基于单摄像机的物体位置和姿态变形测量研究

结合大型结构变形测量的折线摄像测量方法,针对单摄像机测量物体位置和姿态变形的方法进行了研究,重点介绍了基于物空间共线方程的正交迭代算法,提出了目标函数奇异值分解(SVD)求解算法中出现错误的根源,并基于VC++开发平台实现了健壮性和实用性更好的四元数求解算法,最后对单摄像机位置姿态变形测量的精度进行了数值仿真和实测实验的验证。实验表明,当测量距离为3 m、视场大小为0.8 m×0.6 m时,分辨率为1 600×1 200 pixel的单摄像机测量姿态角变形的精度可以达到20"。

Study on deformation measurement of position and attitude based on monocular vision

Combining with the fold line videometrics method to measure the deformation of large structures,the monocular vision method to measure the position and attitude is studied.The algorithms of measuring position and attitude are summarized,in which the orthogonal iteration algorithm based on the object space collinearity equation is emphasized.The really reason of causing errors in SVD method to solve the object function is indicated.The more robust and practical algorithm using unit quaternion is realized in ...