基于单目视觉和圆结构光的目标姿态测量方法

为解决实际工程中无法在被测目标表面设置固定特征来配合单目视觉系统实现目标姿态测量的难题,将圆结构光源引入单目视觉系统中。通过建立圆结构光的视觉姿态测量模型，提出了一种基于单目视觉和圆结构光的目标姿态测量方法。利用图像处理获取不同姿态下目标表面的结构光光条图像的数学参数；然后将其输入到姿态测量算法中，得到目标表面结构光光条的法向量；最后利用目标表面的参考点与结构光光条中心之间的距离约束关系确定唯一解。实验结果表明，该方法有效可行，测量误差平均在0.5°以内，更便于机器人抓取等工程领域的应用。

Pose measurement of target based on monocular vision and circle structured light

In order to solve the problem that the settled features cannot be set on the target’s surface to achieve pose measurement of target with monocular vision system, the circle structured light was mounted to the monocular vision system. By establishing the visual pose measurement model based on circle stuctured light, a new target’s pose measurement method based on monocular vision and circle structured light was proposed. Firstly, the mathematical parameters of structured light stripe projection on target’s surface in different poses were obtained by image processing. And the parameters were input to the pose measurement algorithm. Then the normal vectors of structured light stripe projection on the target’s face were obtained. Finally, the only solution was determined by the distance constraint relationship between the referential point of target’s surface and the structured light strip center. Experimental results show that this method is effective and feasible，and the average errors are less than 0.5°. This method is more convenient for engineering applications, for example, the robot grasping.