振动干扰下非合作目标双目位姿测量方法  

Binocular pose measurement method of non-cooperative target under vibration interference

作　　者：胡宜洋 梁顺坤 关棒磊 尚洋[1,2] HU Yiyang;LIANG Shunkun;GUAN Banglei;SHANG Yang(College of Aerospace Science,National University of Defense Technology,Changsha 410073,China;Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation,Changsha 410073,China)

机构地区：[1]国防科技大学空天科学学院,湖南长沙410073 [2]图像测量与视觉导航湖南省重点实验室,湖南长沙410073

出　　处：《中国测试》2025年第2期132-139,共8页China Measurement & Test

基　　金：湖南省优秀青年科学基金项目(2023JJ20045)。

摘　　要：在振动干扰、高温等试验环境中,传统双目位姿测量方法面临着相机参数实时变化、待测目标无法使用合作标志等挑战,难以实现对目标位姿的高精度测量。为了克服上述难题,该文提出了振动干扰下非合作目标双目位姿测量方法,该方法通过双目自标定实时求解相机内外参数,进而采用待测目标的结构特征来测量非合作目标位姿运动。首先,利用场景特征在每次测量前进行实时双目相机自标定,以确保测量准度不会受到双目相机参数变化的影响;然后,提取非合作目标的结构特征来衡量其运动,通过双目交会恢复待测目标运动前后的点云数据;最后,通过点云配准比较目标运动前后三维点云的变化,从而准确估计目标运动参数。实验结果表明,在振动干扰下同时进行位移和旋转实验,位移测量相对误差低于7%,转角测量相对误差低于12%。因此该方法能有效提高相机参数实时变化和合作标志缺乏等条件下的目标位姿测量精度和鲁棒性,可应用于振动、高温等复杂试验环境下的目标位姿测量。The traditional binocular pose measurement method faces challenges such as real-time changes in camera parameters and the inability to use cooperative markers in test environments like those with vibration interference and high temperatures,making it difficult to achieve high-precision measurement of target pose.To address these issues,this paper proposes a binocular pose measurement method for non-cooperative targets under vibration interference.The binocular self-calibration technique is employed to real-time determine the internal and external parameters of the cameras,and then the structural characteristics of the target are used to measure the motion of non-cooperative targets.Firstly,real-time binocular camera self-calibration is performed before each measurement using scene characteristics,ensuring that measurement accuracy is not affected by changes in binocular camera parameters.Next,the structural features of the non-cooperative target are extracted to measure its motion,and the point cloud data before and after the target's movement is reconstructed through binocular intersection.Finally,the changes in the three-dimensional point cloud before and after the target's movement are compared through point cloud registration to accurately estimate the target's motion parameters.Experimental results show that displacement and rotation experiments are conducted simultaneously under vibration interference.The relative error of displacement measurement is less than 7%,and the relative error of angle measurement is less than 12%.Therefore,this method can effectively improve the accuracy and robustness of target pose measurement under conditions of real-time camera parameter changes and the lack of cooperative markers,and can be applied to target pose measurement tasks in complex test environments such as those with vibration and high temperatures.

关 键 词：振动环境 双目视觉 非合作目标 自标定 位姿测量 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TB9[自动化与计算机技术—计算机科学与技术]