利用三维模型和立体像对估算飞行目标位姿

提出了一种新的飞行目标位置姿态参数解算方法.该方法基于目标的三维模型和立体像对:从目标模型外表面选取若干模型控制点并结合相机参数进行可见性判断,将两相机均可见的点投影到左右图像上,进而依据同名像点在立体像对中的灰度差平方和达到最小的准则将目标位置和姿态参数的求解问题转化为最优化问题.文中采用L-M算法解决这个优化问题以获取目标位置姿态参数最优解.仿真实验结果表明文中提出的算法是正确、有效的.

Estimating Pose Parameters of Flying Object by Using Model and Stereo Images

A new algorithm for estimating position and orientation parameters of flying object is presented in the paper.The algorithm is based on three-dimensional(3D)model and stereo images:choosing some model control points of the flying object's surface and judging the points' visibility in two cameras,then projecting all visible points into the left and right images,furthermore,transforming the estimating problem into an optimal one according to the rule that the square sum of gray differences of the corresponding pixels is least.The paper employs the L-M algorithm to solve the optimal problem and to get the optimal result of position and orientation parameters.The results of simulative experiments have shown that the algorithm is accurate and effective.