首页|基于双自由度转台的全向空间单目视觉室内定位测量方法

基于双自由度转台的全向空间单目视觉室内定位测量方法

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  • 国家科技期刊平台
  • NETL
  • NSTL
  • 万方数据
针对传统单目视觉测量系统测量视场有限的问题,本文提出一种基于双自由度旋转平台的全向空间单目视觉测量方法.首先,对双自由度旋转平台的转轴参数进行标定,用副相机拍摄固定在双自由度转台上的棋盘格标定板,提取棋盘格角点的位置坐标,并将其转化到同一相机坐标系下.利用PCA(主成分分析)平面拟合得到初始位置转轴参数中的方向向量,使用空间最小二乘圆拟合方法得到初始位置下转轴参数中的位置参数.然后,通过转台转动的角度以及罗德里格斯公式将不同位置下相机获取的数据进行坐标系统一,实现水平和竖直方向全向空间下的目标测量.最后,通过高精度激光测距仪验证了本方法的测量精度,并通过与双目视觉测量系统、wMPS测量系统进行比对实验,验证了本方法的全向空间测量能力.实验结果表明,本方法测量精度基本达到双目视觉测量系统水平,但测量范围远大于双目视觉测量,可以满足全向空间测量要求.
Omnidirectional spatial monocular vision indoor localization measurement based on a two-degree-of-freedom rotary platform
To address the problem of limited field of view measurement in traditional monocular vision meas-urement systems,we propose an omnidirectional spatial monocular vision measurement method based on a two-degree-of-freedom rotary platform.First,the rotating axis parameters of the double-degree-of-freedom rotary platform are calibrated.Then,the pictures of the checkerboard calibration plate fixed with the two-de-gree-of-freedom rotary platform are captured by using an auxiliary camera.Position coordinates of the check-erboard corner points are extracted and converted to the same camera coordinate system.The direction vec-tor of the rotating axis parameters in the initial position is obtained through PCA(principal component ana-lysis)plane fitting,and the position parameter of the rotating axis parameters in the initial position is determ-ined using the method of spatial least squares circle fitting.The camera data acquired at various angles is transformed into the same coordinate system using the rotation angle of the rotary platform and the Rodrig-ues formula.This enables measurement of the target in the horizontal and vertical omnidirectional space.Fi-nally,the measurement accuracy of the proposed method is verified using a high-precision laser rangefinder.Additionally,experiments comparing the omnidirectional spatial measurement ability of the proposed meth-od with the binocular vision measurement system and wMPS measurement system are conducted.The res-ults indicate that the method achieves a measurement accuracy comparable to that of a binocular vision sys-tem.However,it also surpasses the binocular vision system in term of measurement range,making it applic-able for omnidirectional spatial measurements.

two-degree-of-freedom rotary platformmonocular visionomnidirectional spatial measurementindoor positioning

吴军、王豪爽、单腾飞、郭润夏、张晓瑜、陈玖圣

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中国民航大学航空工程学院,天津 300300

中国民航大学电子信息与自动化学院,天津 300300

双自由度转台 单目视觉 全向空间测量 室内定位

国家自然科学基金国家自然科学基金国家自然科学基金中央高校基本科研业务费专项高水平成果培育专项中央高校基本科研业务费专项高水平成果培育专项

5237555752005500621733313122023PY063122023044

2024

10.37188/CO.2023-0106

中国光学
中国科学院长春光学 精密机械与物理研究所 中国光学学会

中国光学

CSTPCD北大核心
影响因子：2.02
ISSN：2095-1531
年,卷(期)：2024.17(3)
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