| 一种基于圆特征的单目视觉位姿测量算法的改进 |
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| 引用本文： | 张磊,徐科军,赵锐,梁利平.一种基于圆特征的单目视觉位姿测量算法的改进[J].合肥工业大学学报(自然科学版),2009,32(11). |
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| 作者姓名： | 张磊 徐科军 赵锐 梁利平 |
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| 作者单位： | 合肥工业大学,电气与自动化工程学院,安徽,合肥,230009 |
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| 摘 要： | 文章改进了针对圆特征的单目视觉测量算法,加入激光测距仪信息,解决了2组解的判定问题;当空间圆半径未知时,基于一幅图像就可以测量出圆的全部位姿信息,与原算法需要控制相机运动,拍摄2幅图像计算相比,更加方便和快捷;建立了具体的计算模型,进行了数值仿真,仿真实验结果表明,改进算法是有效的,可以用于机器人定位、空间交会对接和捕获等方面.
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| 关 键 词： | 位姿测量 单目视觉 激光测距仪 圆特征 |
Improvement of position and orientation measurement algorithm of monocular vision based on circle features |
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| ZHANG Lei,XU Ke-jun,ZHAO Rui,LIANG Li-ping.Improvement of position and orientation measurement algorithm of monocular vision based on circle features[J].Journal of Hefei University of Technology(Natural Science),2009,32(11). |
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| Authors: | ZHANG Lei XU Ke-jun ZHAO Rui LIANG Li-ping |
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| Abstract: | This paper improves a position and orientation algorithm of monocular vision based on circular features. The information of laser rangerfinder is used to select correct one from two solutions of the equations. When the radius of a spatial circle is unkown,the improved algorithm can measure all parameters of circular position and orientation according to an image. Compared with previous algorithms, the improved algorithm is more convenient and quicker because it does not need moving the camera to take two pictures. A computational model is built up, and the simulations are carried out. The simulation results show that the improved algorithm is effective and can be applied to robot localization, space rendezvous and docking. |
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| Keywords: | position and orientation measurement monocular vision laser rangefinder circle feature |
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