视觉与倾角传感器组合相对位姿测量方法
首发时间:2015-09-30
摘要:针对视觉相对位姿测量问题,本文提出了一种视觉与倾角传感器组合的相对位姿测量方法,通过在相机和被测物上各放置一个倾角传感器,利用固定倾角传感器所提供的角度信息提供额外的约束来求解 PnP (Perspective-n-Point)问题,本文首先介绍了组合相对位姿测量方法的原理,随后通过仿真实验验证了该方法的正确性,并与现存的PnP问题求解方法比较,表明本文提出的方法具有较高精度,并且对噪声具有较强的鲁棒性,最后,实验结果表明本文提出的方法对空间15个特征点在x方向和y方向的平均反投影误差均小于为0.1 pixel,能够满足高精度位姿测量需求。
关键词: 视觉测量 Perspective-n-Point 倾角传感器 位姿测量
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A hybrid of vision and inclination sensor method for estimating relative pose
Abstract:To deals with the problem of estimatingthe relative pose between a camera and an object, this paper proposed a hybrid of vision and inclination sensor method for estimating relative pose.It is assumed that both the camera and the object are equippedwith an inclination sensor, the resulting pose estimation problem can be seen as a PnP (Perspective-n-Point) problem with inclination constraint. First, this paper introduces the principle of the proposed method, simulations results certify that the proposed method can improve the computing accuracy and depress the image noise comparing with other solutions to the PnP problem. Finally, the experimental results show that the average re-projection errors of x and y directions for 15 feature points are less than 0.1 pixels by using the proposed method, which can meet the needs of pose measurement.
Keywords: Vision measurement Perspective-n-Point Inclination sensor Pose estimation
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No.4655472101342014****
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