基于角度约束的圆姿态识别二义性消除方法

目的：对了消除视觉测量中单个圆姿态识别中存在二义性的问题，提出了一种基于空间角度约束的二义性消除方法，并且对姿态求解算法进行了误差分析,为准确的进行姿态估算给出了指导性的实验结果。方法：在摄像机已标定的前提下，首先，根据圆的投影确定其空间位置和姿态参数，存在二义性；接着，利用欧式空间中的角度不变量，可唯一确定空间圆平面的姿态；最后，根据误差传播理论对位姿计算的方法进行了精度分析。结果：实验结果表明：圆平面姿态角绝对误差在0.2°以内，圆心定位误差为0.5%，重构的空间直线距离误差为0.8%。结论：能够准确的识别圆平面的姿态，计算过程简单，结果稳定可靠且具有较高的精度。

Solving duality in pose estimation from single circle based on angular constraint

In order to solve the duality problem in pose estimation of a single circle in machine vision, an approach based on Euclidean angular constraint is presented to identify the unique pose result. The accuracy of pose estimation is analyzed, which provides constructive suggestions on achieving accurate pose estimation of circles based on experimental results. The pose of single circle is recovered from its projection in an image with a calibrated camera, though the result is ambiguous, only two possible result...