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基于多传感器的三维目标位姿测量方法
Alternative TitlePose Measurement Method of Three-Dimensional Object Based on a Multi-Sensor System
潘旺1,2; 朱枫1,3,4; 郝颖明1,3,4; 张丽敏1,2
Department光电信息技术研究室
Source Publication光学学报
ISSN0253-2239
2019
Volume39Issue:2Pages:1-9
Indexed ByEI ; CSCD
EI Accession number20191206658332
CSCD IDCSCD:6442476
Contribution Rank1
Funding Organization国家自然科学基金(U1713216)
Keyword机器视觉 位姿测量 多传感器 三维目标 直线提取
Abstract针对模板匹配方法用于三维目标位姿测量时,退化视图易出现误匹配导致位姿测量失败的问题,提出了一种基于多传感器的三维目标位姿测量方法。利用多传感器技术,充分发挥深度相机和高分辨率CCD相机各自的优势,两种成像技术形成互补,提高了测量的鲁棒性和效率。首先利用物体与其固定平面之间的关系,在点云中粗略定位出目标区域,然后通过预先标定信息将目标区域转换到灰度图像空间。在灰度图像中,利用LSD直线提取算法外加特征约束,筛选出四条目标直线,最终利用P4P算法求解出目标的六维位姿。实验验证了该算法的有效性,且测量效率远优于经典的模板匹配方法。
Other AbstractWhen template matching methods are used for the pose measurement of a three-dimensional object, degenerated views are very prone to false match, resulting in the failure of pose measurement. Aiming at this problem, we propose a method based on multi-sensor to measure the pose of a three-dimensional object. We employ multi-sensor technology to make the advantages of the depth camera and the high-resolution CCD camera play well. The two imaging technologies complement each other, improving the robustness and efficiency of measurement. First, the target area is coarsely located in the point cloud based on the relationship between the object and its fixed board, and then, the region is converted to gray image space by the prior calibration information. In the gray image, four target straight lines are extracted by the Line Segment Detector (LSD) and feature constraints. The P4P algorithm is finally utilized to calculate the six-dimensional pose of the object. The experiment verifies the validity of the algorithm and the measuring efficiency is much better than the classical template matching method.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23346
Collection光电信息技术研究室
Corresponding Author朱枫
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院大学
3.中国科学院光电信息处理重点实验室
4.辽宁省图像理解与视觉计算重点实验室
Recommended Citation
GB/T 7714
潘旺,朱枫,郝颖明,等. 基于多传感器的三维目标位姿测量方法[J]. 光学学报,2019,39(2):1-9.
APA 潘旺,朱枫,郝颖明,&张丽敏.(2019).基于多传感器的三维目标位姿测量方法.光学学报,39(2),1-9.
MLA 潘旺,et al."基于多传感器的三维目标位姿测量方法".光学学报 39.2(2019):1-9.
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