Large components docking is an important step in industrial manufacturing. During the docking process, the relative pose of joining components needs real-time and accurate acquisition. Existing methods rely on expensive and complex optical instruments. Photogrammetry has the advantages of low cost and fast measurement speed, but its measurement accuracy decreases sharply along with the increase of the measurement range. This paper proposes a two-stage binocular vision which consists of two sets of binocular vision systems with different accuracy levels in the same coordinate system. Binocular system with corresponding structural parameters is designed for pose measurement at corresponding stages to solve the contradiction between the range and accuracy in measurement. A triangulation and spatial plane fitting method is proposed to calculate relative poses without introducing coordinate transformation errors. We adopt a novel 3D optimization method to further improve the accuracy...

中文翻译：

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基于两阶段双目视觉的对接大型组件的姿态测量方法

大型组件对接是工业制造中的重要一步。在对接过程中，连接组件的相对姿势需要实时且准确的采集。现有方法依赖于昂贵且复杂的光学仪器。摄影测量法具有成本低，测量速度快的优点，但随着测量范围的增大，其测量精度急剧下降。本文提出了一种两阶段的双目视觉系统，它由两组在同一坐标系中具有不同准确度的双目视觉系统组成。设计了具有相应结构参数的双目系统，用于相应阶段的姿态测量，解决了测量范围与精度之间的矛盾。提出了一种三角剖分和空间平面拟合的方法来计算相对姿态而不会引入坐标变换误差。我们采用新颖的3D优化方法来进一步提高精度...