Multi-target identification tracking resolving method

Abstract

The invention relates to a multi-target identification tracking resolving method. The method comprises the following steps of installing targets, acquiring images by left and right cameras, and positioning regions of interest of the targets; extracting mark points of a left target and a right target in the target interested area; matching left and right image target points according to epipolar constraint and homography transformation; recording the coordinates of the target mark point image obtained by the current tracking identification; three-coordinate measurement target point cloud Q, binocular vision reconstruction target three-dimensional point cloud P, traversal point cloud P and point cloud Q being carried out, three points being randomly taken out respectively to form a space triangle, and matching of corresponding points of the point cloud P and the point cloud Q being realized by comparing whether the three points are congruent triangles or not; and resolving a relative attitude matrix of the target according to a corresponding result of the reconstructed point cloud and the target point cloud. According to the method, real-time tracking, identification and calculationof a plurality of targets can be realized, positioning precision is high, and a new way suitable for target identification and calculation of a plurality of target working systems is provided.

Description

technical field [0001] The invention relates to the field of automatic assembly, in particular to a multi-target recognition tracking solution method. Background technique [0002] In the docking assembly project of aerospace, it is necessary to calculate the relative pose of the docking target in space, and transfer the adjustment amount to the adjustment mechanism to realize automatic assembly. The transfer target is a target that is rigidly connected to the measured object through the transfer structure and has clear detection characteristics. The transfer target can actively or passively provide the relative pose and relative motion information of different objects in space, and is widely used in the automatic docking assembly system of aerospace, in which the measurement accuracy and real-time performance of the transfer target, the degree of automation of the measurement system , is critical for assembly efficiency. Yao Lizhou and others from Shanghai University plac...

AI Technical Summary

Problems solved by technology

Yao Lizhou and others from Shanghai University placed a reference optical target at the docking position, measured the actual position of each target point with a laser tracker, and calculated the relative pose of the target. Since the laser tracker can only obtain the coordinates of one target point for each measurement, Therefore, real-time tracking, measurement and calculation cannot be realized, and the cost is high and the operation is cumbersome

Zhao Shulei from Beijing University of Aeronautics and Astronautics proposed to use the TOF camera to identify the transfer target at the docking position and calculate the relative attitude. However, the depth value obtained by the TOF camera has the problems of corner distortion and precision offset, which is not suitable for high-speed Accurate 3D reconstruction of scenes

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