摘要
针对单相机的测量系统缺少深度信息问题,提出了一种基于双振镜的立体视觉测量系统,该系统由1台仰角相机和2个振镜组成。首先,通过双振镜可以在单相机的成像光路中形成2条不同的光路,从而使单相机形成立体视觉的测量效果。同时,可通过物体的位置改变振镜夹角,极大地扩大了测量的范围。其次,为了解决物体三维姿态测量困难问题,通过找到一组斜率最接近中轴线的特征点,并通过其三维信息来测量物体三维姿态。实验显示:该测量算法的静态位置测量平均相对误差为1.96%,姿态测量的平均相对误差为3.29%,在动态目标模拟实验中,位置的平均误差为4.25%。该系统具有低成本、大视野、高精度、适用性高等优点,具有较高的应用价值。
Aiming at the problem that the measurement system with single camera lacks depth information,a stereo vision measurement system based on dual galvanometer is proposed,which consists of an elevation camera and two galvanometers.Firstly,two different optical paths can be formed in the imaging optical path of the single camera by the two galvanometers,so that the single camera can form the measurement effect in stereo vision.At the meantime,the angle of the galvanometer can be changed by the position of the object,which greatly expands the measurement range.Secondly,in order to solve the problem of the difficulty of measuring the three-dimensional attitude of the object,this paper measures the three-dimensional attitude by finding a set of feature points whose slopes are closest to the central axis and measuring the three-dimensional attitude of the object through its three-dimensional information.Experiments show that the average relative error of the measurement algorithm is 1.96%for static position measurement,3.29%for attitude measurement,and 4.25%for position in moving target simulation experiments.The system has the advantages of low cost,large field of view,high precision and high applicability,and has high application value.
作者
王力超
黄志成
刘俊楠
缪陆
刘飞瑶
耿树巧
WANG Lichao;HUANG Zhicheng;LIU Junnan;MIAO Lu;LIU Feiyao;GENG Shuqiao(School of Electrical Engineering,Anhui Engineering University,Wuhu 241000,China;Key Laboratory of Advanced Sensing and Intelligent Control for High-end Equipment,Ministry of Education,Wuhu 241000,China)
出处
《兵器装备工程学报》
北大核心
2025年第7期282-289,共8页
Journal of Ordnance Equipment Engineering
基金
安徽省检测技术与节能装置重点实验室开放研究基金项目(JCKJ2021A09)
华能集团科技项目(HNKJ23-HF20)。
关键词
双振镜
单相机
三维姿态测量
运动目标
大视野
dual galvanometers
single camera
three-dimensional attitude measurement
moving target
large field of view
