基于视觉原理的运动物体空间姿态测量技术研究

Study on Measuring the Pose of the Moving Object Based on Binocular Vision

针对物体运动姿态的测量问题,以提高姿态求解方法的便捷性和准确性为目的,研究了一种基于双目视觉相机高速摄影测量物体姿态的测试技术。为实现该测量,使用高速相机获取同步影像,利用特征点间的几何约束关系,通过姿态优化算法确定被测物体空间姿态。试验结果表明:该方法正确、可靠,测量频率达到100帧/s,姿态角测量误差小于0.04°。

To the question of measuring the moving object pose,a high speed spatial pose measurement system based on binocular vision photography was designed. The system can record the course with high precision synchronization. Geometry constraint relation of the special markets and optimization algorithm based on coordinates of multi-points were used in the pose algorithm of the moving object. Experimental results and theoretical analysis prove that the pose measurement method is correct and reliable.The frequency of the pose measurement system is 100 frames per second. The measurment error of the pose angle is less than 0. 04°.