基于多传感器信息融合的六自由度运动记录方法
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摘要
以六自由度运动作为研究对象,提出了一种基于多传感器信息融合的运动记录方法。通过加速度模块获得加速度,解耦计算出六自由度运动的转角信息。通过融合转角信息和摄像头记录的图像信息,计算出六自由度运动的位移信息。通过实验验证了该方法的可行性。
Taking 6-DOF motion as research objective,a motion recording method based on the multi-sensor information fusion was proposed.According to the accelerations getting from the acceleration module,the angular information of the motion was calculated by using a decoupling method.It can obtain the displacement information of 6-DOF motion by correcting the image matrix with angle information and recalculating image translation.Experimental results demonstrated that this motion recording method was feasible.
Taking 6-DOF motion as research objective,a motion recording method based on the multi-sensor information fusion was proposed.According to the accelerations getting from the acceleration module,the angular information of the motion was calculated by using a decoupling method.It can obtain the displacement information of 6-DOF motion by correcting the image matrix with angle information and recalculating image translation.Experimental results demonstrated that this motion recording method was feasible.
引文
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2皮阳军,王宣银,胡玉梅.基于关节力传感器的并联六自由度机构标定方法[J].农业机械学报,2012,43(10):215～218.Pi Yangjun,Wang Xuanyin,Hu Yumei.Calibration of 6-DOF parallel mechanism using joint force sensors[J].Transactions of theChinese Society for Agricultural Machinery,2012,43(10):215～218.(in Chinese)
3肖英奎,赵丁选,王芳荣,等.基于6-DOF并联平台远端运动在线模拟研究[J].农业机械学报,2005,36(6):138～140.
4 Luhmann T.Precision potential of photogrammetric 6-DOF pose estimation with a single camera[J].ISPRS Journal ofPhotogrammetry and Remote Sensing,2009,64(3):275～284.
5李徽,杨德华,翟超.六自由度机构位姿的单相机照相测量研究[J].光学技术,2010,36(3):344～349.Li Hui,Yang Dehua,Zhai Chao.Research on the pose measurement of a 6-DOF platform using a single camera[J].OpticalTechnique,2010,36(3):344～349.(in Chinese)
6田国伟,韩晓健,徐秀丽,等.基于视频图像处理技术的振动台试验动态位移测量方法[J].世界地震工程,2011,27(3):174～179.Tian Guowei,Han Xiaojian,Xu Xiuli,et al.Measuring method of dynamic displacement in shaking table test based on thetechnology of video processing[J].World Information on Earthquake Engineering,2011,27(3):174～179.(in Chinese)
7 Zhang Z,Zhu D,Zhang J.An improved pose estimation algorithm for real-time vision applications[C]∥2006 InternationalConference on Communications,Circuits and Systems Proceedings,2006,1:402～406.
8陈杉,周涛,张效栋,等.物体位姿单目视觉传感测量系统[J].传感技术学报,2007,20(9):2011～2015.Chen Shan,Zhou Tao,Zhang Xiaodong,et al.Monocular vision measurement system of the position and attitude of the object[J].Chinese Journal of Sensors and Actuators,2007,20(9):2 011～2 015.(in Chinese)
9 Zhong Z,Yi J,Zhao D,et al.Effective pose estimation from point pairs image and vision computing[J].Image and VisionComputing,2005,23(7):651～660.
10 Salvi J,Arnabgye X,Batlle J.A comparative review of camera calibrating methods with accuracy evaluation[J].PatternRecognition,2002,35(7):1 617～1 635.
11 Zhang Z.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1 330～1 334.
12马颂德,张正友.计算机视觉——理论与算法基础[M].北京:科学出版社,1998.
13林慧英,苏建,刘玉梅,等.基于图像畸变矫正的摄像机标定方法[J].吉林大学学报:工学版,2007,37(2):433～437.Lin Huiying,Su Jian,Liu Yumei,et al.Camera calibration technique based on rectification of image aberration[J].Journal ofJilin University:Engineering and Technology Edition,2007,37(2):433～437.(in Chinese)
14 Wang F.A simple and analytical procedure for calibrating extrinsic camera parameters[J].IEEE Transactions on Robotics andAutomation,2004,20(1):121～124.
15朱枫,周静,郝颖明.基于几何方法的摄像机内外参数求解[J].计算机工程与应用,2005,41(26):16～18.Zhu Feng,Zhou Jing,Hao Yingming.Solving camera intrinsic and extrinsic parameters based on geometric technique[J].Computer Engineering and Applications,2005,41(26):16～18.(in Chinese)
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