Measuring cooperative target’s pose based on proportions of feature points
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摘要: 为提高靶场实况记录设备的姿态测量能力，提出了一种针对实况记录图像的单站定姿方法，可以利用目标特征点坐标的比例信息快速准确地获取目标三维姿态。分析了目标成像模型及坐标系间位姿参数关系；推导出含特征点坐标比例的共线方程，采用迭代求解获得目标姿态参数；分析了算法的可行性及误差来源。仿真实验表明：该算法求解精度高，鲁棒性好，具有较强的工程实用性。Abstract: A new method for measuring targets 3D pose angle from mono-view in shooting ranges was presented in order to improve the measurement capability of 3D pose by live recording systems，which could get targets 3D pose precisely and quickly by utilizing the proportions of feature pointscoordinates. The model of imaging system and the definition of coordinates were introduced. The collinear equation was transformed including the scale of feature points on target, and the 3D pose angle of target was obtained by solving the nonlinear equations. The feasibility and errors of the algorithm were analyzed. Experiment results indicate that the algorithm is accurate and robust.
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Keywords:
- optical measurement /
- live recording system /
- cooperative target /
- 3D pose /
- collinear equation
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