多目立体视觉测量网络节点的位姿优化方法  

Optimization Method of Node Pose for Measurement Network Based on Multi-View Stereo Vision

作　　者：乔玉晶[1] 高胜彪 皮彦超 Qiao Yujing;Gao Shengbiao;Pi Yanchao(Robotics & Its Engineering Research Center, Harbin University of Science and Technology, Harbin, Heilongjiang 150080, China)

机构地区：[1]哈尔滨理工大学机器人技术及工程应用研究中心,黑龙江哈尔滨150080

出　　处：《激光与光电子学进展》2019年第5期178-185,共8页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(51675142)

摘　　要：提出了一种测量网络节点位姿的优化方法。建立了网络节点参数的数学模型,分析了位姿参数对测量精度的影响机理,仿真获得了位姿参数最优取值范围和优化初解。对标定板上标志点间距离进行三维视觉测量,结果表明,优化处理后测量相对误差约降低了0.6%。An optimization method for measuring network node pose is proposed. The mathematical model of network node parameters is established, the influence mechanism of pose parameters on the measurement accuracy is analyzed, and the optimal range and optimal initial solution of pose parameters are obtained by simulation. Distance between the mark points on calibration plate is measured by three-dimensional vision. Experimental results show that the relative error of measurement after the optimization is reduced by 0.6%.

关 键 词：机器视觉 多目立体视觉 测量网络 测量精度 节点位姿 优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]