摘要
通过建立的物体相对姿态测量系统,可利用两个摄像机在不同角度拍摄同一个物体上的编码标志点,然后采用张氏标定法对两个摄像机的空间位置关系进行标定,对从摄像机中采集到的图像进行去噪、滤波,对采集下来的图像进行编码标志点的匹配,从而得到物体上粘贴的编码标志点的三维坐标,通过四元数法计算物体间的相对空间姿态(欧拉角以及平移量)。实验结果表明,该测量系统结构简单、计算量小、测量精度高。
With the development of computer vision and image processing technology, vision measurement has been paid more and more attention; Using two cameras at different angles to shoot the coded marking points on the same object, an object relative attitude measurement system is constructed and the Zhang＇s calibration method is used to calibrate the spatial positional relationship of the two cameras; the image that acquired by the camera is denoised and filtered, then it is matched to the coded sign points, so as to get the three-dimensional coordinates of the object-adhesive coded marking points. Relative spatial attitude （Euler angles and offset） between objects is calculated by quaternion algorithm. Experiments show that the measurement system has the features of simplicity, small amount of calculation, high measuring accuracy.
出处
《导弹与航天运载技术》
北大核心
2014年第1期82-86,共5页
Missiles and Space Vehicles
关键词
双目立体视觉
摄像机标定
编码标志点
姿态计算
Binocular stereo vision
Camera calibration
Coded sign point
Gesture computing
