基于Radon变换的轴对称目标三维姿态测量方法  

3DPose Measurement Method for Axes Symmetry Object Based on Radon Transform

作　　者：赵江涛[1] 张锁平[1] 张东亮[1] 董涛[1] 刘宁[1] 

机构地区：[1]国家海洋技术中心,天津300112

出　　处：《半导体光电》2015年第5期843-848,共6页Semiconductor Optoelectronics

基　　金：国家海洋公益性行业科研专项项目(201305033);国家自然科学基金项目(41206031)

摘　　要：为测量轴对称目标的俯仰角和偏航角,提出了一种基于Radon变换的轴对称目标三维姿态测量新方法。首先分析了目标成像模型和三维姿态测量原理;其次采用Radon变换算法提取目标的初始中轴线,然后利用最小二乘拟合法优化得到更加精确的结果;最后,以投弃式温深仪探头为对象,设计了仿真及物理实验来验证所提方法。仿真及物理实验表明,该方法能精确地提取目标的中轴线,中轴线角度平均误差小于0.02°。搭建的双目视觉测量系统可以用于目标三维姿态测量,测量精度满足应用需求。In order to measure the yaw angle and pitching angle of the axes symmetry object,a novel method of measuring its 3D pose based on Radon transform was proposed.Firstly,the model of imaging and the principle of 3Dpose measurement were analyzed.Secondly,Radon transform was used to extract the object＇s initial axes and the least square algorithm was used to gain more accurate results.Finally,simulation and physical experiments were designed to confirm the proposed method using XBT probe.Experimental results show this method can extract the axes of symmetry object in high precision and the mean error of the axes angle is within 0.02°.The binocular stereo vision measurement system can be used to measure object＇s 3D pose and the precision can satisfy application requirements.

关 键 词：姿态测量 RADON变换 中轴线提取 双目立体视觉 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]