[1]宋代平,陆璐.多相机非共视场的非合作圆特征位姿测量方法[J].红外技术,2020,42(1):093-98.[doi:10.11846/j.issn.1001_8891.202001014]
 SONG Daiping,LU Lu.Non-cooperative Circle Characteristic Pose Measurement Using Multiple Cameras without Public Field of View[J].Infrared Technology,2020,42(1):093-98.[doi:10.11846/j.issn.1001_8891.202001014]
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多相机非共视场的非合作圆特征位姿测量方法
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《红外技术》[ISSN:1001-8891/CN:CN 53-1053/TN]

卷:
42卷
期数:
2020年第1期
页码:
093-98
栏目:
出版日期:
2020-01-23

文章信息/Info

Title:
Non-cooperative Circle Characteristic Pose Measurement Using Multiple Cameras without Public Field of View

文章编号:
1001-8891(2020)01-0093-06
作者:
宋代平陆璐
重庆大学 机械工程学院
Author(s):
SONG DaipingLU Lu
College of Mechanical Engineering, Chongqing University
关键词:
机器视觉位姿测量多相机非公共视场共面圆特征距离约束大目标近距离
Keywords:
machine vision pose measurement multi-camera non-public FOV coplanar circle feature distance constraint close large target
分类号:
TN209;TP242
DOI:
10.11846/j.issn.1001_8891.202001014
文献标志码:
A
摘要:
以大型光学模块转运时基于视觉的位姿测量为背景,利用目标底部同一平面的两个圆特征,针对大目标近距离对接时的环境限制,提出一种基于距离和角度约束的多相机非共视场位姿检测方法。对接时球头与锥孔正确对接,将两个相机分别固定于球头机构的内部后采集锥孔边缘的圆特征,利用非共视场成像的多相机标定获取两相机位置关系,融合多个相机的位姿信息,利用两圆共面和两相机位置关系约束剔除空间圆位姿解算时的虚假解。实验验证了该方法的精度,在1140 mm的工作距离时,圆边缘特征的姿态角误差小于0.5°,圆心的计算误差小于1.0 mm,实验结果表明该方法可准确计算位姿,结果可靠有效,在大目标近距离位姿测量时具有明显实用性。
Abstract:
Based on vision-based pose measurement during the trans-shipment of large optical modules, a non-public field of view(FOV) pose detection method for multi-cameras based on distance and angle constraints is proposed in this study. The method is developed by using two circular edges of the same plane at the bottom of the target of the installation module to eliminate the environmental constraints of close-range docking of large objects. While docking, the sphere of the transfer vehicle was correctly docked with the target cone hole. The two cameras were fixed in the hole of the sphere, and the circular features of the edge of the cone hole were collected. The position relationship between two cameras was obtained by multi-camera calibration in non-public FOV study on non-cooperative circle characteristic pose measurement using multiple cameras without public FOV imaging and the position and altitude information of multiple cameras were confluent. Finally, the false solutions in the pose calculation were eliminated using the constraints of two coplanar circles and two cameras’ position relations. The experimental results show that the method can accurately calculate the pose. The calculation process is concise, and the results are reliable and effective. The error of the attitude angle of the circular edge feature is less than 0.5 degrees, and the calculation error of the center of the circle is less than 1.0 mm at a working distance of 1140 mm. The proposed method has practical applications in measuring the position and altitude of large targets within close range.

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备注/Memo

备注/Memo:
收稿日期:2019-07-01;修订日期:2019-12-31.
作者简介:宋代平(1978-),男,四川绵阳人,副教授,博导,博士,主要从事机械设计、机器视觉及应用等研究方向。E-mail: songdp@cqu.edu.cn。
基金项目:国家自然科学基金联合基金项目(U1530138)。

更新日期/Last Update: 2020-01-20