Relative Pose Change Measurement Method Based on Eye-to-Look Camera Measurement and Laser Ranging

Abstract

The invention mainly utilizes the advantages of the shooting measurement and laser ranging technology: high precision, simpleness and quickness to measure the relative pose change between two rigid bodies. The relative pose change measuring method based on eye-to-eye shooting measurement and laser ranging utilizes fixedly-connected cameras and laser range finders to form measuring units, wherein the two measuring units are respectively arranged on the respective rigid bodies, and can shoot the relative pose change between the rigid bodies through a mutual eye-to-eye shooting mode. The measuring method utilizes the mutual shooting mode of the measuring units to form a closed loop for the relative pose change measurement, so that the measurement precision for the relative pose change between the two rigid bodies can be effectively improved. The measuring method has no need for knowing about the coordinates of fixedly-connected markers in advance, and can resolve the relative deflection directly through the increment for image coordinates of two and more than two marker points, so that the measuring method is simple and efficient. The measuring method can be used for real-time measurement of the relative pose change between the rigid bodies, and has important theoretical research significance and is wide in the application prospect.

Description

technical field [0001] The invention mainly uses the high-precision, simple and fast advantages of camera measurement and laser ranging technology to measure the relative pose change between two rigid bodies. Background technique [0002] With the development of science and technology, the demand for measuring relative pose changes in various fields is becoming more and more urgent. For example, due to factors such as hull deformation, ground subsidence, and external forces, the relative deformation between the rigid body bases will affect the relative deformation of the rigid body bases. The measurement accuracy of the measuring equipment. Therefore, the development of a high-precision, stable and automatic relative pose change measurement system has important theoretical significance and application value. [0003] In recent years, the relative pose change measurement method based on computer vision technology has developed rapidly. The monocular pose estimation algorith...

AI Technical Summary

Problems solved by technology

In the actual measurement situation, there is often no cooperative goal, which makes the method unable to be effectively implemented

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