A objective function with measuring error uncertainty weighted for pose estimation in stereo vision

Ju HUO; Gui-yang ZHANG; Jia-shan CUI; Ming YANG

doi:10.3788/OPE.20182604.0834

您当前的位置：

首页 >

文章列表页 >

A objective function with measuring error uncertainty weighted for pose estimation in stereo vision

Modern Applied Optics | 更新时间：2020-07-05

- A objective function with measuring error uncertainty weighted for pose estimation in stereo vision
- Optics and Precision Engineering Vol. 26, Issue 4, Pages: 834-842(2018)
- 作者机构：
  
  1.哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001
  2.哈尔滨工业大学电气工程与自动化学院, 黑龙江哈尔滨 150001
  3.中国航天科工集团8357研究所, 天津 300308
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20182604.0834
  CLC： TP394.1;TH691.9
- Received：17 November 2017，
  
  Accepted：05 January 2018，
  
  Published：25 April 2018
- 稿件说明：
移动端阅览
Ju HUO, Gui-yang ZHANG, Jia-shan CUI, et al. A objective function with measuring error uncertainty weighted for pose estimation in stereo vision[J]. Optics and precision engineering, 2018, 26(4): 834-842.
DOI：

Ju HUO, Gui-yang ZHANG, Jia-shan CUI, et al. A objective function with measuring error uncertainty weighted for pose estimation in stereo vision[J]. Optics and precision engineering, 2018, 26(4): 834-842. DOI： 10.3788/OPE.20182604.0834.

摘要

针对视觉测量过程中配合目标特征点在成像时灰度模式的各向异性且非独立同分布对位姿估计求解的影响，建立了基于特征点测量误差不确定性加权的位姿估计目标函数。利用协方差矩阵描述特征点的方向不确定性，分析成像特征点的不确定性对目标函数的作用权重，并将特征点测量误差的不确定性融入到空间共线性误差函数中，进而构造了基于成像特征点测量误差不确定性加权的新目标函数。该方法适应于特征点测量误差具有不同程度的方向不确定性的情况，最后通过广义正交迭代算法对该目标函数进行迭代优化求解。实验表明，当测量空间为2 300 mm×1 400 mm×1 400 mm，采用新目标函数得到靶标重投影后图像坐标的最大误差不超过0.11 pixel，立体视觉系统对标准杆的相对测量精度优于0.01%。所得的结果验证了新目标函数的位姿估计精度高、稳定性强，适用于实际的工程应用。

Abstract

In order to investigate the effect of anisotropic and correlated non-identical gray distributions of feature points on pose estimation

a novel objective function with error uncertainty weighted of feature points was proposed. In the method

the inverse covariance matrix was utilized to describe the directional uncertainty of feature points

and weighted contribution of uncertainty to the error objective function was analysed. By transforming the uncertainty into a covariance-weighted data space

the novel objective function was constructed

which was suitable for actual applications. Finally

the optimized solution to the novel objective function was obtained via generalized orthogonal iterative algorithm. The simulation and practical experiments show that the maximum error of re-projection image coordinates of the target is less than 0.11 pixels and the measurement relative error for standard gauges is superior to 0.01% within the space 2300 mm×1400 mm×1400 mm. The results verify the high accuracy and strong robustness of the proposed approach

and should therefore have potential for engineering applications.

关键词

Keywords

references

MU J, WANG X, JING F, et al.. Analysis of the synchronization error measurement via non-collinear cross-correlation[J]. Laser and Particle Beams, 2015, 33(3):355-359.

霍炬, 杨宁, 杨明.飞行器仿真测试中合作目标投影光斑的跟踪识别[J].光学精密工程, 2015, 23(8):2134-2142.

HUO J, YANG N, YANG M. Tracking and recognition of projective spots for cooperation targets in vehicle simulation test[J]. Opt. Precision Eng., 2015, 23(8):2134-2142. (in Chinese)

张跃强, 苏昂, 刘海波, 等.基于多级直线表述和M-估计的三维目标位姿跟踪优化算法[J].光学学报, 2015, 35(1):0115003.

ZHANG Y Q, SU A, LIU H B, et al.. Three dimensional rigid objects pose tracking and optimization based on multilevel line representation and M-estimation[J]. Acta Optica Sinica, 2015, 35(1):0115003. (in Chinese)

XU D, LI Y F, TAN M. A general recursive linear method and unique solution pattern design for the perspective-n-point problem[J]. Image and Vision Computing, 2008, 26(6):740-750.

