基于物体表面形貌的单相机视觉位姿测量方法

为了获取在风洞实验中运动物体的位姿变化，提出了一种融合物体表面三维形貌信息的单相机视觉位姿测量方法。该方法以多点透视成像原理作为求解物体位姿变化的基础，以物体的图像特征角点作为特征点，并利用物体表面三维形貌模型信息获得特征点的三维坐标。通过实验完成了该测量方法的精度验证，在400 mm的观察距离上，位移平均测量误差为0.03 mm，均方根误差为0.234 mm；俯仰角、偏航角与滚转角的平均误差分别为0.08°、0.1°与0.09°，均方根误差分别为0.485°、0.312°与0.442°。实验结果表明该方法有可用于实用的测量精度。

Monocular position and pose measurement method based on surface topography of object

In order to obtain the change of posture of moving objects in wind tunnel experiment, a method of single-camera visual pose measurement based on three-dimensional topography model of object surface is proposed. The method uses the multi-perspective imaging principle to solve the target pose, obtains the feature corner point on the target as the characteristic point needed for the solution, and proposes to use target's 3D surface topography information to obtain the geometric relationships between feature points. In this paper, the accuracy of the measurement method is verified under the laboratory conditions. The average accuracy of displacement is 0.23 mm and the mean square error is 0.234 mm. The accuracy of the pitch angle, yaw angle and roll angle are 0.08°, 0.1°and 0.09°, respectively, and the mean square error are 0.485°, 0.312°and 0.442°. The experimental results show that the method can be used for practical measurement.