基于Radon变换的轴对称目标三维姿态测量方法
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摘要
为测量轴对称目标的俯仰角和偏航角,提出了一种基于Radon变换的轴对称目标三维姿态测量新方法。首先分析了目标成像模型和三维姿态测量原理;其次采用Radon变换算法提取目标的初始中轴线,然后利用最小二乘拟合法优化得到更加精确的结果;最后,以投弃式温深仪探头为对象,设计了仿真及物理实验来验证所提方法。仿真及物理实验表明,该方法能精确地提取目标的中轴线,中轴线角度平均误差小于0.02°。搭建的双目视觉测量系统可以用于目标三维姿态测量,测量精度满足应用需求。
In order to measure the yaw angle and pitching angle of the axes symmetry object,a novel method of measuring its 3D pose based on Radon transform was proposed.Firstly,the model of imaging and the principle of 3Dpose measurement were analyzed.Secondly,Radon transform was used to extract the object's initial axes and the least square algorithm was used to gain more accurate results.Finally,simulation and physical experiments were designed to confirm the proposed method using XBT probe.Experimental results show this method can extract the axes of symmetry object in high precision and the mean error of the axes angle is within 0.02°.The binocular stereo vision measurement system can be used to measure object's 3D pose and the precision can satisfy application requirements.
In order to measure the yaw angle and pitching angle of the axes symmetry object,a novel method of measuring its 3D pose based on Radon transform was proposed.Firstly,the model of imaging and the principle of 3Dpose measurement were analyzed.Secondly,Radon transform was used to extract the object's initial axes and the least square algorithm was used to gain more accurate results.Finally,simulation and physical experiments were designed to confirm the proposed method using XBT probe.Experimental results show this method can extract the axes of symmetry object in high precision and the mean error of the axes angle is within 0.02°.The binocular stereo vision measurement system can be used to measure object's 3D pose and the precision can satisfy application requirements.
引文
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[9]邓廷权,王占江,汪培培.水下目标动态阈值检测的区间值模糊集熵方法[J].哈尔滨工程大学学报,2011,32(2):246-249.Deng Tingquan,Wang Zhanjiang,Wang Peipei.An interval-valued fuzzy entropy approach to object detection with dynamic thresholding for underwater images[J].J.Harbin Engineering University,2011,32(2):246-249.
[10]张锁平.基于Radon变换的视频测速算法[J].传感器与微系统,2009,28(10):33-34.Zhang Suoping.Algorithm of speed estimation based on Radon transform from video surveillance[J].Transducer and Microsystem Technologies,2009,28(10):33-34.
[2]王超,张涯辉,何培龙.利用单站光测图像确定回转体目标三维姿态[J].红外与激光工程,2013,42(9):2516-2518.Wang Chao,Zhang Yahui,He Peilong.Determination of rotary object's 3Dpose from mono-view[J].Infrared and Laser Engin.,2013,42(9):2516-2518.
[3]于起峰,孙祥一,陈国军.用光测图像确定空间目标俯仰角和偏航角的中轴线法[J].国防科技大学学报,2000,22(2):15-19.Yu Qifeng,Sun Xiangyi,Chen Guojun.A new method of measure the pitching and yaw of the axes symmetry object through the optical image[J].J.National University of Defense Technol.,2000,22(2):15-19.
[4]张荣,黄海莹,卫剑锋,等.基于图像处理的炮弹运动参数检测技术[J].红外与激光工程,2008,37(2):292-295.Zhang Rong,Huang Haiying,Wei Jianfeng,et al.Test technique of shell movement parameters based on image processing[J].Infrared and Laser Engineering,2008,37(2):292-295.
[5]曹蓓,周泗忠,马彩文,等.一种新的飞行目标轴线测量方法[J].弹箭与制导学报,2010,30(2):40-41.Cao Bei,Zhou Sizhong,Ma Caiwen,et al.A new method for measuring axis of flying Object[J].J.Projectiles,Rockets,Missiles and Guidance,2010,30(2):40-41.
[6]张平,唐锁夫,屈科,等.国产XBT海上测试及实际使用效果分析[J].声学技术,2012,31(6):570-573.Zhang Ping,Tang Suofu,Qu Ke,et al.Test and analysis on domestic-made XBT probe[J].Technical Acoustics,2012,31(6):570-573.
[7]张广军.视觉测量[M].北京:科学出版社,2008.Zhang Guangjun.Optical Measurement[M].Beijing:Science Press,2008.
[8]候和平,郭凯铭,刘凯,等.基于Radon变换与灰度投影积分极值方法的矩形检测[J].西安理工大学学报,2014,30(2):134-135.Hou Heping,Guo Kaiming,Liu Kai,et al.Rectangle detection based on Radon transform and gray projection integral extreme value method[J].J.Xian University of Technol.,2014,30(2):134-135.
[9]邓廷权,王占江,汪培培.水下目标动态阈值检测的区间值模糊集熵方法[J].哈尔滨工程大学学报,2011,32(2):246-249.Deng Tingquan,Wang Zhanjiang,Wang Peipei.An interval-valued fuzzy entropy approach to object detection with dynamic thresholding for underwater images[J].J.Harbin Engineering University,2011,32(2):246-249.
[10]张锁平.基于Radon变换的视频测速算法[J].传感器与微系统,2009,28(10):33-34.Zhang Suoping.Algorithm of speed estimation based on Radon transform from video surveillance[J].Transducer and Microsystem Technologies,2009,28(10):33-34.