365赌球

吴军; 王豪爽; 单腾飞; 郭润夏; 张晓瑜; 陈玖圣

doi:10.37188/CO.2023-0106

365赌球

doi: 10.37188/CO.2023-0106

吴军 ^1,,,
王豪爽 ¹,
单腾飞 ¹,
郭润夏 ²,
张晓瑜 ²,
陈玖圣 ²

1.
中国民航大学航空工程学院, 天津 300300
2.
中国民航大学电子信息与自动化学院, 天津 300300

基金项目:国家自然科学基金（No. 52375557，No. 52005500，No. 62173331）；中央高校基本科研业务费高水平成果培育专项；中央高校科研基本业务费（No. 3122023PY06），中央高校基本科研业务费高水平成果培育专项，中央高校科研基本业务费（No. 3122023044）

详细信息

作者简介:
吴　军（通信作者）男，2009年于天津大学获得学士学位，2014年于天津大学获得博士学位，现为中国民航大学副教授，主要研究方向为激光与视觉检测技术。E-mail：[email protected]

中图分类号:TB96
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365赌球官网平台
- 网络出版日期: 2023-11-07

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1.
College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China
2.
College of Electronic Information and Automation, Civil Aviation University of China, Tianjin 300300, China

Funds:Supported by National Natural Science Foundation of China (No. 52375557，No. 52005500，No. 62173331); Special project for the cultivation of high-level achievements in the basic scientific research business funds of central universities (No. 3122023PY06); Basic business expenses for scientific research in central universities (No. 3122023044)

More Information

Corresponding author: [email protected]

摘要

摘要:
针对传统单目视觉测量系统测量视场有限的问题，本文提出一种基于双自由度旋转平台的全向空间单目视觉测量方法。首先，对双自由度旋转平台的转轴参数进行标定，用副相机拍摄与双自由度转台固定的棋盘格标定板，对棋盘格角点的位置坐标进行提取并转化到同一相机坐标系下；利用PCA（主成分分析）平面拟合得到初始位置转轴参数中的方向向量，通过使用空间最小二乘圆拟合的方法，得到初始位置时转轴参数中的位置参数；然后，通过转台转动的角度以及罗德里格斯公式将不同位置下相机获取的数据进行坐标系统一，实现水平和竖直方向全向空间下的目标测量；最后，通过高精度激光测距仪验证了本方法的测量精度，并通过与双目视觉测量系统、wMPS测量系统进行比对实验，验证了本方法的全向空间测量能力。实验结果表明，本方法测量精度基本达到双目视觉测量系统水平，但测量范围远大于双目视觉测量，可以满足全向空间测量要求。
- 双自由度转台 /
- 单目视觉 /
- 全向空间测量 /
- 室内定位
Abstract:
To address the problem of limited field of view measurement in traditional monocular vision measurement systems, this paper proposes an omnidirectional spatial monocular vision measurement method based on a two-degree-of-freedom rotary table. First, calibrate the rotating axis parameters of the double-degree-of-freedom rotary table. Then, take pictures of the checkerboard calibration plate fixed with the two-degree-of-freedom rotary table using an auxiliary camera. Extract the position coordinates of the checkerboard corner points and convert them to the same camera coordinate system. The direction vector of the initial position axis parameter was obtained through PCA (principal component analysis) plane fitting, and the position parameter in the rotation axis parameter in the initial position was determined using the method of spatial least squares circle fitting. The camera data acquired at various angles is transformed into coordinate system one using the rotary table rotation angle and the Rodrigues formula. This enables measurement of the target in the horizontal and vertical omnidirectional space. Finally, verification of the measurement accuracy of the proposed method was conducted using a high-precision laser rangefinder. Additionally, experiments comparing the omnidirectional spatial measurement ability of the method with the binocular vision measurement system and wMPS measurement system were conducted. The results indicate that the method achieves a measurement accuracy comparable to that of a binocular vision system. However, it also surpasses the binocular vision system in term of measurement range, making it applicable for omnidirectional spatial measurements.
- two-degree-of-freedom rotary table /
- monocular vision /
- omnidirectional spatial measurement /
- indoor positioning

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图 1 测量系统原理图

Figure 1. Measurement system schematic diagram

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图 2 转台转轴原理图

Figure 2. Schematic diagram of rotary table spindle

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图 3 算法流程图

Figure 3. Algorithm flow chart

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图 4 转轴参数标定原理图

Figure 4. Schematic diagram for calibration of spindle parameters

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图 5 全空间测量实验装置图

Figure 5. Diagram of the full-space measurement experimental setup

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图 6 wMPS与圆形标定板连接装置图

Figure 6. Diagram of the connection device between wMPS and circular calibration plate

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图 7 转轴标定实验装置图

Figure 7. Diagram of the experimental setup for calibrating the spindle

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图 8 角点位姿转换坐标系后拟合结果

Figure 8. Fitting result after transforming the corner point pose data to a coordinate system

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图 9 在初始位置竖直方向圆拟合结果

Figure 9. Circle fitting results in the vertical direction at the initial position

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图 10 测量精度验证实验

Figure 10. Measurement accuracy verification experiments

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图 11 wMPS、双目与本实验方法目标点路径对比

Figure 11. Comparison of target point paths for wMPS, binocular and this experimental method

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图 12 各个相邻位置的目标点之间距离误差结果

Figure 12. Distance error results between target points at each neighboring location

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图 13 本文测量方法与wMPS测量系统比较各个位置目标点位置误差结果

Figure 13. Comparison of the measurement method described in this paper with the wMPS measurement system for each location target point position error results

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表 1 拟合转台参数

Table 1. Fitting rotary table parameters

Rotor parameters	Experimental results/mm	Error/mm
Direction of vector	(−0.0161, 0.9998,−0.0110)	0.24
Rotor position	(−45.0081, −121.0576, −24.8642)	0.54
Direction of vector	(−0.0347, −0.0171, −0.9993)	0.21
Rotor position	(−20.4812, 111.8834, 75.6437)	0.43

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表 2 测量结果对比

Table 2. Comparison of measurement results

Location	Laser ranging/mm	The ranging method in this paper/mm	Error/mm
1	78.50	78.81	0.31
2	166.80	167.25	0.45
3	273.40	273.76	0.36
4	403.70	403.98	0.28
5	1424.50	1424.13	0.37
6	1501.80	1501.32	0.48
7	1612.30	1611.91	0.39
8	1740.60	1740.25	0.35
9	1871.40	1871.11	0.29

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表 3 wMPS测量系统详细参数

Table 3. Detailed parameters of the wMPS measurement system

Content		Parameter
Working distance		5~25 m
System measurement accuracy	10 m working area	0.25 mm
System measurement accuracy	39 m working area	0.50 mm
The system measures the frequency		30 Hz

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