同心圆靶的相对位置姿态的摄影测量方法
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摘要
用一台数码相机拍摄同心圆靶标的照片,求出照片中这两个椭圆的方程。研究了一种解算方法,能用这两个椭圆方程的系数直接算出同心圆靶面的姿态。再求出椭圆平行于透视轴的切线及其切点的位置。利用这些切点的坐标解算同心圆圆心的像点位置和相机的焦距。如果知道同心圆的半径还可以求出同心圆靶的位置。所提方法可在停机坪标定飞机上的方向舵的角位移传感器;或用于追踪航天器自主测量目标航天器的相对位置姿态。
Takes a picture of the concentric circle target with a digital camera. Finds out the equation of each ellipse in the picture. An algorithm has been designed to calculate the attitude of the concentric circle target by directly utilizing these ellipse-equation coefficients. Finds out the ellipses' tangent lines parallel to perspective axis and gets the positions of their tangent points. Using coordinates of these tangent points, the imaged position of concentric circle center and the focal length of the camera can be calculated out. If the radii of concentric circle are known, the position of concentric circle target can be obtained. This method can be used to calibrate angular-displacement-sensor of plane's rudders. And it can be used to autonomously measure the relative position and attitude of target spacecraft from tracking spacecraft.
Takes a picture of the concentric circle target with a digital camera. Finds out the equation of each ellipse in the picture. An algorithm has been designed to calculate the attitude of the concentric circle target by directly utilizing these ellipse-equation coefficients. Finds out the ellipses' tangent lines parallel to perspective axis and gets the positions of their tangent points. Using coordinates of these tangent points, the imaged position of concentric circle center and the focal length of the camera can be calculated out. If the radii of concentric circle are known, the position of concentric circle target can be obtained. This method can be used to calibrate angular-displacement-sensor of plane's rudders. And it can be used to autonomously measure the relative position and attitude of target spacecraft from tracking spacecraft.
引文
[1] 魏振忠,赵征,张广军.空间圆姿态识别二义性的角度约束消除[J].光学精密工程,2010,18(3):685—691.Wei Zhenzhong,Zhao Zheng,Zhang Guangjun.Solution of duality in pose estimation of single circle using euclidean angular constraint[J].Optics and Precision Engineering,2010,18(3):685—691.
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[8] 陈欣,高隽,张旭东,等.融合距离图像和彩色图像的圆位姿测量方法[J].计算机应用与软件,2016,33(6):190—194.Chen Xin,Gao Jun,Chong Xudong,et al.Circle pose measurement based on fusion of distance image and colour image[J].Computer Apllications and Software,2016,33(6):190—194.
[9] 何森,王志斌,李慧生.同心圆标志单目视觉法测飞机方向舵位移[J].光电工程,2013,40(10):22—27.He Sen,Wang Zhibin,Li Huisheng.Measurement of angular displacement for the rudder based on monocular vision using concentric circle target[J].Opto-Electronic Engineering,2013,40(10):22—27.
[10] Fremont V,Chellali R.Direct camera calibration using two concentric circles from a single view[C] // 12th Int.Conf.Artificial Reality and Telexistence.Tokyo,Japan,2002:93—98.
[11] Kim J S,Gurdjos P.Geometric and algebraic constraints of projected concentric circles and their applications to camera calibration[J].IEEE Trans.on Pattern Analysis and Machine Intelligence,2005,27(4):637—642.
[12] 鄂薇,魏承,王典军,等.基于星箭对接环同心圆结构的卫星姿态估计方法[J].航天器工程,2018,27(2):41—46.E Wei,Wei Cheng,Wang Dianjun,et al.Satellite pose estimation method based on concentric circle structure of docking ring[J].Spacecraft Engineering,2018,27(2):41—46.
[2] 何森,王志斌,张旭峰,等.航天器对接相对位置姿态自主测量方法研究[J].光学技术,2009,35(6):931—938.He Sen,Wang Zhibin,Zhang Xufeng,et al.Relative position-and-attitude self-measuring for spacecrafts docking[J].Optical Technique,2009,35(6):931—938.
[3] 苗锡奎,朱枫,丁庆海,等.基于星箭对接环部件的飞行器单目视觉位姿测量方法[J].光学学报,2013,33(4):123—131Miao Xikui,Zhu Feng,Ding Qinghai,et al.Monocular vision pose measurement based on docking ring component [J].Acta Optica Sinica,2013,33(4):123—131.
[4] 何森,王志斌.一种单目视觉标定飞机方向舵角位移的新方法[J].兵工学报,2011,32(11):1384—1388.He Sen,Wang Zhibin.A new method for calibration of rudder angular displacement sensor based on monocular vision[J].Acta Armamentarii,2011,32(11):1384—1388.
[5] 吴斌,叶东,张鑫,等.非合作目标姿态测量的嵌入式算法[J]光学精密工程,2016,24(11):2804—2813.Wu Bin,Ye Dong,Zhang Xin,et al.Embedded algorithm for relative pose measurement between non-co-operative targets[J].Optics and Precision Engineering,2016,24(11):2804—2813.
[6] 陈至坤,胡连军,王一,等.单圆位姿识别二义性的矩形约束消除[J].激光与光电子学进展,2017,54(10):351—356.Chen Zhikun,Hu Lianjun,Wang Yi,et al.Solution of duality in pose estimation of a single circle using rectangle constrain[J].Laser Optoelectronic Progress,2017,54(10):351—356.
[7] 张磊,徐科军,赵锐,一种基于圆特征的单目视觉位姿测量算法的改进[J].合肥工业大学学报:自然科学版,2009,32(11):1669—1673.Zhang Lei,Xu Kejun,Zhao Rui,et al.Improvement of position and orientation measurement algorithm of monocular vision based on circle features[J].Journal Hefei University Of Technology,2009,32(11):1669—1673.
[8] 陈欣,高隽,张旭东,等.融合距离图像和彩色图像的圆位姿测量方法[J].计算机应用与软件,2016,33(6):190—194.Chen Xin,Gao Jun,Chong Xudong,et al.Circle pose measurement based on fusion of distance image and colour image[J].Computer Apllications and Software,2016,33(6):190—194.
[9] 何森,王志斌,李慧生.同心圆标志单目视觉法测飞机方向舵位移[J].光电工程,2013,40(10):22—27.He Sen,Wang Zhibin,Li Huisheng.Measurement of angular displacement for the rudder based on monocular vision using concentric circle target[J].Opto-Electronic Engineering,2013,40(10):22—27.
[10] Fremont V,Chellali R.Direct camera calibration using two concentric circles from a single view[C] // 12th Int.Conf.Artificial Reality and Telexistence.Tokyo,Japan,2002:93—98.
[11] Kim J S,Gurdjos P.Geometric and algebraic constraints of projected concentric circles and their applications to camera calibration[J].IEEE Trans.on Pattern Analysis and Machine Intelligence,2005,27(4):637—642.
[12] 鄂薇,魏承,王典军,等.基于星箭对接环同心圆结构的卫星姿态估计方法[J].航天器工程,2018,27(2):41—46.E Wei,Wei Cheng,Wang Dianjun,et al.Satellite pose estimation method based on concentric circle structure of docking ring[J].Spacecraft Engineering,2018,27(2):41—46.