系统的自主定位技术是通过多个相机对空间中的特征点进行观测而恢复出系统自身的空间位姿,借助多相机的大视场克服复杂现场环境影响,提高测量精度。针对多相机系统结构复杂、位姿恢复难度大、耗时长的问题,提出一种使用基于图优化模型的自主定位方法。在求解高效透视n 点定位问题得到近似估计位姿的基础上,借助图优化框架对多相机系统与空间控制点的观测问题进行建模,进而将位姿恢复问题等价为最小化重投影误差非线性优化问题。借助近景摄影三坐标测量系统(VSTARS)搭建的控制场和直线导轨搭建的多相机系统,测量和模拟实验结果表明,该方法具有较高的测量精度和较快的运行速度。
Abstract
The autonomous positioning technology of a multi-camera system can restore the spatial position and pose of the system by using the multiple cameras to observe the feature points in space, which can overcome the influence of the complicated environment and improve the precision of measurement by using the large field of view of multiple cameras. Aiming at the problem of the complex structure of a multi-camera system, posture recovery is rather difficult and time-consuming, a self-positioning method based on the graphic optimization model is proposed. On the basis of solving the efficient perspective-n-point-positioning problem to obtain the approximate position and pose of a multi-camera system, a graph optimization framework is used to model the observation problem of the multi-camera system and the spatial control points. Thus, the problem of the position and pose recovery is equivalent to the problem of the minimization reprojection error nonlinear optimization. Using a control field build by a video-simultaneous triangulation and resection system (VSTARS) and a multi-camera system build by a linear guideway, the results of the measurement and simulation experiment show that this method possesses a high measurement accuracy and a fast running speed.
刘博文, 杨凌辉, 牛志远, 徐秋宇, 张正吉, 王金旺. 基于图优化的多相机系统高精度自主定位方法[J]. 激光与光电子学进展, 2019, 56(3): 031202. Bowen Liu, Linghui Yang, Zhiyuan Niu, Qiuyu Xu, Zhengji Zhang, Jinwang Wang. High-Precision Autonomous Positioning Method of Multi-Camera System Based on Graph Optimization[J]. Laser & Optoelectronics Progress, 2019, 56(3): 031202.