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A visual measurement method of single-axis rotation angle based on moving camera and dual targets

A mobile camera and visual measurement technology, applied in the field of visual measurement, can solve the problems of difficult target installation and easily blocked targets

Active Publication Date: 2017-04-05
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

It solves the difficulty of target installation in the existing visual angle measurement method and the difficulty that the target is easily blocked during the angle measurement process

Method used

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  • A visual measurement method of single-axis rotation angle based on moving camera and dual targets
  • A visual measurement method of single-axis rotation angle based on moving camera and dual targets
  • A visual measurement method of single-axis rotation angle based on moving camera and dual targets

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Embodiment Construction

[0105] See figure 1 — Figure 5 , the present invention provides a visual measurement method of single-axis rotation angle based on a moving camera and dual targets, it is a method of using a monocular camera to accurately measure the rotation angle of a rotation around an axis in real time, and simulated Experimental and real experimental verification.

[0106] Simulation

[0107] Simulation environment settings: The simulation experiment is carried out on a computer with a main frequency of 3.07GHz and a memory of 4.00GB, and on MATLAB 2014a under Windows XP environment. The camera model used in the simulation is a second-order distortion model, and the parameters are as follows:

[0108] alpha x =782.5109,α y =782.9155,u 0 =357.3909, v 0 =264.5240

[0109] k 1 =-0.4232,k 2 =0.2664,k 3 =-0.000555,k 4 =-0.0031,k 5 =0

[0110] The target is a 6×8 checkerboard, and the length of a single checkerboard is 39.5mm×39.5mm. The simulation experiment mainly verifies th...

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Abstract

A single-axis rotation angle vision measurement method based on a movable camera and double targets includes the implementation steps of firstly, conducting ordinary camera calibration; secondly, obtaining initial values of external parameters of the pivoting movement; thirdly, conducting nonlinear optimization on the internal parameter pin, the external parameter pout and the external parameter pcam; fourthly, obtaining the rotation angle through the calibrated internal parameters and the calibrated external parameters. The method solves the problems that according an existing angle vision measurement method, the targets are hard to install, and the targets are prone to being blocked in the angle measurement process. According to the method, the images of the two targets are shot by holding the camera by hand, and therefore the internal parameters and the external parameters of the camera and the geometric relation between the two targets and the axis are calibrated, and the rotation angle is measured.

Description

technical field [0001] The invention relates to a visual measurement method of a single-axis rotation angle based on a mobile camera and double targets, and belongs to the technical field of visual measurement. Background technique [0002] Angular displacement measurement is widely used in industry, aerospace and other fields. Since the electrical and mechanical parameters of the angular displacement sensor will change in harsh environments, it is necessary to calibrate and correct them regularly. Vision measurement technology is popular because of its simple structure, non-contact real-time measurement, and convenient on-site installation and debugging. Most of the existing visual methods have certain requirements on the installation of the target, which is inconvenient to use; moreover, in many occasions, problems such as occlusion may occur during the angle measurement process. Therefore, this patent application proposes a visual measurement method based on a single-ax...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G06T7/20
CPCG06T7/38G06T7/85
Inventor 全权董洪信张瑞峰付强蔡开元
Owner BEIHANG UNIV
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