运动目标视觉跟踪测量系统与场地坐标系的快速统一方法  

Expeditions calibration algorithm of visual tracking and measurement system with field coordinate system for moving target

作　　者：郑学汉[1,2] 魏振忠[1] 张广军[1] 

机构地区：[1]北京航空航天大学精密光机电一体化技术教育部重点实验室,北京100191 [2]山东建筑大学信息与电气工程学院,山东济南250101

出　　处：《红外与激光工程》2015年第7期2175-2181,共7页Infrared and Laser Engineering

基　　金：国家自然科学基金(61340054);北京市自然科学基金(3142012);国家重大科学仪器设备开发专项(2012YQ140032)

摘　　要：车载移动式视觉跟踪与测量系统在实际应用中,快速便捷地进行视觉系统与场地坐标系的全局统一是关键技术。结合视觉系统与现场特点,阐述了系统标定原理,给出了视觉跟踪与测量系统相对于场地坐标系转换数学模型。该方法的基本思路是转台视轴分别指向场地坐标系内的两个控制点,根据两点对应的俯仰角、方位角及距离确定两坐标系的转换关系。仿真分析和实验结果表明:角度和距离精度分别达到0.03°和0.52%。该方法便捷、高效,对移动式视觉测量系统坐标系快速统一有实用价值。Expeditious calibration of vision measurement system with field coordinate system is fundamental and crucial, especially for movable visual tracking and measurement system. The calibrating principle of coordinate transformation was elaborated based on their characteristic, and mathematical model of the algorithm was proposed to calibrate the visual measurement system with field coordinate system. Two control points that parallel the axis in field coordinate were used as target. The calibrating results were computed based on azimuth and pitch angle of the visual measurement system when the line-of-sight collimated the control points. Simulation analysis and real data experiment results show that the angle error is 0.03°, and length error is 0.52%. The proposed algorithm is practical, convenient and wieldy to movable vision measurement coordinate system expeditious calibration.

关 键 词：位姿测量 转台 坐标系快速统一 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]