摘要
目前视觉测量技术针对工业目标的六自由度测量,存在难以兼顾测量效率、精度与范围的问题。为此,本文提出了一种基于扫摆式多相机跟踪的六自由度测量方法,通过同站位不同角度多图像观测联合构成大尺寸坐标计算的冗余约束量,来实现高效率、高精度、大范围位姿测量。首先,提出相机旋转扫摆运动模型,快速估计相机位姿,并作为先验信息进行图像匹配与空间后方交会,得到精确相机位姿,进行空间前方交会;然后,提出了基于像点平差的位姿估计方法,直接利用物体移动前后的像点信息作为观测值,进行物体位姿的最优化估计。实验结果表明,测量效率提高了4倍,单点精度的最大误差不超过0.2 mm,姿态精度的最大误差不超过0.043°,证实提出方法能有效测量物体的六自由度位姿,一定程度上平衡了测量效率、精度与范围的矛盾。
At present,for sixdegreesoffreedom measurement of industrial targets,the visual measurement technology has difficulty in taking account of the measurement efficiency,accuracy,and range.Therefore,this paper proposes a sixdegreeoffreedom measurement method based on swinging multicamera tracking to achieve high efficiency,high accuracy,and large range pose measurement by combining multiple images in different angles of same position to form redundant constraints for largesize coordinate calculation.First,a camera rotationswing motion model is proposed to realize fast estimation of the camera pose,and use it as a priori information to perform image matching and space resection to obtain accurate camera pose,to perform space forward intersection.Then,a pose estimation method based on image point adjustment is proposed,which directly uses the image point information of the object’s moving as the observation value to get its optimal pose estimation.Experimental results show that the measurement efficiency is increased by 4 times,the maximum error of singlepoint accuracy is no more than 0.2 mm,and the maximum error of pose accuracy is no more than 0.043°,which proves that the proposed method can effectively measure the sixdegreeoffreedom posture and balance the measurement efficiency,accuracy,and range.
作者
曹首钦
孙子杰
杨泽
孙岩标
邾继贵
Cao Shouqin;Sun Zijie;Yang Ze;Sun Yanbiao;Zhu Jigui(State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,China;Beijing Spacecrafts,Beijing 100094,China)
出处
《激光与光电子学进展》
CSCD
北大核心
2023年第3期289-297,共9页
Laser & Optoelectronics Progress
基金
国家自然科学基金(52075382)。
