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Alternative TitlePoint character based monocular vision pose measurement method
郝颖明; 朱枫; 欧锦军; 周静; 付双飞; 吴清潇; 李娟娟; 蔡慧英
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention discloses a point character based monocular vision pose measurement method oriented to the practical engineering application by adopting a reasonably designed measurement system via fully utilizing the technical means of model constraint, redundancy character point mutual testing and the like, which can be used for measuring the relative positions and relative poses of two objects, and can be applied to complex variable background and illumination conditions. The point character based monocular vision pose measurement method comprises the following steps: firstly, a camera acts as a measurement sensor, and is matched with a special point character cooperative marker to form a measurement system; secondly, the camera is utilized for photographing an image comprising the cooperative marker, and a character point image region combination which meets the marker model constraint is found out via image processing to act as a candidate marker; thirdly, the relative positions and relative poses of two objects are calculated by utilizing a P3P measurement method; fourthly, the final test result is obtained by adopting a redundancy information mutual testing method. According to the invention, the problem of multi-solution, the problem of speed calculation and the problem of stability of a three-point character monocular vision measurement are solved, and the measurement precision is improved.
PCT Attributes
Application Date2013-11-30
Date Available2017-01-11
Application NumberCN201310639611.6
Open (Notice) NumberCN104677340A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
郝颖明,朱枫,欧锦军,等. 一种基于点特征的单目视觉位姿测量方法[P]. 2015-06-03.
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File name: CN201310639611.6.pdf
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