编码特征点的瞄准线测量方法
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摘要
针对视觉式头部姿态测量系统存在编码特征点安装空间需求大的问题,设计一种结构简单、需求空间小的瞄准线测量方法。使用定位摄像机拍摄头盔上的编码特征点图像,计算机对图像进行解析和计算,结合正交迭代(OI)算法解算头部姿态。根据编码特征点随意布局特点进行了多组多次的仿真分析,仿真数据表明此方法是合理、有效的,利用小空间布局的编码特征点可以解算出高精度瞄准线。
In computer vision head pose measurement system,large space is needed for the installation of coded feature points.To solve the problem?a new method is put forward for the measurement of the Line-of-Sight(LOS) with a simple structure as well as smaller installation space.The method uses the positioning cameras to capture the picture of the coded feature points on the helmet?and a computer for image calculating and analyzing.The head pose is obtained finally with the Orthogonal Iterative(OI) algorithm.Based on the characteristic of the feature points?we conducted a series of simulation analysis.The simulation results proved the rationality and the validity of the method?and showed that a high-precision LOS can be obtained by using the coded feature points distributed within a smaller space.
In computer vision head pose measurement system,large space is needed for the installation of coded feature points.To solve the problem?a new method is put forward for the measurement of the Line-of-Sight(LOS) with a simple structure as well as smaller installation space.The method uses the positioning cameras to capture the picture of the coded feature points on the helmet?and a computer for image calculating and analyzing.The head pose is obtained finally with the Orthogonal Iterative(OI) algorithm.Based on the characteristic of the feature points?we conducted a series of simulation analysis.The simulation results proved the rationality and the validity of the method?and showed that a high-precision LOS can be obtained by using the coded feature points distributed within a smaller space.
引文
[1] 王永生.机载头盔瞄准显示系统动态性能研究[J].电光与控制,2013?20(8):1-5.
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[3] 刘世良,丁全心,张劲锋.基于座舱结构特征的瞄准线测量方法研究[J].电光与控制,2016?23(1):85-88.
[4] MURPHY-CHUTORIAN E?TRIVEDI M M.Head pose estimation in computer vision:a survey[J].IEEE Tran-sactions on Pattern Analysis and Machine Intelligence? 2009?31(4):607- 626.
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[8] 杨森,吴福朝.摄像机位姿的加权线性算法[J].软件学报,2011?22(10):2476-2487.
[9] 岳晓奎,武媛媛,吴侃之.基于视觉信息的航天器位姿估计迭代算法[J].西北工业大学学报,2011?29(4):559-563.
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[11] ABDEL-AZIZ Y I?KARARA H M?HAUCK M.Direct linear transformation from comparator coordinates into object space coordinates in close-range photogrammetry[J].Photogrammetric Engineering & Remote Sensing? 2015?81(2):103-107.
[12] LEPETIT V?MORENO-NOGUER F?FUA P.EPnP:an accurate O(n) solution to the PnP problem[J].International Journal of Computer Vision?2009?81(2):155-166.
[13] LU C P?HAGER G D?MJOLSNESS E.Fast and globally convergent pose estimation from video images[J].IEEE Transactions on Pattern Analysis and Machine Intelligence?2000?22(6):610-622.
[2] 张求知,刘建业,王立伟.电磁式跟踪器磁场畸变的姿态校正技术[J].南京航空航天大学学报,2007?39(6):711-715.
[3] 刘世良,丁全心,张劲锋.基于座舱结构特征的瞄准线测量方法研究[J].电光与控制,2016?23(1):85-88.
[4] MURPHY-CHUTORIAN E?TRIVEDI M M.Head pose estimation in computer vision:a survey[J].IEEE Tran-sactions on Pattern Analysis and Machine Intelligence? 2009?31(4):607- 626.
[5] 王超,魏生民,周继红,等.视频图像技术在头部位置跟踪上的应用研究[J].现代制造工程,2008(2):111-115.
[6] 周维,许海霞.一种摄像机姿态估计方法[J].系统仿真学报,2011?23(12):2582-2587.
[7] 李书杰,刘晓平.摄像机位姿的高精度快速求解[J].中国图象图形学报,2014?19(1):20-27.
[8] 杨森,吴福朝.摄像机位姿的加权线性算法[J].软件学报,2011?22(10):2476-2487.
[9] 岳晓奎,武媛媛,吴侃之.基于视觉信息的航天器位姿估计迭代算法[J].西北工业大学学报,2011?29(4):559-563.
[10] 郭军,董新民,王龙.综合重构与正交迭代位姿估计算法[J].应用科学学报,2011?29(6):577-584.
[11] ABDEL-AZIZ Y I?KARARA H M?HAUCK M.Direct linear transformation from comparator coordinates into object space coordinates in close-range photogrammetry[J].Photogrammetric Engineering & Remote Sensing? 2015?81(2):103-107.
[12] LEPETIT V?MORENO-NOGUER F?FUA P.EPnP:an accurate O(n) solution to the PnP problem[J].International Journal of Computer Vision?2009?81(2):155-166.
[13] LU C P?HAGER G D?MJOLSNESS E.Fast and globally convergent pose estimation from video images[J].IEEE Transactions on Pattern Analysis and Machine Intelligence?2000?22(6):610-622.