Industrial Robot ( IF 1.8 ) Pub Date : 2021-09-09 , DOI: 10.1108/ir-06-2021-0111 Xiao Bo Liang 1 , Xinghua Qu 1 , YuanJun Zhang 1 , Lianyin Xu 1 , Fumin Zhang 1
Purpose
Laser absolute distance measurement has the characteristics of high precision, wide range and non-contact. In laser ranging system, tracking and aiming measurement point is the precondition of automatic measurement. To solve this problem, this paper aims to propose a novel method.
Design/methodology/approach
For the central point of the hollow angle coupled mirror, this paper proposes a method based on correlation filtering and ellipse fitting. For non-cooperative target points, this paper proposes an extraction method based on correlation filtering and feature matching. Finally, a visual tracking and aiming system was constructed by combining the two-axis turntable, and experiments were carried out.
Findings
The target tracking algorithm has an accuracy of 91.15% and a speed of 19.5 frames per second. The algorithm can adapt to the change of target scale and short-term occlusion. The mean error and standard deviation of the center point extraction of the hollow Angle coupling mirror are 0.20 and 0.09 mm. The mean error and standard deviation of feature points matching for non-cooperative target were 0.06 mm and 0.16 mm. The visual tracking and aiming system can track a target running at a speed of 0.7 m/s, aiming error mean is 1.74 pixels and standard deviation is 0.67 pixel.
Originality/value
The results show that this method can achieve fast and high precision target tracking and aiming and has great application value in laser ranging.
中文翻译:
基于视觉的目标点跟踪瞄准方法
目的
激光绝对测距具有精度高、范围广、非接触等特点。在激光测距系统中,跟踪和瞄准测量点是自动测量的前提。为了解决这个问题,本文旨在提出一种新的方法。
设计/方法/方法
针对空心角耦合镜的中心点,提出一种基于相关滤波和椭圆拟合的方法。针对非合作目标点,提出一种基于相关滤波和特征匹配的提取方法。最后,结合两轴转台构建了视觉跟踪瞄准系统,并进行了实验。
发现
目标跟踪算法的准确率为 91.15%,速度为每秒 19.5 帧。该算法能够适应目标尺度的变化和短期遮挡。空心角耦合镜中心点提取的平均误差和标准偏差分别为0.20和0.09 mm。非合作目标特征点匹配的平均误差和标准差分别为0.06 mm和0.16 mm。视觉跟踪瞄准系统可以跟踪以0.7 m/s的速度运行的目标,瞄准误差平均值为1.74像素,标准差为0.67像素。
原创性/价值
结果表明,该方法可以实现快速、高精度的目标跟踪和瞄准,在激光测距中具有很大的应用价值。