摄像机主动位姿协同的人脸正视图像获取方法

为了主动调整摄像机的位置姿态以在物方空间降低由人脸旋转带来的影响，提出人脸-摄像机主动位姿协同方法. 利用工业摄像机与同步带类运动控制器搭建位姿协同环境，根据单像空间后方交会方法求解运动人脸姿态角和相对位置，计算人脸、摄像机和运动控制器各坐标系之间的映射关系，摄像机运动由相邻采样时刻摄像机相对位置和人脸姿态角计算得出的摄像机协同位姿控制，主动、实时地获取人脸正视图像. 实验表明，运动轴上的摄像机点位误差小于10 mm，取得的人脸正视图像提高了人脸纠正的精准度与鲁棒性.

Camera active pose cooperation for obtaining face frontal images

A face-to-camera active pose cooperation method was proposed in order to reduce the impact of face rotation in object space by actively adjusting the position and attitude of the camera. Environment of pose cooperation was constructed by using an industrial camera and a synchronous belt-like motion controller. The angle of a moving face pose and the relative position between the camera and the face were solved by a single image space resection. The mapping relationship between the coordinate systems of the face, the camera and the motion controller was calculated. The camera motion was controlled by the camera's coordinated pose control calculated from the relative position of the camera and the face attitude angle at the adjacent sampling time, and the face frontal image was acquired actively and real-time. The experimental results showed that the camera point position error on the motion axis was less than 10 mm, and the extracted frontal image improved the accuracy and robustness of face correction.