Abstract

In order to improve the accuracy of conical target pose parameters measured by monocular vision, we propose a high precision visual measurement method for conical target based on the minimum reconstruction error of 3D. Firstly, we select the main and auxiliary features used for pose parameters’ measurement by analyzing target’s imaging process. Secondly, the algebraic and geometric methods for measuring pose parameters are determined based on the selected features. Finally, we utilize the geometric constraints of target to establish the reconstruction error formula and optimize the pose parameters based on the minimum reconstruction error principle to improve the measurement accuracy. To verify the effectiveness of our method, we use 3ds Max software to generate target’s simulation images under different pose parameters and compare the pose parameters before and after optimization. Experimental results show that the proposed method can significantly improve the accuracy of pose parameters when the measurement distance is far (more than 30 m), which is up to about 40%.

中文翻译：

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一种基于单目视觉的高精度锥形目标位姿测量方法

摘要

为了提高单目视觉测量锥形目标姿态参数的精度，提出一种基于3D最小重构误差的锥形目标高精度视觉测量方法。首先，我们通过分析目标的成像过程来选择用于位姿参数测量的主辅特征。其次，根据选择的特征确定用于测量姿态参数的代数和几何方法。最后，我们利用目标的几何约束建立重建误差公式，并基于最小重建误差原则优化位姿参数，以提高测量精度。为了验证我们方法的有效性，我们使用3ds Max软件生成目标在不同位姿参数下的仿真图像，并比较优化前后的位姿参数。实验结果表明，当测量距离较远（大于30 m）时，该方法可以显着提高位姿参数的精度，可达40%左右。