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重投影优化的自由双目相机位姿估计方法

陈天择 葛宝臻 罗其俊

陈天择, 葛宝臻, 罗其俊. 重投影优化的自由双目相机位姿估计方法[J]. 中国光学(中英文), 2021, 14(6): 1400-1409. doi: 10.37188/CO.2021-0105
引用本文: 陈天择, 葛宝臻, 罗其俊. 重投影优化的自由双目相机位姿估计方法[J]. 中国光学(中英文), 2021, 14(6): 1400-1409. doi: 10.37188/CO.2021-0105
CHEN Tian-ze, GE Bao-zhen, LUO Qi-jun. Pose estimation for free binocular cameras based on reprojection error optimization[J]. Chinese Optics, 2021, 14(6): 1400-1409. doi: 10.37188/CO.2021-0105
Citation: CHEN Tian-ze, GE Bao-zhen, LUO Qi-jun. Pose estimation for free binocular cameras based on reprojection error optimization[J]. Chinese Optics, 2021, 14(6): 1400-1409. doi: 10.37188/CO.2021-0105

重投影优化的自由双目相机位姿估计方法

基金项目: 国家自然科学基金项目(No. 61535008)
详细信息
    作者简介:

    陈天择(1995—),男,黑龙江哈尔滨人,硕士研究生,2018年于天津大学获得学士学位,现就读于天津大学精密仪器与光电子工程学院,攻读光学工程专业硕士学位,主要研究方向为计算机视觉。E-mail:chentianze@tju.edu.cn

    葛宝臻(1964—),男,内蒙古卓资人,博士,教授,博士生导师,主要从事三维彩色数字成像技术、光电检测技术、激光粒子测量方面的研究。E-mail:gebz@tju.edu.cn

    罗其俊(1982—),男,湖北孝感人,博士,2008年于中国民航大学获得硕士学位,现为中国民航大学电子信息与自动化学院讲师,主要从事机器视觉和只能控制系统方面的研究。E-mail:qjluo@cauc.edu.cn

  • 中图分类号: TP391.4

Pose estimation for free binocular cameras based on reprojection error optimization

Funds: Supported by National Natural Science Foundation of China (No. 61535008)
More Information
  • 摘要: 在自由双目立体视觉系统中,左右相机自由旋转,导致相机位姿发生实时变化。针对这一问题,提出一种重投影优化的自由双目相机位姿估计方法。通过分解相邻两幅图像间的单应矩阵估计相机的运动参数;将其作为初值计算重叠拍摄区域内特征点云的重投影误差,构建目标函数;利用非线性优化算法优化目标函数,得到最优的相机运动参数,结合相机旋转前的位姿参数,计算当前位置的相机位姿。仿真实验表明,位姿估计误差随重投影误差的减小而减小,所提算法能快速稳定收敛至全局最优值;水泥模型的三维重建实验表明,利用所提的相机位姿估计算法能够有效生成模型的三维点云,并可实现相邻点云的高精度拼接,拼接点云模型上两点距离的平均误差为1.68%。

     

  • 图 1  自由双目立体视觉系统中相邻两次测量

    Figure 1.  Two adjacent measurements of the free binocular vision system

    图 2  位姿估计误差随重投影误差的变化

    Figure 2.  Changes in pose estimation error with reprojection error

    图 3  不同条件下算法的收敛情况

    Figure 3.  Convergence of the algorithm under various conditions

    图 4  不同参考点数目对算法的影响

    Figure 4.  Changes in post estimation error to the algorithm with different numbers of reference points

    图 5  不同噪声对算法的影响

    Figure 5.  Changes in post estimation error to the algorithm under different noise

    图 6  自由双目立体视觉装置图

    Figure 6.  Diagram of free binocular stereo vision device

    图 7  双目相机采集图像

    Figure 7.  Images obtained by binocular cameras

    图 8  三维重建结果

    Figure 8.  3D reconstruction results

    表  1  标志点间距

    Table  1.   Distance between mark points (mm)

    实验次数 AB间距 CD间距 EF间距
    1 498.073 199.762 501.328
    2 501.137 197.037 501.670
    3 500.569 198.053 502.404
    4 502.842 200.459 502.634
    下载: 导出CSV
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出版历程
  • 收稿日期:  2021-05-14
  • 修回日期:  2021-06-02
  • 网络出版日期:  2021-08-11
  • 刊出日期:  2021-11-19

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