基于单目视觉的矩形靶面弹着点测量  

Measurement of impact point of rectangular target surface based on monocular vision

作　　者：王海亮 陈登旭 刘吉[2] 王鹏[2] 黄晓慧 WANG Hailiang;CHEN Dengxu;LIU Ji;WANG Peng;HUANG Xiaohui(Information Construction and Management Office,North University of China,Taiyuan 030051,China;School of Information and Communication Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学信息化建设与管理处,山西太原030051 [2]中北大学信息与通信工程学院,山西太原030051

出　　处：《应用光学》2021年第1期131-136,共6页Journal of Applied Optics

基　　金：装备预研重点实验室基金(6142001180413);山西省自然科学基金(201901D111159);山西省归国留学基金(2019-68)。

摘　　要：目前机器视觉技术广泛应用于弹着点坐标的测量领域,针对双目视觉技术标定、演算复杂的问题,提出一种基于单目视觉技术的弹着点测量方法。通过图像处理技术定位出靶面4个角点以及弹着点像素坐标,采用矩形P4P方法解算出靶面坐标相对于相机坐标系的位姿,根据单目视觉成像原理计算出弹着点在靶面的实际坐标。根据该方法成功测量出了实验中靶面弹孔的坐标,最大测量误差为2.3 mm。结果表明,该方法可以快速、精确测量靶面与相机的位姿关系以及弹着点的坐标。At present,machine vision technology is widely used in the field of impact point coordinate measurement.In order to solve the problem of binocular vision technology calibration and complex calculation,a method of impact point measurement based on monocular vision technology was proposed.The four corner points of the target surface and the pixel coordinates of the impact point was located through image processing technology,the rectangular P4P method was used to calculate the posture of the target surface coordinates relative to the camera coordinate system,and the actual coordinates of the impact point on the target surface was calculated according to the principle of monocular vision imaging.According to this method,the coordinates of target bullet hole in the experiment were successfully measured,and the maximum test error was 2.3 mm.The results show that the method can quickly and accurately measure the position and attitude relationship between the target surface and the camera and the coordinates of the impact point.

关 键 词：单目视觉 矩形P4P方法 相机标定 图像处理 

分 类 号：TN29[电子电信—物理电子学]