利用单站光测图像确定回转体目标三维姿态

王超; 张涯辉; 何培龙

利用单站光测图像确定回转体目标三维姿态

王超^1,2,3,
张涯辉^1,2,
何培龙^1,2

1.
中国科学院光电技术研究所,四川成都 610209;
2.
中国科学院光束控制重点实验室,四川成都 610209;
3.
中国科学院大学,北京 100049

详细信息

作者简介:
王超（1986-），男，硕士生，主要从事信息获取与处理方面的研究。Email：chao_0506@163.com；何培龙（1965），男，副研究员，硕士，光电跟踪测量系统与设备总体技术。Email：hepeilong@ioe.ac.cn

王超（1986-），男，硕士生，主要从事信息获取与处理方面的研究。Email：chao_0506@163.com；何培龙（1965），男，副研究员，硕士，光电跟踪测量系统与设备总体技术。Email：hepeilong@ioe.ac.cn

中图分类号: TP391;V556

Determination of rotary object’s 3D pose from mono-view

Wang Chao^1,2,3,
Zhang Yahui^1,2,
He Peilong^1,2

1.
The Institute of Optics and Electronics,The Chinese Academy of Sciences,Chengdu 610209,China;
2.
Key Laboratory of Beam Control,Chinese Academy of Sciences,Chengdu 610209,China;
3.
University of Chinese Academy of Sciences,Beijing 100049,China

摘要: 为了实现回转体目标姿态的测量，基于光电经纬仪的单站测量布站灵活，不受测站地理条件的限制，而且避免了图像的立体匹配，具有较高的应用价值。文中充分利用空间目标的几何先验知识，在用光电经纬仪单站空间余弦姿态测量方法来获得目标姿态参数的基础上，进行了进一步的完善和改进，降低了该算法对图像质量的要求，增加了算法的实用性。模拟实验结果表明，该方法姿态角测量误差小于0.5，结果稳定，能够满足回转体目标空间三维姿态的高精度测量的要求。
- 姿态测量 /
- 单目测姿 /
- 光电经纬仪 /
- 回转体
Abstract: In order to realize the rotary object pose measurement, single-station measurement based on photoelectric theodolite with flexible station placement, without station geographical restrictions, and the stereo matching image has a high application value. The measuring method and the principle of attitude angle were introduced. Taking full advantage of the knowledge of space-objects figuration, on the basis of the photoelectric theodolite single station space cosine attitude measurement method to obtain the target attitude parameters, through the further development and improvement, the requirements of this algorithm on image quality was reduced and the applicability of the algorithm was increased. Compared with other methods of measurement, the simulation experiments demonstrate that the pose measuring method is less than 0.5 accuracy, the measuring result is stable. It can satisfy the need of high accurate measurement of spatial 3D pose measurement of rotary object with very good practicability.
- pose measurement /
- mono-view /
- photoelectric theodolite /
- rotary object

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利用单站光测图像确定回转体目标三维姿态

Determination of rotary object’s 3D pose from mono-view

计量

利用单站光测图像确定回转体目标三维姿态

1. 中国科学院光电技术研究所,四川成都 610209;

2. 中国科学院光束控制重点实验室,四川成都 610209;

3. 中国科学院大学,北京 100049

English Abstract

Determination of rotary object’s 3D pose from mono-view

1. The Institute of Optics and Electronics,The Chinese Academy of Sciences,Chengdu 610209,China;

2. Key Laboratory of Beam Control,Chinese Academy of Sciences,Chengdu 610209,China;

3. University of Chinese Academy of Sciences,Beijing 100049,China

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目录

留言板

利用单站光测图像确定回转体目标三维姿态

Determination of rotary object’s 3D pose from mono-view

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出版历程

利用单站光测图像确定回转体目标三维姿态

1. 中国科学院光电技术研究所,四川 成都 610209; 2. 中国科学院光束控制重点实验室,四川 成都 610209; 3. 中国科学院大学,北京 100049

English Abstract

Determination of rotary object’s 3D pose from mono-view

1. The Institute of Optics and Electronics,The Chinese Academy of Sciences,Chengdu 610209,China; 2. Key Laboratory of Beam Control,Chinese Academy of Sciences,Chengdu 610209,China; 3. University of Chinese Academy of Sciences,Beijing 100049,China

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目录

1. 中国科学院光电技术研究所,四川成都 610209;

2. 中国科学院光束控制重点实验室,四川成都 610209;

3. 中国科学院大学,北京 100049

1. The Institute of Optics and Electronics,The Chinese Academy of Sciences,Chengdu 610209,China;

2. Key Laboratory of Beam Control,Chinese Academy of Sciences,Chengdu 610209,China;

3. University of Chinese Academy of Sciences,Beijing 100049,China