不同时间信息条件下多目轨迹交会测量点目标运动的方法

Multi-camera trajectory triangulation for point target motion measurement in different conditions of time information

针对多相机对点目标的运动轨迹测量,提出不同时间信息条件下的多目轨迹交会法。对点目标运动轨迹进行时间多项式参数化描述,再将多个相机观察目标的系列视线与目标的参数化运动轨迹进行交会,通过最小化物方残差,确定出目标的运动轨迹。相对于传统的多目交会测量模式,本方法不仅能够有效地提高测量精度,而且能够在多相机之间观测不同步,或者时间未对准,甚至无时间信息的情况下仍得到目标的运动轨迹参数。相对于单相机测量模式时要求相机必须运动,多目情况下不要求相机自身运动。仿真实验和真实实验验证了该方法的有效性和高精度。

Multi-camera trajectory triangulation is proposed to determine a point target trajectory in different conditions of time information. The target trajectory is parameterized by time polynomial. The motion parameters can be determined by triangulating the series of sight rays of multi- camera and the target trajectory where the object space coninearity error is minimized. In contrast with the traditional triangulation, this method can not only get higher precision, but also adapt to the conditions of asynehrony, no time registration or even no time information among multi-camera. In contrast with the monocular system, there is no request of camera motion. Synthesized and real data experiments show the validity and high precision of the proposed method.