基于OpenGL的目标物3维位姿估计研究  

The 3D Pose Estimation of the Object Based on OpenGL

作　　者：张磊[1,2] 郭志阳 李红兵 戴丽娟 张兴国[1] ZHANG Lei;GUO Zhiyang;LI Hongbing;DAI Lijuan;ZHANG Xingguo(School of Mechanical Engineering,Nantong University,Nantong Jiangsu 226019,China;Department of Mechanical Engineering,Lassonde School of Engineering,York University,Toronto M3J 1P3,Canada;Department of Instrument Science and Engineering,Shanghai Jiaotong University,Shanghai 200240,China;Department of Psychology,University of Texas at Arlington 76019,USA)

机构地区：[1]南通大学机械工程学院,江苏南通226019 [2]约克大学拉德松学院机械工程系,加拿大多伦多M3J 1P3 [3]上海交通大学仪器科学与工程系,上海200240 [4]德州大学阿灵顿分校心理系,美国德克萨斯州阿灵顿76019

出　　处：《江西师范大学学报（自然科学版）》2019年第5期462-468,共7页Journal of Jiangxi Normal University(Natural Science Edition)

基　　金：江苏省“六大人才高峰”(2015-ZBZZ-023);上海市自然科学基金(18ZR1421300);上海市高新技术课题(181511108202);2017年度江苏省政府留学奖学金;2018年度江苏省政府留学奖学金资助项目

摘　　要：针对目标物在3维空间中的位姿估计存在获取困难、稳定性差和精度偏低等问题,采用将虚拟信息与实际图像信息相对应的方式,提出了一种基于OpenGL的目标物3维位姿估计方法.从理论上分析了虚拟与实际成像模型之间的关系,利用OpenGL构建了虚拟空间的模型;在技术上基于VC环境引入OpenGL库,通过虚拟视觉跟踪将目标物的OpenGL模型在显示窗口的投影匹配于实际目标图像,以匹配状态下的虚拟模型的位姿作为实际目标物的3维位姿,通过“最小化重投影误差”目标函数优化3维位姿值.实验结果表明,该方法可借助虚拟空间获取目标物位姿,可避免采用标定法实现的繁琐与不稳定问题,而且位姿估计精度相比传统方法更高,达到了优良水平.In the research of pose estimation for an object in the space,most existing methods have the problem of low precision and difficulty in direct acquisition.A 3D pose estimation method based on OpenGL is proposed by matching the image information with the virtual information in this paper.The relationship between virtual and real imaging models is theoretically analyzed and the actual projection is simulated by constructing a virtual space based on OpenGL.In technical level,the actual target image is matched by virtual visual tracking model and optimized with the"Bundle adjustment".The experimental results show that the proposed method can obtain the object pose parameters from the virtual space.It avoids the instability of calibration-based methods,and can achieve good accuracy in pose estimation.

关 键 词：OPENGL 虚拟现实 位姿估计 外参数标定 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]