视觉跟踪坐标测量系统数学建模

Modeling on Vision Tracking Coordinate Measurement System

提出了一种基于光学测头成像的单相机视觉跟踪坐标测量系统。该系统中引入了一个转动平台带动相机运动,使相机光轴始终对准运动的光学测头中某一个光点,保证光学测头成像在畸变比较小的像面中心附近。给出了系统的组成结构,通过空间变换和光学成像原理建立了系统的非线性跟踪测量数学模型,给出了利用Newton非线性迭代算法求解跟踪方程的具体算法,通过实验验证了所建立的模型和求解方法的正确性。最后,分析了转动角度误差对测量结果的影响。

An optical probe imaging vision tracking coordinate measurement system using a single camera is proposed. In this system the axis of the camera always aims at the moving optical probe to ensure the probe imaging in the center of the image plane. The structure of the visual tracking coordinate measurement system is presented, and a nonlinear measurement and tracking mathematical model of the system is set by perspective transform and the optical imaging principle. A method of Newton nonlinear iteration to resolve the tracking equation is described. The experiments show that the model and the resolving method are correct. The effect of the angle error on measurement result is analyzed.