一种基于特征点间线段倾角的姿态测量方法  

A Method of Measuring Attitude Based on Inclined Angle of the Line Between Feature Points

作　　者：赵汝进[1,2] 张启衡[1] 徐智勇[1] 徐勇[1,2] 左颢睿[1,2] 吴明军[1,2] 

机构地区：[1]中国科学院光电技术研究所,成都610209 [2]中国科学院研究生院,北京100049

出　　处：《光子学报》2010年第2期320-324,共5页Acta Photonica Sinica

基　　金：国家高技术研究发展计划高新技术预研课题(2003AA823050)资助

摘　　要：基于目标特征点间线段倾角信息,提出了一种适合于目标远距离成像和相机内参未知条件下解算目标姿态的目标3维姿态测量方法.采用仿真图像对该方法的正确性进行了验证.实验结果:姿态测量误差绝对值均值小于0.6°,且目标成像尺寸为350pixel时,姿态测量误差绝对值小于0.5°.实验表明该算法具有较高解算准确度和较强的收敛性.A method of measuring 3D attitude of objects based on inclined angle of the lines between feature points is proposed,which is applicable to the condition that inter parameter is unknown and object is in a long distance. Synthetic images are applied to verify the correctness of the proposed method. As a result, the mean of absolute value of attitude error is less than 0.6°,and when the size of target are 350 pixels,the measuring error is less than 0.5°. The result shows that the proposed method is with highly correct and strongly convergent.

关 键 词：三维姿态 单目视觉 特征点 姿态估计问题 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]