Estimation of monocular vision 6-DOF pose based on CAD model

SONG Wei; ZHOU Yang

doi:10.3788/OPE.20162404.0882

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Estimation of monocular vision 6-DOF pose based on CAD model

更新时间：2020-08-13

- Estimation of monocular vision 6-DOF pose based on CAD model
- Optics and Precision Engineering Vol. 24, Issue 4, Pages: 882-891(2016)
- 作者机构：
  
  上海大学机电工程与自动化学院上海,200072
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20162404.0882
  CLC： TP242.6;TP391.4
- Received：04 December 2015，
  
  Revised：14 January 2016，
  
  Published：25 April 2016
- 稿件说明：
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宋薇, 周扬,. 基于CAD模型的单目六自由度位姿测量[J]. 光学精密工程, 2016,24(4): 882-891

SONG Wei, ZHOU Yang,. Estimation of monocular vision 6-DOF pose based on CAD model[J]. Editorial Office of Optics and Precision Engineering, 2016,24(4): 882-891
宋薇, 周扬,. 基于CAD模型的单目六自由度位姿测量[J]. 光学精密工程, 2016,24(4): 882-891 DOI： 10.3788/OPE.20162404.0882.

SONG Wei, ZHOU Yang,. Estimation of monocular vision 6-DOF pose based on CAD model[J]. Editorial Office of Optics and Precision Engineering, 2016,24(4): 882-891 DOI： 10.3788/OPE.20162404.0882.

摘要

为实现单目摄像头对一般工业零件的六自由度位姿测量

研究了离线模板库自动建立

图像处理以及优化匹配3个方面的问题。首先

由STL文件格式的CAD文件建立不同观察方位下的匹配模板

定义了一种方便模板库调用并有图像意义的位姿描述参数。然后

对Chamfer Match方法进行改进

将距离映射图按边缘倾角分层

结合模板探索点的倾角进行匹配

在不增加运算量的情况下提升匹配度函数的灵敏性。最后

使用加入了退火算法的遗传算法进行最优搜索

从而提高匹配效率。实验结果表明:基于文中的方法完成一次位姿测量耗时在500 ms以内

搜索可以获到正确的结果。在330 mm观察距离上

平移误差和深度方向误差分别控制在1 mm、2 mm以内

转角误差为1°左右。得到的结果基本满足单目视觉六自由度位姿快速匹配自动测量的要求。

Abstract

To automatically and continuously estimate the 6-DOF pose of industry parts with a monocular camera

three related problems

building an off-line template library

image processing

and optimizing match

were researched. Firstly

the matching templates under different orientations were established by the CAD model in a STL(Standard Template Library)format

and a new pose parameter was defined to provide the call for a template library. Then

Chamfer Matching method was improved and the sensitivity of fitness function was improved without more time spending by layering the distance mapping map and matching the angle of template searching points. Finally

simulated annealing algorithm together with genetic algorithm was applied to the optimum searching to improve the matching efficiency in real time. The experiment result indicates that the whole match progress spends less than 500 ms

and the correct results are obtained. The translation error and the depth direct error have been kept by less than 1 mm and 2 mm respectively

and the rotate error is about 1° in a viewing distance of 330 mm. The result satisfies the requirements of the monocular vision system for rapid and automatic pose estimation.

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references

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