大场景光学运动捕捉系统标定方法研究  

Calibration Method for Optical Motion Capture System in Large Scene

作　　者：罗豪龙 李建胜[1] 邹丹平[2] 杨子迪 李广云[1] LUO Haolong;LI Jiansheng;ZOU Danping;YANG Zidi;LI Guangyun(School of Geospatial Information,Strategic Support Force Information Engineering University,Zhengzhou 450001,China;Shanghai Key Laboratory of Navigation and Location-based Services,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]战略支援部队信息工程大学地理空间信息学院,郑州450001 [2]上海交通大学上海市北斗导航与位置服务重点实验室,上海200240

出　　处：《光子学报》2023年第11期215-229,共15页Acta Photonica Sinica

基　　金：国家自然科学基金(No.42071454)。

摘　　要：为解决大场景下光学运动捕捉系统精度检测困难的问题,提出利用全站仪标定大场景下光学运动捕捉系统定位精度的方法。首先在光学运动捕捉系统的四个分区域均匀选取若干公共点,其次利用同尺寸同心靶球解决全站仪和光学运动捕捉系统测量点不一致的问题,之后通过全站仪和光学运动捕捉系统分别测量得到公共点的真实值和测量值,基于罗德里格矩阵的抗差最小二乘迭代方法计算全站仪坐标系到光学运动捕捉系统坐标系的位姿变换矩阵,最后坐标系统一并计算光学运动捕捉系统在分区域和整体区域下的定位精度。同时,基于该方法实现了度量运动捕捉系统和Vicon运动捕捉系统的外参标定。实验结果表明:光学运动捕捉系统在四个分区域的定位精度分别为2.385 mm、0.877 mm、1.787 mm、2.890 mm,整体区域下光学运动捕捉系统的定位精度为8.126 mm。说明大场景下光学运动捕捉系统的定位精度明显降低,验证了利用全站仪进行光学运动捕捉系统标定和运动捕捉系统外参标定的可行性和有效性。Optical motion capture systems are devices used to track and capture target movements and obtain the position and attitude of the target in real time.In practical tasks such as UAV obstacle avoidance,vehicle-machine co-positioning and multi-machine co-operation,optical motion capture systems are required to provide reliable and high-precision positioning coordinates for targets.On the one hand,the optical motion capture system provides high-precision positioning coordinates for the target to assist in tasks such as navigation and obstacle avoidance;on the other hand,the optical motion capture system provides high-precision positioning true values for the target to verify the accuracy of the positioning and navigation algorithms.However,the actual positioning accuracy of the optical motion capture system is often much lower than the manufacturer′s nominal accuracy due to factors such as the camera distribution,number of cameras in the optical motion capture system and vibrations in the field.Therefore,it is urgent and necessary to verify the actual positioning accuracy of optical motion capture systems in large scenes.Especially in large scenes,optical motion capture systems suffer from scattered camera distribution,a small number of cameras in the common viewing area,and long camera-target distances,resulting in inaccurate positioning.If the actual positioning accuracy of the optical motion capture system is significantly different from the nominal accuracy,the performance of the motion capture system will be greatly reduced and it will be difficult for the motion capture system to perform its actual function.In general,the positioning accuracy of the optical motion capture system is mainly tested in small spaces,and the positioning accuracy of the system is often assessed in terms of repeated trajectory accuracy,resulting in the actual positioning accuracy of optical motion capture systems in real scenes,especially in large scenes,being unknown or inaccurate.To solve the problem of precision detection of the o

关 键 词：光学运动捕捉系统 全站仪 公共点 罗德里格矩阵 抗差最小二乘 

分 类 号：P258[天文地球—测绘科学与技术]