Iterative pose estimation using paraperspective camera model

XIA Jun-ying; XU Xiao-quan; XIONG Jiu-long

doi:10.3788/OPE.20122006.1342

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Iterative pose estimation using paraperspective camera model

更新时间：2020-08-12

- Iterative pose estimation using paraperspective camera model
- Optics and Precision Engineering Vol. 20, Issue 6, Pages: 1342-1349(2012)
- 作者机构：
  
  国防科学技术大学机电工程与自动化学院,湖南长沙,410073
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20122006.1342
  CLC： TP391;TP242.6
- Received：14 February 2012，
  
  Revised：02 March 2012，
  
  Published Online：10 June 2012，
  
  Published：10 June 2012
- 稿件说明：
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夏军营, 徐小泉, 熊九龙. 利用平行透视投影模型的位姿迭代估计[J]. 光学精密工程, 2012,20(6): 1342-1349

XIA Jun-ying, XU Xiao-quan, XIONG Jiu-long. Iterative pose estimation using paraperspective camera model[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1342-1349
夏军营, 徐小泉, 熊九龙. 利用平行透视投影模型的位姿迭代估计[J]. 光学精密工程, 2012,20(6): 1342-1349 DOI： 10.3788/OPE.20122006.1342.

XIA Jun-ying, XU Xiao-quan, XIONG Jiu-long. Iterative pose estimation using paraperspective camera model[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1342-1349 DOI： 10.3788/OPE.20122006.1342.

摘要

提出了一种利用平行透视投影模型的高效位姿迭代估计方法来提高单目视觉测量系统的精度和鲁棒性。通过引入齐次坐标表示

避免了现有算法对平行透视投影参考点选择的限制。首先

研究了平行透视投影模型下使用齐次坐标求解目标位姿的方法

阐述了它的几何意义。然后

通过迭代的方式将其应用于一般透视模型下目标位姿的高精度估计。仿真实验结果表明

本文方法提高了基于平行透视投影模型的位姿迭代估计的精度、速度和抗噪性能。实物测量结果表明

本文方法的平移测量精度优于0.1 mm

旋转测量精度优于0.1°

可以满足各种视觉检测系统的要求。另外

使用标志点和图像特征亚像素定位技术还可进一步提高该算法的精度。

Abstract

An efficient iterative pose estimation method was proposed to improve the accuracy and robustness of monocular vision measurement systems. By using homogeneous coordinates

it avoids the limit of existing algorithms on the selection of reference points for a paraperspective camera model. First

a method to compute the pose of an object under the paraperspective camera model was researched using homogeneous coordinates

and its geometric meaning was expatiated in detail. Then

this method was used to estimate the pose of an object in an iterative way under the full perspective camera model with high precision. Simulation results indicate that the proposed method improves the accuracy

speed and robustness of the paraperspective camera model based iterative pose estimation. Real measurement results show that the translation measurement precision and rotation measurement precision of the proposed method are better than 0.1 mm and 0.1?

respectively

and it can satisfy the requirements of various vision detection systems.Furthermore

the accuracy of the proposed method can be improved further by using the land mark point method and sub-pixel feature locating tech- niques.

关键词

Keywords

references

晁志超,伏思华,姜广文,等. 单目摄像机-激光测距传感器位姿测量系统[J]. 光学学报,2011,31(3):1-7. CHAO Z C, FU S H, JIANG G W, et al.. Mono camera and laser rangefinding sensor position-pose measurement system [J]. Acta Optica Sinica, 2011,31(3):1-7.(in Chinese)

石春琴,张丽艳,韦虎,等. 随机模式投影双目测量系统中的单目测量[J]. 光学精密工程,2010,18(1):257-265. SHI C Q, ZHANG L Y, WEI H, et al.. Monocular measurement in binocular measurement system with instantaneous random illumination [J]. Opt. Precision Eng., 2010,18(1):257-265.(in Chinese)

王鹏,孙长库,张子淼. 单目视觉位姿测量的线性求解[J]. 仪器仪表学报,2011,32(5):1126-1131. WANG P, SUN C K, ZHANG Z M. Linear pose estimation with a monocular vision system [J]. Chinese Journal of Scientific Instrument, 2011,32(5):1126-1131.(in Chinese)

韩延祥,张志胜,戴敏. 用于目标测距的单目视觉测量方法[J]. 光学精密工程,2011,19(5):1110-1117. HAN Y X, ZHANG Z S, DAI M. Monocular vision system for distance measurement based on feature points [J]. Opt. Precision Eng., 2011,19(5):1110-1117.(in Chinese)

DEMENTHON D F, DAVIS L S. Model-based object pose in 25 lines of code [J]. International Journal of Computer Vision, 1995,15:123-141.

GRAMEGNA T, VENTURINO L, CICIRELLI G, et al.. Optimization of the POSIT algorithm for indoor autonomous navigation [J]. Robotics and Autonomous Systems, 2004,48:145-162.

杨明浩,王阳生. 保持视觉稳定性的增强现实注册算法[J]. 中国图象图形学报,2010,15(12):1842-1848. YANG M H, WANG Y SH. Visual robust register algorithm for augmented reality [J]. Journal of Image and Graphics, 2010,15(12):1842-1848.(in Chinese)

HORAUD R, DORNAIKA F, LAMIROY B, et al.. Object pose: the link between weak perspective, paraperspective, and full perspective [J]. International Journal of Computer Vision, 1997,22(2):173-189.

HORN B K P, HILDEN H M, NEGAHDARIPOUR S. Closed-form solution of absolute orientation using orthonormal matrices [J]. Journal of the Optical Society of America A, 1988,5:1127-1136.

DAVID P, DEMENTHON D F, DURAISWAMI R, et al.. SoftPOSIT: simultaneous pose and correspondence determination [J]. International Journal of Computer Vision, 2004,59(3):259-284.

BOUGUET J Y. Camera calibration toolbox for Matlab . http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/ example.html.

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