基于编码标记点的高精度运动估计  

Coded marker-based high-accuracy motion estimation

作　　者：迟书凯[1] 叶旋 高翔[1] 解则晓[1] 陶冬冬 CHI Shu-kai;YE Xuan;GAO Xiang;XIE Ze-xiao;TAO Dong-dong(College of Engineering,Ocean University of China,Qingdao 266100,China)

机构地区：[1]中国海洋大学工程学院,山东青岛266100

出　　处：《光学精密工程》2021年第7期1720-1730,共11页Optics and Precision Engineering

基　　金：国家自然科学基金(No.62003319,No.42076192,No.62076026);山东省自然科学基金资助项目(No.ZR2020QF075);中国博士后科学基金资助项目(No.2020M682239);中央高校基本科研业务费专项(No.201964013)。

摘　　要：为实现前景运动的精确估计,本文提出了一种基于编码标记点的高精度运动估计方法。该方法在测量环境内的前背景中粘贴环状编码标记点,并在每次前景运动后采集若干图像,通过同时估计所有相机位姿以及背景固定标记点、前景运动标记点的空间坐标,获取前景运动六自由度参数(旋转、平移)。为实现上述目标,本文提出了包括基于随机抽样一致性的编码标记点识别与提取,图聚类的编码标记点与相机分组,增量式从运动恢复结构的背景点与相机位姿初始化,图优化的前景点与前景运动初始化以及广义光束平差的全局优化等在内的一套高精度运动估计流程。实验结果表明,本文提出的前景运动估计方法精度在0.3 mm左右,可以满足高精度前景运动估计的需求。In order to achieve accurate foreground motion estimation,a coded marker-based high-accuracy motion estimation method is proposed in this paper. First,several circular coded markers are pasted on the foreground and background of the measurement environment. Then,several images are captured after each foreground motion. Finally,based on the captured images,all the camera poses and the spatial coordinates of the fixed markers on the background and the moving markers on the foreground are estimated simultaneously to obtain the 6 Degrees of Freedom(DoF)parameters(rotation and translation)of foreground motion. To this end,a high-accuracy motion estimation pipeline is proposed in this paper,which includes RANdom SAmple Consensus(RANSAC)-based coded marker detection and recognition,graph clustering-based coded marker and camera partitioning,incremental Structure from Motion(SfM)-based background marker and camera initialization,graph optimization-based foreground marker and foreground motion initialization,and generalized Bundle Adjustment(BA)-based global optimization. The experimental results show that the accuracy of the proposed foreground motion estimation method is approximately 0. 3 mm,which is satisfactory for high-accuracy foreground motion estimation.

关 键 词：高精度运动估计 编码标记点 基于图聚类的分组 基于广义光束平差的全局优化 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]