基于主动视觉的大空间坐标测量关键技术分析-analysis of key technologies of large space coordinate measurement based on active vision.docxVIP

基于特征像点质心偏差的快速跟踪方法以使光学测棒始终保持在摄像机视场范围内，当特征像点质心在跟踪区内时用基于 PBVS 的精确跟踪方法以使光学测 棒成像于 CCD 平面的中央区域。实验结果表明该跟踪方法的有效性。摄像机相对转台位姿现场校准是保证主动视觉坐标测量系统测量数据拼接 精度的重要环节之一，本文提出一种基于矩阵直积理论的线性算法和基于固定 点重复测量的非线性规划相结合的二步校准法。为消除测量噪声的影响，用四 元数法正交化所求解的旋转矩阵并计算出新的平移矢量。实验结果表明校准方 法具有较高的校准精度。最后，对基于主动视觉的大空间坐标测量系统进行了全面测试，与固定式 单摄像机坐标测量系统相比，单点测量重复性在同一水平上，空间尺寸测量精 度提高了 2-3 倍，验证了主动视觉坐标测量系统对扩展测量范围和提高大空间 测量精度的有效性。关键词：主动视觉；视觉测量；自动对焦；目标跟踪；摄像机校准AbstractIn view of the problem of low accuracy in the measurement of large sacle for static solo-vision coordinate measurement system, a new concept of active vision measurement has been proposed. The subject “research on the technologies of large scale coordinate measurement based on active vision” is to study a new vision coordinate measurement system which introduces active vision to solo-vision coordinate measurement system base on optical probe to improve its large scale measurement accuracy. For this novel measurement system, some key problems such as modeling of active vision coordinate measurement system, acquisition of moving optical probe, tracking of moving optical probe, calibration of position and attitude between camera and rotator have been researched and some solutions have been proposed.In this paper, we researched the structure of active vision coordinate measurement system and the measurement model has been established. First, as optical probe usually adapts its position and attitude to the measured point during the whole measurement process, acquisition and tracking of the moving optical probe through zooming, rotating and pitching of camera are applied to obtain appreciate size images of optical probe in CCD center area; Second, we use solo-vision measurement module to calculate the optical probe tip coordinate under the current camera coordinate system which equals the measured point coordinate; At last, coordinate transformation is applied to transform the coordinates gained under every coordinate system to the world coordinate system to implement the