摘要
三维运动位姿数据测量由于数据处理算法的不完善导致测量精度受限,以及数据处理算法复杂导致实时性下降,无法满足精确捕捉并实时分析动态场景中三维运动目标的需求。为此,设计基于激光成像技术的三维运动位姿数据测量方法。该方法通过激光成像技术进行视觉测量,获取三维运动位姿数据的测量图像。随后,提取目标上的特征点,并利用质心提取算法计算特征点的质心。接着,使用EPnP算法进行三维运动位姿解算,以获得相对于世界坐标系的三维激光扫描坐标系的平移与旋转参数,从而完成三维运动位姿数据的测量。实验结果表明,设计方法的三维坐标位置测量误差始终低于0.3 mm,显示出较低的测量误差,能够满足实际需求。此外,x、y、z位姿解算结果的标准差以及滚转角、俯仰角、偏航角位姿解算结果的标准差均处于较低水平,但值得注意的是,滚转角、俯仰角、偏航角位姿解算结果的标准差略高于x、y、z位姿解算结果的标准差。
The measurement accuracy of 3D motion pose data is limited due to incomplete data processing algo-rithms,and the complexity of data processing algorithms leads to a decrease in real-time performance,which cannot meet the requirements of accurately capturing and analyzing 3D motion targets in dynamic scenes.Therefore,a three-dimensional motion pose data measurement method based on laser imaging technology is designed.This method uses laser imaging technology for visual measurement and obtains measurement images of three-dimensional motion pose da-ta.Subsequently,feature points on the target are extracted,and the centroid extraction algorithm is used to calculate the centroid of the feature points.Next,the EPnP algorithm is used for 3D motion pose calculation to obtain the trans-lation and rotation parameters of the 3D laser scanning coordinate system relative to the world coordinate system,thus completing the measurement of 3D motion pose data.The experimental results show that the three-dimensional coordi-nate position measurement error of the design method is always below 0.3 mm,indicating a low measurement error and meeting practical needs.In addition,the standard deviations of the x,y,and z pose solutions,as well as the standard deviations of the roll angle,pitch angle,and yaw angle pose solutions,are all at a relatively low level.However,it is worth noting that the standard deviations of the roll angle,pitch angle,and yaw angle pose solutions are slightly higher than those of the x,y,and z pose solutions.
作者
苗亚果
MIAO Yaguo(Zhengzhou Normal University,Zhengzhou 450044,China)
出处
《激光杂志》
北大核心
2025年第8期206-211,共6页
Laser Journal
基金
河南省自然科学基金项目(No.202300102065)
河南省教育厅项目(No.2022-JSJYZD-043)。
关键词
激光成像技术
特征点
质心
三维运动位姿数据
测量
laser imaging technology
feature points
center of mass
3D motion pose data
measurement
作者简介
苗亚果(1986-),男,博士,讲师,研究方向:三维运动分析,激光成像。
