基于光轴垂直双目立体视觉系统的物体运行姿态研究  

Study on dynamic object attitude based on a binocular stereo vision system with orthogonal optical axes

作　　者：张晓玲[1] 张宝峰[1] 林玉池[2] 刘冬梅[1] 

机构地区：[1]天津理工大学自动化学院天津市复杂系统控制理论及应用重点实验室,天津300384 [2]天津大学精密测试技术及仪器国家重点实验室,天津300072

出　　处：《光电子．激光》2010年第11期1693-1697,共5页Journal of Optoelectronics·Laser

基　　金：天津市高等学校科技发展基金项目(20090720)

摘　　要：提出了一种采用光轴垂直的双目视觉测量技术获得运动物体运行姿态角的方法。首先,对光轴垂直立体视觉系统进行了建模;然后,采用光轴垂直原理求取被测物体在某时刻的中轴矢量;最后,通过建立中轴矢量与姿态角间的数学关系得到被测物运行时的姿态角。实验结果表明,该测量方法具有较高的精度和速度,能满足远距离运动的被测物体运动参数的测量要求。The binocular vision measurement system is adopted to obtain the attitude of dynamic object.in which two CCDs are used and their optical axes are orthogonal.At first, the axis vector of the measured object is obtained using the orthogonal principle of two CCDs′ optical axes.Then the attitude of the moving object such as pitch angle, yaw angle and rotation angle can be obtained by the relationship between the axis vector and the attitude of the measured object.The results of experiment and analysis show that the measurement method has higher precision, and can meet the measurement requirements for the dynamic parameter of the moving object in a long distance.

关 键 词：双目立体视觉 光轴垂直 运动物体 姿态 中轴矢量 

分 类 号：TN247[电子电信—物理电子学]