Citation: | Guan Yin, Wang Xiangjun, Yin Lei, et al. Monocular position and pose measurement method based on surface topography of object[J]. Opto-Electronic Engineering, 2018, 45(1): 170522. doi: 10.12086/oee.2018.170522 |
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Overview: In order to obtain the change of posture of moving objects in wind tunnel experiment, this paper presents a single camera pose and position measurement method which integrates the three-dimensional topography of object surface. The traditional monocular visual pose measurement method has to install optical mark points on the object. The 3D coordinate of the mark point has been determined at the time of installation. Then get the image coordinate of the optical mark point from pictures to calculate the pose change of the object. The disadvantages of the traditional calculation method are the complicated steps, the number of mark points is too few and they can easily be blocked, and they will distort the surface structure of the object. The surface of the measured object cannot install optical mark point, so the method needs to use the object's own image properties to set feature points.
The measurement method proposed takes multi-point perspective imaging theory as the basis for solving the pose change of objects, takes the image feature corner of the object as the feature point, and then obtains the three-dimensional coordinates of the feature points by using the three-dimensional topography model of the object surface. The three-dimensional topography model of an object is obtained using the SFM multi-view 3D reconstruction method. Finally, the RPnP algorithm is used to calculate the image coordinates and the three-dimensional coordinates of the feature points to obtain the pose change of the object.
The basic principle of pose solution is introduced. The process of SFM reconstruction, feature point matching and filtering process based on grid motion estimation are introduced briefly. The method of using 3D surface topography model to calculate the image feature corner's 3D coordinates is described in detail. And analyze the characteristics of three-dimensional coordinates of the extraction accuracy.
The experiment is carried out under laboratory conditions to verify the accuracy of the measurement method. At the observation distance of 400 mm, the error of the average displacement measurement is 0.03 mm and the root mean square error is 0.234 mm. The average error of pitch angle, yaw angle and roll angle are 0.08°, 0.1° and 0.09°, RMSE are 0.485°, 0.312° and 0.442°. Experimental results show that the method can be used for practical measurement accuracy.
The relationship between the target and the camera before and after movement
SFM reconstruction process
The target's point cloud using 3D reconstruction
Simulation results of 3D coordinate error
Comparison of matching results. (a) GMS matching results; (b) RANSAC matching results
The aircraft model to be tested
The experiment on turntable
Angle measurement error results. (a) Yaw angle measurement error; (b) Roll angle measurement error; (c) Pitch angle measurement error
Distance measurement experiment
Distance measurement experiment results