用于位姿测量的LED标识点坐标优选方法

Optimized Selection of LED Feature Points Coordinate for Pose Measurement

单目视觉位姿测量过程中,被测物体与摄像机光轴之间的夹角随着姿态的变化而变化,并受到环境噪声、提取算法和摄像机等因素的影响,像平面的像点坐标存在不可忽略的误差,单目多角度标识点三维坐标测量方法实现了位姿测量过程和坐标测量过程的统一,能够减小图像中心提取误差的影响.本文研究了单目视觉位姿测量的误差传播模型,从摄像机图像误差出发,预测和估计输出姿态误差,选取最适合的单目多角度定位标识点坐标,实验结果证明本文提出的基于误差传播的定位标识点坐标优选方法能够有效地提高单目视觉位姿测量的精度.

In monocular vision pose measurement process,the angles between the optical camera axis and the object vary with attitude.Considering environmental noise,extraction algorithm and camera factors,image point extraction error cannot be ignored.A multi-angle monocular measurement system is developed,which could combine pose measurement with coordinate measurement and reduce the effect of image center extraction error.A monocular vision pose measurement error transferring model is developed to deduce the error propagation formulas from image point error to final output pose error.Based on the prediction and estimation of output pose error,feature points coordinate is selected.Experimental results show that the selected feature points coordinate can effectively improve the pose measurement accuracy.