基于标志点识别的三维位姿测量方法

3D position and attitude measurement based on marking-points recognition

提出一种基于双目视觉原理测量运动目标三维位姿参数的新方法。采用LED作为标志点来定义运动目标局部坐标系,通过双目视觉方法计算各LED的全局坐标,进而得出运动目标的三维位姿参数。同时根据实验环境的特殊性,提出一种基于优先级的外极线斜率约束匹配算法。实验结果表明该测量方法简单高效,满足精度和实时性的要求。

A new method based on binocular visual theory to measure 3D position and attitude parameters of a moving object was described. Local coordinate system of the moving object was defined by LED marking-poiuts. By calculating 3D position of each LED, 3D position and attitude parameters of the moving object can be calculated. At the same time, according to the particularity of environmenh an algorithm called constraint of epipolar-slope match based on priority was presented. Experimental results show this method is simple and efficient, and satisfies the requirements of precision and real time.