基于并联理论的单目视觉位姿估计

Pose estimation of monocular vision based on parallel theory

搭建了一种主动式测量系统用于测试伺服稳定平台的伺服精度。以此系统为基础,提出了基于并联理论的单目视觉位姿测量方法。介绍了系统的硬件组成和系统测量原理,分析了系统的分辨率。给出了激光点在投影靶坐标系下的计算原理及过程。然后,从并联机构的自由度出发,将视觉测量系统等效地转化为一个并联机构,将视觉测量系统的位姿估计问题转换为并联机构的正解问题。利用并联机构的运动影响系数迭代求解系统的位姿,由并联机构关节螺旋直接得到影响系数,由此简化了推导过程。仿真和实验结果表明:系统的姿态测量精度为±0.05°。该方法能够快速稳定的收敛,基本达到了系统的设计要求。

An active measurement system was put up to measure the servo accuracy of a servo stable platform.On the basis of the system,a new pose estimation method of monocular vision was proposed according to the parallel theory.First,the hardware composition and measuring principle of the system were introduced and its resolution was analyzed.The calculation principle and calculation process of the world coordinates of laser points were given.Then,from the freedom of a parallel mechanism,the visual measurement system was transformed into a parallel mechanism equivalently,and the pose estimation problem was transformed into a forward solution problem of parallel mechanism.Furthermore,the kinematics influence coefficient of the par allel mechanism was used to estimate the pose of the system.Instead of complex derivations,the kinematics influence coefficient could be obtained directly.The simulation and experimental results show that the orientation measurement accuracy of the system is ± 0.05 °,which concludes that the method has a rapid and stable convergence for the design requirements of the system.