基于单目相机的三点式激光器测距及位姿估计方法研究  

Monocular Camera-Based Three-Point Laser Pointer Ranging and Pose Estimation Method

作　　者：高嵩[1] 白礼卓 Gao Song;Bai Lizhuo(Chengdu University of Technology,Chengdu,Sichuan 610059,China)

机构地区：[1]成都理工大学,四川成都610059

出　　处：《光学学报》2021年第9期158-170,共13页Acta Optica Sinica

基　　金：国家重点研发计划(2017YFC0601904)。

摘　　要：针对现有基于单目相机的三点式激光器视觉测量系统易受激光特征点的2D图像检测误差、相机畸变误差、图像中心点坐标误差以及焦距等影响,提出一种新的测距及位姿估计方法,使姿态角的求解仅与距离值、相机固定参数和激光器安装位置相关。首先,控制三个激光器在平行射出光的情况下,对单目相机进行内参标定,初步解算相机中心点的位姿坐标;然后,根据不同距离下相机的标定参数,使用迭代法求解误差最小的深度值;最后,调整顶部激光器向下倾斜γ角,计算目标平面的偏航角和俯仰角。实验结果表明,在减少误差项影响的同时保证距离测量和姿态估计的准确度,在200 mm至600 mm之间的测距平均误差为0.65 mm,偏航角和俯仰角的误差均小于0.98°。The existing monocular-based three-point laser vision measurement system is susceptible to errors such as laser feature point 2D image detection,camera distortion,image center point coordinate,and focal length errors.Aiming at alleviating these errors,a new ranging and pose estimation is proposed.In the proposed method,the solution of the attitude angle is only related to the distance value,fixed parameters of the camera,and installation position of three lasers.First,the three lasers are controlled to calibrate the internal parameters of the monocular camera when emitting light in parallel,and the pose coordinates of the center point of the camera are calculated.Then,according to the calibration parameters of the camera at different distances,an iterative method is used to solve the minimum error.Finally,the downward tilt γ angle of the top laser is adjusted to calculate the yaw and pitch angles of the target plane.The experimental results show that the accuracy of distance measurement and attitude estimation is ensured while reducing the influence of the error term.The average error of distance measurement within a distance of 200-600 mm is 0.65 mm,and the error of yaw angle and pitch angle is less than 0.98°.

关 键 词：机器视觉 视觉测距 位姿估计 单目相机 P3P 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]