基于激光视觉技术的运动目标位姿测量与误差分析  

Measurement and Error Analysis of Moving Target Based on Laser Vision Technology

作　　者：张慧智[1] 高箴[1] 周健 ZHANG Huizhi;GAO Zhen;ZHOU Jian(.North China Electric Power University,Beijing,102206,China;China Three Gorges University,Yichang 443002,China)

机构地区：[1]华北电力大学,北京102206 [2]三峡大学,湖北宜昌443002

出　　处：《激光杂志》2020年第4期81-85,共5页Laser Journal

基　　金：国家自然科学基金(No.61873255)。

摘　　要：针对当前方法测量运动目标姿态和位置存在精度较低的问题,将激光视觉技术应用到运动目标位姿的测量中,提出基于激光视觉技术的运动目标位姿测量与误差分析方法。利用三维激光扫描仪和双目相机构成的系统,实现运动目标位姿的测量,分别采用三维激光扫描仪和双目相机采集运动目标的深度信息和二维图像信息,融合深度信息和二维图像信息,获取运动目标的位姿。通过三维坐标和光斑图像坐标、外部参数以及位姿解算之间存在的误差传递矩阵,构建运动目标位姿测量综合误差传递模型,利用误差传递模型对测量结果中存在的位姿误差进行分析,根据分析结果对运动目标位姿测量过程进行改进和优化,提高运动目标位姿测量结果的精度。在模拟风洞的实验环境中,验证了基于激光视觉技术的运动目标位姿测量与误差分析方法的可行性。Aiming at the problem that the current method measures the low precision of the moving target pose and position,the laser vision technology is applied to the measurement process of the moving target pose,and the moving target pose measurement and error analysis method based on laser vision technology is proposed. The system consisting of a 3D laser scanner and a binocular camera is used to measure the pose of the moving target,and the depth information and the 2D image information of the moving target are collected by the 3D laser scanner and the binocular camera respectively,and the depth information and the 2D image are combined. Information to obtain the pose of the moving target. Through the error transfer matrix between the three-dimensional coordinates and the spot image coordinates,external parameters and pose calculation,the integrated error transfer model of the moving target pose measurement is constructed,and the pose error existing in the measurement results is analyzed by the error transfer model. According to the analysis results,the moving target pose measurement process is improved and optimized to improve the accuracy of the moving target pose measurement results. The feasibility of the motion target pose measurement and error analysis method based on laser vision technology is verified in the experimental environment of simulated wind tunnel.

关 键 词：激光视觉技术 运动目标 位姿测量 误差分析 

分 类 号：TN249[电子电信—物理电子学]