特征光斑单目视觉空间定位方法  

3D reconstruction of feature point on object surface from a single image

作　　者：霍炬[1] 仲小清[2] 杨明[2] 

机构地区：[1]哈尔滨工业大学电气工程与自动化学院,哈尔滨150001 [2]哈尔滨工业大学控制与仿真中心,哈尔滨150080

出　　处：《哈尔滨工业大学学报》2011年第9期47-50,55,共5页Journal of Harbin Institute of Technology

基　　金：哈尔滨工业大学优秀青年教师培养计划资助项目(HITQNJS2007021);黑龙江省杰出青年科学基金资助项目(JC200606)

摘　　要：为了满足地面试验中运动目标位姿参数视觉测量系统的研制需求,基于单目视觉原理设计了大视场条件下实际平面上特征光斑的精确空间定位方法.建立了特征光斑的成像模型,给出了实际平面对特征光斑空间位置的约束,进而提出了特征光斑的单目视觉空间定位方法,并依据实际平面的特点设计了高阶曲面型、分块平面型和分块曲面型等三种类型实际平面上特征光斑空间定位的具体实现方法.所提方法可以满足8 000 mm×8 000 mm视场范围内特征光斑的空间定位需求,相对定位误差小于1/10 000.For the design and development of a vision sensor for the ground test,a method of 3D reconstruction of feature point on large scale object surface from a single image is proposed.By establishing the math model of the 3D coordinate of feature point on the object surface and using the spatial ray through feature point,the 3D coordinate of the feature point can be determined using single image.According to the characteristics,the object surface can be classified into three types： high order surface type,block plane type and block surface type,while the corresponding location methods are introduced.The accuracy of three different 3D reconstruction methods is compared by simulation experiments.By the measurement precision of 1/10 000 in the range of 8 000 mm×8 000 mm,it is proved that the proposed method is suitable for 3D reconstruction of feature point on large scale object surface.

关 键 词：机器视觉 空间定位 单目视觉 大视场 特征光斑 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]