单影像运动目标六维参数测量方法

6D Parameter Measurement Method for Moving Objects Based on Single Image

为了得到目标的6维空间参数,一般需要采用两台或多台摄像机在不同的位置同时拍摄,得到具有一定视差的立体像对,通过交会计算得到目标空间参数。本文通过对经典的摄影测量共线方程进行改化,将待解算参数作为方程参数,得到扩展的共线方程。当刚体目标上有3个或以上坐标已知的参考标志点时,利用单幅影像就可以得到目标的6维空间参数。由于需要的摄像机少,该技术方法可以应用到不允许安装过多摄像机的场合,如飞行试验、航空器件对接等,并且能节省一半的人力和物力,具有较好的经济效益。

To get the 6D parameters of an object,two cameras are at least involved in the system to shoot at different positions so that the stereopair with a certain parallax can be obtained,and then the space parameters of the object will be worked out through space intersection.By changing the classical photogrammetric collinearity equations,parameters to be solved are taken as equation parameters to obtain extended collinearity equations.When the rigid object have three or more reference marks of known coordinates,the 6-dimensional space parameters of target can be got by use of single frame images.Because of fewer cameras to be needed,the technique can be applied to the occasions that too many cameras are not allowed to be installed,such as flight testing,aircraft components docking.