轴对称回转体空间位置与姿态定位的立体视觉方法

A Stereovision Method for Resuming the Position and Pose of Symmetry Revolution Object

针对虚拟现实技术中对空间刚体位置和姿态的定位与跟踪的需要,提出了一种确定轴对称回转体空间位置与姿态的立体视觉方法,开发了一个基于面阵CCD双目视觉传感的被动式光学立体定位与跟踪系统。试验结果表明,在执行机构运动速度为100mm/s的情况下,跟踪到的空间目标运动路径与真实值的最大偏差只有0.3mm,姿态角与真实值的最大偏差只有1.4°。实验结果证实,该系统满足虚拟现实技术中对空间目标定位与跟踪的精度要求。

Aimed at the need of tracing the pose and position of the space rigid bodyin virtual reality, a stereovision method for resuming the position and pose of symmetry revolve objectwas proposed, and an optical localization system was developed, which was based on area CCD binocular vision sensor. The maximum path error of the space object can be controlled within 0.3mm and the pose angle error can be limited to 1.4° , while the actuator moves at the speed of 100mm/s in experiments of position and pose tracing. All outcomes of experiments show that this system is precise and exact enoughto meet the need of virtual reality.