基于单目视觉的三维姿态测量方法与系统实现

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哈尔滨工业大学工程硕士学位论文
目
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摘 要.......................................................................................................................... I ABSTRACT .................................................................................................................. II 第 1 章 绪论.................................................................................................................. 1 1.1 课题背景及意义 ................................................................................................. 1 1.2 视觉测量研究现状 ............................................................................................. 1 1.2.1 计算机视觉研究现状................................................................................... 1 1.2.2 单目视觉测量方法研究现状....................................................................... 4 1.2.3 单目视觉测量关键技术分析....................................................................... 4 1.3 论文主要内容及章节安排 ................................................................................. 7 第 2 章 单目视觉姿态测量原理.................................................................................. 8 2.1 引言 ..................................................................................................................... 8 2.2 单目视觉测量理想模型 ..................................................................................... 8 2.2.1 坐标系定义................................................................................................... 8 2.2.2 单目视觉测量理想模型............................................................................. 10 2.3 单目视觉测量原理 ........................................................................................... 13 2.4 本章小结 ........................................................................................................... 15 第 3 章 特征靶标设计、摄像机定标与图像处理技术............................................ 16 3.1 引言 ................................................................................................................... 16 3.2 特征靶标设计 ................................................................................................... 16 3.2.1 特征点布点原则......................................................................................... 16 3.2.2 靶标设计..................................................................................................... 18 3.3 摄像机标定 ....................................................................................................... 19 3.3.1 非线性摄像机模型..................................................................................... 19 3.3.2 径向约束两步法解算投影矩阵................................................................. 20 3.3.3 仿真算例..................................................................................................... 23 3.4 图像预处理 ....................................................................................................... 24 3.4.1 中值滤波..................................................................................................... 24 3.4.2 图像分割..................................................................................................... 26 3.5 特征点定位 ....................................................................................................... 27 3.5.1 特征点定位原理......................................................................................... 27 3.5.2 仿真结果分析............................................................................................. 28 3.6 本章小结 ........................................................................................................... 28 第 4 章 基于单目视觉的姿态解算............................................................................ 29 4.1 引言 ................................................................................................................... 29 4.2 线性姿态解算算法 ........................................................................................... 29 4.2.1 线性解算算法............................................................................................. 29 4.2.2 仿真实验分析............................................................................................. 32 4.3 基于共线性方程的迭代算法 ........................................................................... 33 4.3.1 基于共线性方程的迭代算法原理............................................................. 33 4.3.2 迭代流程..................................................................................................... 36
哈尔滨工业大学 2011 年 6 月
国内图书分类号：TP391.4 国际图书分类号：621.3
学校代码：10213 密级：公开
工程硕士学位论文
基于单目视觉的三维姿态测量方法 与系统实现
硕 士 研 究 生： 原 导 师： 马
野 杰 教授
申 请 学 位： 工程硕士 学 科 、 专 业： 控制科学与工程 所 在 单 位： 控制与仿真中心 答 辩 日 期： 2011 年 6 月 授 予 学 位 单 位： 哈尔滨工业大学
关键词
单目视觉；图像滤波；阈值分割；特征点定位；摄像机标定；姿态解算
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哈尔滨工业大学工程硕士学位论文
Abstract
With the maturation of machine vision and the rapid development of visual sensors towards to high-speed, high accuracy and high sensitivity, monocular vision measurement technology are being used more extensively. It has been already the new star at the fields of aerospace, industrial automation, artificial intelligence and so on. The purpose of this paper is to measure the attitude of the three-dimensional moving target based on monocular vision. The measurement systems based on monocular vision includes the study of the Image Processing problems such as image preprocessing, camera calibration and so on. Furthermore, this paper compares and analyzes different attitude solution algorithms based on monocular vision and then built the hardware and software platform. First of all, the paper defined the camera coordinate system, the target coordinates and image plane coordinate system. The relationship between the coordinate systems were analyzed, then the ideal model of attitude measurement system was established based on monocular vision and the principles of attitude measurement based on monocular vision was studied. Secondly, describe the principles of feature points , according to these principles, design the non-coplanar feature points target to improve system accuracy then the camera calibration algorithms was studied, in considering the specificities of camera and target, the paper chooses the two-step calibration method to do camera calibration. Furthermore, image pre-processing process and principles, the principles and algorithms of feature points positioning were introduced. Image preprocessing, includes two parts of image filtering and segmentation. Depending on the camera to obtain images easy to produce isolated point noise and blurred edges, the paper selected median filter and verify the actual effect of image median filtering. Since then, the technology of threshold was used to devise the image feature points and background. The algorithm of feature points positioning was fast, simple and also owned high accuracy. Then, the linear attitude solution algorithm and iterative algorithm based on a total of linear equations was studied. Simulation experiment was done to clarify which situation the two algorithms can be used based on clarifying the principle of two algorithms. In summary, iterative algorithm is fit for our systems, and then the overall implementation scheme about attitude measurement system based on monocular vision was determined. Finally, the software and hardware platform of attitude measurement system base on monocular vision was set up. With the existing camera control software and image acquisition software, this paper development the image storage and attitude