摘要
在空间目标的六自由度精密测量中,激光跟踪仪测量技术与视觉测量技术的联合应用越来越多,为解决相机坐标系与激光跟踪仪位姿模型的标定问题,研究一种利用罗德里格矩阵标定相机坐标系与激光跟踪仪坐标系相对位姿的方法。首先,分别用激光跟踪仪与相机测量出公共靶点坐标和拍摄含有靶点的照片,再用标志中心提取算法和单张相片空间后方交会算法解算出靶点在相机坐标系下坐标,最后利用罗德里格矩阵进行坐标系转换,即可标定出相对位姿。实验结果表明:标定模型X轴平均误差和均方根误差分别为0.005 7mm和0.006 2mm;Y轴平均误差和均方根误差分别为0.003 2mm和0.003 5mm;模型的标定精度和稳定可靠程度基本满足测量需要。
In the precision measurement of six degrees of freedom to space targets,the combined technology of laser tracker with visual measurement technology is applied more.In order to solve the pose calibration model between the camera and a laser tracker coordinate system,a method is studied to calibrate relative pose based on Lodrigues matrix.First,it respectively uses the laser tracker and the camera to measure public targets and shoot some photos containing targets.Then uses target center extraction algorithm and single image space resection algorithm to calculate the target coordinates in the camera coordinate system.Finally uses Lodrigues matrix to transform the coordinate and calibrate the relative position.The experimental result shows that the average error and RMS on the X axis of the calibration model are 0.005 7 mm and 0.006 2 mm respectively,and the average error and RMS on the Y axis are 0.003 2 mm and 0.003 5 mm respectively.Basically,the accuracy and stability of model can meet the need of measurement.
作者
范百兴
杨聚庆
周维虎
李祥云
FAN Baixing;YANG Juqing;ZHOU Weihu;LI Xiangyun(Information Engineering University,Zhengzhou 450001,China;Beijing University of Applied Science,Beijing 100124,China;Academy of Opto-ElectronicsChinese Academy of Science,Beijing 100094,China)
出处
《测绘工程》
CSCD
2018年第9期1-5,10,共6页
Engineering of Surveying and Mapping
基金
河南省科技攻关资助项目(152102210006
162102210029)
关键词
位姿标定模型
罗德里格矩阵
标志中心提取
单相空间后方交会
position and pose calibration model
Lodrigues matrix
target center extraction
single image resection
作者简介
第一作者:范百兴(1978-),男,副教授,博士.
