双目测量系统目标相对位置误差分析

Error analysis on relative position of target of binocular measurement system

目标特征点三维坐标的测量精度直接影响目标位姿的解算,准确确定影响目标位姿的误差因素,对各项误差进行合理分配及综合,是提高目标测量精度的关键。目前,像点提取精度、特征点匹配精度根据现有算法已达到瓶颈,而在摄像机内部结构及标定等方面提高测量精度还有较大的研究空间。通过建立成像点坐标测量方程,综合分析各误差因素对目标位置的影响。通过实验分析与仿真,摄像机内部结构误差及标定误差对成像点坐标的影响在一个像素内,当f=0.031 9 m,目标距离为20 m时,目标位置总体测量精度为0.029 4 m。对光学成像系统内部结构的设计及电子器件的选型具有较大参考价值。

Solution of target pose is influenced by measurement error of 3D coordinate of target feature points directly, to determine error factors that influence target pose accurately, distribution and comprehensive on the errors reasonably is the key to improve measurement precision. At present, the accuracy of point extraction and feature points matching has reached a bottleneck according to the existing algorithm, but the internal structure and calibration of the camera which can reduce the measuring error has huge research space. In this paper, through establishing the coordinate measuring equation of image point, the impact of various error factors on location of the target was analyzed synthetically. Through the experimental analysis and simulation, the errors of internal structure and calibration which impact on the coordinate of imaging point is within a pixel, when f=0.031 9 m, and the distance of target is 20 m, measurement accuracy of the target is 0.029 4 m. It has great reference value on the design of the internal structure of optical imaging system and the selection of electronic devices.