基于单摄像机的物体位置和姿态变形测量研究.pdfVIP

光 电子 # 激 光 第20 卷 第6 期 2009 年6 月 Jour nal of Op t oelectr on ics # La ser Vol. 20 No. 6 Jun.2009 * 基于单摄像机的物体位置和姿态变形测量研究* * * 姜广文 , 晁志超, 伏思华, 于起峰 ( 国防科学技术大学光电科学与工程学院, 湖南长沙410073) :结合大型结构变形测量的折线摄像测量方 , 针对单摄像机测量物体位置和姿态变形的方 进行了研 究, 重点介绍了基于物空间共线方程的正交迭代算 , 提出了目标函数奇异值分解(SVD)求解算 中出现错误 的根源, 并基于VC+ + 开发平台实现了健壮性和实用性更好的四元数求解算 , 最后对单摄像机位置姿态变 形测量的精度进行了数值仿真和实测实验的验证。实验表明, 当测量距离为3 m、视场大小为0. 8 m @0. 6 m 时, 分辨率为1600 @1200 pixel 的单摄像机测量姿态角变形的精度可以达到20。 :单摄像机; 位置; 姿态; 变形测量; 折线摄像测量 :TP391 :A : 100 20086(2009)062077 204 Study on deformation measur ement of position and attitude based on monocular vision * * JIANG Guang2wen , CHAO Zhi2chao, FU Si2hua, YU Qi2feng (College of Opto2 electronic Science and Engineering, National University. of Defense Technology, Changsha, 410073, China) Abstr act :Combining with the fold line videometrics method to measure the deformation of large struc2 tures, the monocular vision method to measure the position and attitude is studied. The algorithms of measuring position and attitude are summarized,in which the orthogonal iteration algorithm based on the object space collinearity equation is emphasized. The really reason of causing errors in SVD method to solve the object function is indicated.The more robust and practical algorithm using unit quaternion is realized in Visual C+ + platform. Finally,the simulation and validation experiments are designed to get the deformation measurement precision of monocular position and attitude. The results show that the