张梁, 徐锦法, 夏青元, 等.无人飞行器双目视觉位姿估计算法改进与验证[J].上海交通大学学报, 2015, 49(9):1387-1393.

ZHANG L, XU J F, XIA Q Y, et al.. An improvement and verification of position/attitude estimation algorithm based on binocular vision for unmanned aerial vehicle[J]. Journal of Shanghai Jiaotong University, 2015, 49(9):1387-1393. (in Chinese)

唐巍, 叶东, 袁峰, 等.灰色关联分析法在双目视觉测量系统误差分析中的应用[J].光学精密工程, 2013, 21(2):503-513.

TANG W, YE D, YUAN F, et al.. Application of grey incidence method to error analysis of binocular vision measurement system[J]. Opt. Precision Eng., 2013, 21(2):503-513. (in Chinese)

李鑫, 龙古灿, 刘进博, 等.相机位姿估计的加速正交迭代算法[J].光学学报, 2015, 35(1):0115004.

LI X, LONG G C, LIU J B, et al.. Accelerative orthogonal iteration algorithm for camera pose estimation[J]. Acta Optica Sinica, 2015, 35(1):0115004. (in Chinese)

HARTLEY R I, KAHL F. Global optimization through rotation space search[J]. International Journal of Computer Vision, 2009, 82(1):64-79.

SIGAL L, BLACK M J. Measure locally, reason globally:occlusion-sensitive articulated pose estimation[C]. Proceedings of 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, IEEE, 2006:2041-2048.

VENTURA J, ARTH C, REITMAYR G, et al.. A minimal solution to the generalized pose-and-scale problem[C]. Proceedings of 2014 IEEE Conference on Computer Vision and Pattern Recognition, IEEE, 2014:422-429.

LU C P, HAGER G D, MJOLSNESS E. Fast and globally convergent pose estimation from video images[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(6):610-622.

ANANDAN P, IRANI M. Factorization with uncertainty[J]. International Journal of Computer Vision, 2002, 49(2-3):101-116.

SHI J B, TOMASI C. Good features to track[C]. Proceedings of 1994 IEEE Computer Society Computer Vision and Pattern Recognition, IEEE, 1994:593-600.

STEELE R M, JAYNES C. Feature uncertainty arising from covariant image noise[C]. Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, IEEE, 2005:1063-1070.

王鹏, 周权通, 孙长库.多特征点拓扑确定位姿测量算法研究[J].红外与激光工程, 2017, 46(5):0517001.

WANG P, ZHOU Q T, SUN CH K. Study of pose estimation based on multiple feature points topological determination[J]. Infrared and Laser Engineering, 2017, 46(5):0517001. (in Chinese)

张振杰, 郝向阳, 程传奇, 等.基于共面直线迭代加权最小二乘的相机位姿估计[J].光学精密工程, 2016, 24(5):1168-1175.

ZHANG ZH J, HAO X Y, CHENG CH Q, et al.. Iteratively reweighted least squares method for camera pose estimation based on coplanar line correspondences[J]. Opt. Precision Eng., 2016, 24(5):1168-1175. (in Chinese)

WANG Y, YUAN F, JIANG H, et al.. High precision and fast estimation of position and attitude measurement for space targets[J]. Optik-International Journal for Light and Electron Optics, 2017, 148:76-84.

CUI J SH, HUO J, YANG M. Novel method of calibration with restrictive constraints for stereo-vision system[J]. Journal of Modern Optics, 2016, 63(9):835-846.

Views

338

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Image correction for perspective distortion of cylindrical surfaces at arbitrary poses

Visual 6D pose estimation of battery package locking mechanism in intelligent battery swapping station

Overview of visual pose estimation methods for space missions

Failure analysis of electro-thermal micro-actuator under effect of process error

Target pose estimation based on polarization imaging in low light and strong background noise

Related Author

DUAN Zhiwei

XIA Xiaohua

HE Pengcheng

HU Peng

HAN Chunhua

CHEN Liangliang

ZHANG Hao

SU Yuzuwei

Related Institution

Key Laboratory of Road Construction Technology and Equipment，Ministry of Education，Chang' an University

NARI Technology Company Ltd.

Jiangsu Provincial Electric Power Corporation

Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology， Ministry of Education， School of Instrument Science and Engineering， Southeast University

School of Astronautics， Harbin Institute of Technology

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