利用单站光测图像确定回转体目标三维姿态

Determination of rotary object′s 3D pose from mono-view

为了实现回转体目标姿态的测量,基于光电经纬仪的单站测量布站灵活,不受测站地理条件的限制,而且避免了图像的立体匹配,具有较高的应用价值。文中充分利用空间目标的几何先验知识,在用光电经纬仪单站空间余弦姿态测量方法来获得目标姿态参数的基础上,进行了进一步的完善和改进,降低了该算法对图像质量的要求,增加了算法的实用性。模拟实验结果表明,该方法姿态角测量误差小于0.5°,结果稳定,能够满足回转体目标空间三维姿态的高精度测量的要求。

In order to realize the rotary object pose measurement, single-station measurement based on photoelectric theodolite with flexible station placement, without station geographical restrictions, and the stereo matching image has a high application value. The measuring method and the principle of attitude angle were introduced. Taking full advantage of the knowledge of space-objects figuration, on the basis of the photoelectric theodolite single station space cosine attitude measurement method to obtain the target attitude parameters, through the further development and improvement, the requirements of this algorithm on image quality was reduced and the applicability of the algorithm was increased. Compared with other methods of measurement, the simulation experiments demonstrate that the pose measuring method is less than 0.5° accuracy, the measuring result is stable. It can satisfy the need of high accurate measurement of spatial 3D pose measurement of rotary object with very good practicability.