CCD非可视区域下空间方位角检测方法

传统单目视觉系统在测量物体空间方位角方面存在一定的局限性，只能检测出视场范围内物体的空间方位角，对于不在CCD视场范围内物体的检测难以实现。为此，提出一种旋转矩阵法来测量非可视区域下物体的空间方位角。旋转矩阵法根据张正友标定法原理，通过对合作目标上的特征点进行识别标定处理，求出合作目标旋转轴空间方位角，间接求出物体在CCD非可视区域下的空间方位角。实验表明，该方法具有一定的可行性和稳定性，采用该方法计算出的物体空间方位角的均方根误差均不高于0.06。

Space azimuth detection under CCD non-vision area

The traditional monocular vision system has certain limitations when space azimuth is measured. It is not feasible for the condition under which the object is without the scope of the CCD field. Therefore, a kind of rotation matrix method to measure the objects space azimuth under CCD non-vision area is proposed. According to the principle of Zhang Zhengyou calibration method, the rotation matrix method, through processing with feature points on the cooperative target, works out rotation axiss space azimuth of the cooperative target. Then the objects space azimuth under CCD non-visual area is indirectly obtained. Experiments indicate that the rotation matrix method has certain feasibility and stability, and the root mean square error of the objects space azimuth calculated by this method is lower than 0.06.