| 一种基于特征点间线段倾角的姿态测量方法 |
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| 引用本文： | 赵汝进,张启衡,徐智勇,徐勇,左颢睿,吴明军.一种基于特征点间线段倾角的姿态测量方法[J].光子学报,2010,39(2):320-324. |
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| 作者姓名： | 赵汝进 张启衡 徐智勇 徐勇 左颢睿 吴明军 |
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| 作者单位： | 1. 中国科学院光电技术研究所,成都,610209;中国科学院研究生院,北京,100049
2. 中国科学院光电技术研究所,成都,610209 |
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| 基金项目： | 基金项目：国家863计划高新技术预研课题资助项目（2003AA823050）;陕西省自然科学基金资助 |
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| 摘 要： | 基于目标特征点间线段倾角信息,提出了一种适合于目标远距离成像和相机内参未知条件下解算目标姿态的目标3维姿态测量方法.采用仿真图像对该方法的正确性进行了验证.实验结果:姿态测量误差绝对值均值小于0.6°,且目标成像尺寸为350pixel时,姿态测量误差绝对值小于0.5°.实验表明该算法具有较高解算准确度和较强的收敛性.
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| 关 键 词： | 三维姿态 单目视觉 特征点 PNP问题 |
| 收稿时间： | 2008-08-10 |
| 修稿时间： | 2008-10-07 |
A Method of Measuring Attitude Based on Inclined Angle of the Line Between Feature Points |
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| ZHAO Ru-jin,ZHANG Qi-heng,XU Zhi-yong,XU Yong,ZUO Hao-rui,WU Ming-jun.A Method of Measuring Attitude Based on Inclined Angle of the Line Between Feature Points[J].Acta Photonica Sinica,2010,39(2):320-324. |
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| Authors: | ZHAO Ru-jin ZHANG Qi-heng XU Zhi-yong XU Yong ZUO Hao-rui WU Ming-jun |
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| Institution: | 1 Institute of Optics and Electronics;Chinese Academy of Sciences;Chengdu 610209;China;2 Graduate University of Chinese Academy of Sciences;Beijing 100049;China |
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| Abstract: | A measuring method of the 3D attitude of objects based on inclined angle of the lines between feature points is proposed, which is applicable to the condition that inter parameter is unknown and object is in a long distance. Synthetic images are applied to verify the correctness of the proposed method. As a result, the mean of absolute value of attitude error is less than 0.6°, and when the size of target are 350 pixels, the measuring error is less than 0.5°. The result shows that the proposed method is more highly correct and more strongly convergent. |
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| Keywords: | 3D attitude Mono-vision Feature point PNP problem |
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