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作 者:陈建云[1] 张奇 姬煜琦 王子 李佳林 李汝鹏 李鹏程[1] 田威[1] CHEN Jianyun;ZHANG Qi;JI Yuqi;WANG Zi;LI Jialin;LI Rupeng;LI Pengcheng;TIAN Wei(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Commercial Aircraft Corporation of China,Shanghai 200120,China)
机构地区:[1]南京航空航天大学机电学院,江苏南京210016 [2]上海飞机制造有限公司,上海200120
出 处:《测试技术学报》2024年第6期601-609,626,共10页Journal of Test and Measurement Technology
基 金:国家自然科学基金资助项目(52205530);国防基础科研计划资助项目(JCKY2021204B045);民用航天预研资助项目(D020201);上海市技术带头人计划资助项目(21XD1431200)。
摘 要:针对双目视觉设备测量误差较大且单点测量误差在视野范围内分布不一致,导致测量6D位姿精度和稳定性较差的问题,提出了一种测量误差补偿方法。为了解决传统回归模型在小样本多输入多输出情况下拟合效果较差的问题,采用基于多输出最小二乘支持向量回归(MLSSVR)的算法,实现了单点测量误差准确预测,并采用遗传算法对模型超参数进行全局寻优;为了实现跟踪坐标系的位姿测量误差补偿,结合位姿测量原理,将线性问题转化为最优估计问题,通过最小化坐标变换误差函数,将多个单点预测误差转化为多点耦合误差,从而实现了6D位姿测量误差补偿。实验结果表明,所提方法将跟踪坐标系的平均位置测量误差在3个方面上分别降低了63.4%、45.2%和75.0%,平均姿态测量误差分别降低50%、48.4%和53.1%;与其它现有补偿方法相比,所提方法能显著提高双目视觉设备的测量精度,并保证不同观测角度下的测量误差补偿有效性。To address the issue of large measurement errors in binocular vision devices and the inconsistent distribution of single-point measurement errors within the field of view,which leads to poor accuracy and stability in the measurement of 6D poses a measurement error compensation method has been proposed.To solve the problem of poor fitting effects of traditional regression models in the case of small samples and multiple inputs and outputs,an algorithm based on multi-output least squares support vector regression(MLSSVR)is adopted,which achieves accurate prediction of single-point measurement errors,and a genetic algorithm is used to optimize model hyperparameters globally.To realize the pose measurement error compensation of the tracking coordinate system,combined with the principle of pose measurement,the linear problem is transformed into an optimal estimation problem.By minimizing the coordinate transformation error function,multiple single-point prediction errors are converted into multi-point coupled errors,thereby achieving 6D pose measurement error compensation.Experimental results show that the proposed method reduces the average position measurement error of the tracking coordinate system by 63.4%,45.2%and 75.0%,and the average attitude measurement error by 50%,48.4%and 53.1%,respectively.Compared with other existing compensation methods,the method proposed can significantly improve the measurement accuracy of binocular vision devices and ensure the effectiveness of measurement error compensation from different observation angles.
关 键 词:双目视觉 6D位姿 误差补偿 遗传算法 最优估计
分 类 号:TP391[自动化与计算机技术—计算机应用技术]
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