基于角度约束的目标位姿测量二义性剔除方法

为了有效解决单圆特征目标位姿解存在二义性的问题，提出了基于角度约束的目标位姿虚假解的消除方法。在相机标定好的前提下，在水平面上平移相机系统获得两幅或两幅以上具有圆特征的目标物图像，以圆形特征目标物的真实姿态角在相机坐标系下保持不变作为约束，可以有效剔除虚假解。可将该方法应用于末端安装摄像机的工业机器人，操控机器人做已知的平移运动从而有效剔除圆特征目标位姿的虚假解。通过实验验证，圆特征目标姿态角的绝对误差小于0.5°，然后可通过真实姿态选出对应目标的真实位置。该方法简单易行，不需要额外的高昂设备就能精确地定位出物体的真实位姿，成功率可达100%。

Solution of duality in target pose measurement based on angle constraint

In order to solve duality in pose estimation of single circle feature, a method for eliminating the false pose of the target pose based on angle constraint is proposed. Under the premise of camera calibration, two or more images of circular target are obtained by translating the camera system on a horizontal plane. Based on the nature that real attitude angle of circular target remains unchanged in the camera coordinate system, the false solution can be effectively eliminated. This method can be applied to the industrial robot with a camera installed at the end of the robot, the false solution can be eliminated by controlling the robot to do the known translational motion. Experimental results show that the absolute error of the attitude angle is less than 0.5°, and the true position of the corresponding target is selected by the real attitude. The method is simple and easy to operate, which can accurately locate the true position of the object without additional high equipment. The success rate can reach 100%.