中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 学位论文
题名: 基于模型的位姿测量研究
其他题名: Model-Based Position & Pose Estimation Research
作者: 周鑫
导师: 朱枫
分类号: TP27
关键词: 位姿测量 ; P3P问题 ; 单目视觉 ; 双目视觉
索取号: TP27/Z77/2003
学位专业: 模式识别与智能系统
学位类别: 硕士
答辩日期: 2003-07-02
授予单位: 中国科学院沈阳自动化研究所
学位授予地点: 中国科学院沈阳自动化研究所
作者部门: 机器人学研究室
中文摘要: 在许多实际应用中,都需要进行位姿测量,即求取两个空间坐标系之间相对的位移量和旋转量,例如机器人导航、操作和装配以及其他领域如摄影测量学、目标跟踪识别、摄像机标定等。目前利用视觉的方法来进行位姿测量是一个主要的方向。 本论文分别研究了在已知模型的情况下,利用单目视觉和双目视觉进行位姿测量中的一些重要问题。在单目的最小配置下,位姿测量问题转化为求取P3P问题。P3P问题的多解性限制了它在实际中的应用,前人的研究结果对我们布置控制点和摄像机没有太大的指导意义。我们采用了与前人不同的研究方法,发现三个控制点构成等腰三角形时,在空间可以找到一些区域,当摄像机在这些区域中时,我们可以唯一的求出所构成的P3P问题的真实解。同时,我们的研究结果又对P3P问题在实际应用中布置控制点和摄像机的位置产生指导意义。象素量化误差是特征点抽取时不可避免的,给测量精度带来了较大的影响,而在双目的情况下,信息有了冗余,因此我们研究了如何利用冗余信息来提高精度。我们通过研究发现利用象素距离作为目标函数构造的优化模型能很好的降低误差,并且精度接近统计意义上最优的解,这为我们研究如何进一步提高精度指明了方向。
英文摘要: In many practical applications such as robot navigation, manipulation and assembly and also other fields such as photogrammetry, object detection & recognition and camera calibration etc, we need to solve the problem of position & pose estimation which is trying to get the relative displacement and rotation between two space coordinate systems. And now the research about position & position estimation are mainly based on vision method. This thesis studied some important problems of the position and pose estimation in model-based monocular and binocular cases respectively. In the least configuration of monocular case, the problem of position and pose estimation has been transformed to solving the P3P problem. But the multi-solution phenomenon of the P3P problem limits it’s applications in practices, and the results of predecessors are not effective in directing us to dispose the control points and the camera. We used a new approach other than the predecessors’ to study the P3P problem, and found that when the three control points form an isosceles triangle, we can find some spatial regions, and when the camera appears in these spatial regions, we can get the real solution of the formed P3P problem uniquely. And the results we got are also very useful for disposing control points and the camera in the practical applications. The pixel quantization error is inherent in the extraction of feature points, and brings great influence to the estimation precisions, however in the model-based binocular condition, the information redundancy brings the possibility to improve the precision. Through research, we found the optimization model which using the pixel distance as the object function could quite decrease the measurement errors, and its precision is very close to the statistically optimal solution. This provided the direction for further improving the precision.
语种: 中文
产权排序: 1
内容类型: 学位论文
URI标识: http://ir.sia.cn/handle/173321/9523
Appears in Collections:机器人学研究室_学位论文

Files in This Item:
File Name/ File Size Content Type Version Access License
基于模型的位姿测量研究.pdf(804KB)----限制开放 联系获取全文

Recommended Citation:
周鑫.基于模型的位姿测量研究.[硕士学位论文].中国科学院沈阳自动化研究所.2003
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[周鑫]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[周鑫]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace