| 基于共面二点一线特征的单目视觉定位 |
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| 引用本文： | 刘 昶,朱 枫,夏仁波. 基于共面二点一线特征的单目视觉定位[J]. 计算机应用研究, 2012, 29(8): 3145-3147 |
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| 作者姓名： | 刘 昶 朱 枫 夏仁波 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所,沈阳110016;沈阳理工大学信息科学与工程学院,沈阳110159;中国科学院研究生院,北京100039;中国科学院光电信息处理重点实验室,沈阳110016
2. 中国科学院沈阳自动化研究所,沈阳110016;中国科学院光电信息处理重点实验室,沈阳110016 |
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| 基金项目： | 国家自然科学基金资助项目（51005229） |
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| 摘 要： | 研究了根据点、线混合特征进行单目视觉定位问题,在给定物体坐标系中共面的两个特征点和一条特征直线的条件下,根据它们在像平面上的对应计算相机与物体之间的位姿参数。根据三个特征之间的几何位置关系,分两种情况给出问题求解的具体过程,最终将问题转换成求解一个二次方程问题,真实的工件定位实验验证了方法的有效性。该结果为应用单目视觉进行工件定位提供了一种新方法。
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| 关 键 词： | 单目视觉 位姿确定 点特征 线特征 |
Monocular pose determination from coplanartwo points and one line features |
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| LIU Chang,ZHU Feng,XIA Ren-bo. Monocular pose determination from coplanartwo points and one line features[J]. Application Research of Computers, 2012, 29(8): 3145-3147 |
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| Authors: | LIU Chang ZHU Feng XIA Ren-bo |
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| Affiliation: | 1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. School of Information Science & Enginee-ring, Shenyang Ligong University, Shenyang 110159, China; 3. Graduate School of Chinese Academy of Sciences, Beijing 100039, China; 4. Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Sciences, Shenyang 110016, China |
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| Abstract: | This paper studied monocular pose determination problem from point and line mixed features. It presented a method to calculate the pose parameters between a camera and an object if coplanar two points and one line features on the object and their given correspondences on the image. It described detailed algorithm according to the geometric relationship of the three features in two cases, and translated the problem into solving a quadratic equation. The real experiment shows the method is effective. It provides a new method for pose determination using monocular vision. |
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| Keywords: | monocular vision pose determination point feature line feature |
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