CN103925909A - Method and device for measuring position of chamber-opening point by two high-speed cameras - Google Patents

Method and device for measuring position of chamber-opening point by two high-speed cameras Download PDF

Info

Publication number
CN103925909A
CN103925909A CN201410122961.XA CN201410122961A CN103925909A CN 103925909 A CN103925909 A CN 103925909A CN 201410122961 A CN201410122961 A CN 201410122961A CN 103925909 A CN103925909 A CN 103925909A
Authority
CN
China
Prior art keywords
speed camera
alpha
speed
camera
lambda
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201410122961.XA
Other languages
Chinese (zh)
Other versions
CN103925909B (en
Inventor
吴能伟
曹永刚
宋立维
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changchun Institute of Optics Fine Mechanics and Physics of CAS
Original Assignee
Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changchun Institute of Optics Fine Mechanics and Physics of CAS filed Critical Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority to CN201410122961.XA priority Critical patent/CN103925909B/en
Publication of CN103925909A publication Critical patent/CN103925909A/en
Application granted granted Critical
Publication of CN103925909B publication Critical patent/CN103925909B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken

Abstract

The invention discloses a method and a device for measuring the position of a chamber-opening point by two high-speed cameras, belonging to the field of vision measurement. In order to obtain the position of a chamber-opening point of a canister shot with high precision rapidly and accurately, a timing system terminal is connected with a first high-speed camera and a second high-speed camera; a control computer is connected with the first high-speed camera and the second high-speed camera; camera target feature points can form clear images in a crossed view field of the two high-speed cameras; the timing system terminal provides a synchronous pulse signal and time information for the first high-speed camera by a serial interface, and provides a synchronous pulse signal and time information for the second high-speed camera by a serial interface; the control computer receives image information of the camera targets of the first high-speed camera and the chamber-opening point of the canister shot by a network interface, and receives image information of the camera targets of the second high-speed camera and the chamber-opening point of the canister shot by a network interface; the position information of the chamber-opening point of the canister shot can be obtained by intersection after data treatment of the control computer.

Description

Two high-speed camera measurements open the cabin method and the device of a position
Technical field
The invention belongs to vision measurement field, be specifically related to utilize two high-speed camera measurements open the cabin method and the device of a position.
Background technology
Shrapnel is used for tackling complex target, and as great depth, large-area Suppression Weapon, its shooting effect is mainly determined by distribution and the dispersion characteristic of fall point.And position and speed that shrapnel opens the cabin are a little depended in the distribution of fall point and distribution, be therefore necessary to measure the locus that shrapnel opens the cabin a little.Classic method is to follow the tracks of female flight paths that play with many electro-optic theodolites, obtains near the shrapnel a little image that opens the cabin, and then extrapolates open the cabin a position and the speed of shrapnel.The method, because the sudden change of target after opening the cabin causes transit to extract target difficulty, be difficult to obtain open the cabin accurately a position and speed, and the sample frequency of electro-optic theodolite is lower, and the position and the velocity accuracy that cause opening the cabin are a little lower.
Summary of the invention
In order to obtain quickly and accurately the shrapnel of a degree of precision position of opening the cabin, make up the deficiency of traditional measurement method, the present invention proposes and utilize two high-speed camera measurements open the cabin method and the device of a position.
Technical scheme of the present invention is:
The open the cabin method of a position of two high-speed camera measurements, comprises the following steps,
Step 1, the visual field of the first high-speed camera is the angle between ab, cd, and the visual field of the second high-speed camera is the angle between ac, bd, and video camera target and theory are opened the cabin and are a little arranged in quadrilateral abdc, the world coordinates O of two high-speed cameras j(x j, y j, z j) j=1,2, the world coordinates O of video camera target 3(x 3, y 3, z 3), in a distance, and video camera target becomes image clearly at the first high-speed camera with in the second high-speed camera visual field to three;
Step 2, controlling computing machine utilizes network interface to gather the image of the video camera target of the first high-speed camera shooting, and extract minutiae, controlling computing machine utilizes network interface to gather the image of the video camera target of the second high-speed camera shooting, and extract minutiae, utilize two high-speed camera parameters of linear imaging model calibration, utilize the position relationship of high-speed camera and video camera target calculate video camera and world coordinate system X-axis azimuth angle alpha, with the angular altitude λ of surface level;
Wherein, the image coordinate system of high-speed camera and world coordinate system relation be suc as formula 1.,
Z c x y 1 = a u 0 u 0 0 a v v 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 R T 0 T 1 X W Y W Z W 1 ①
(a u, a v) be the Pixel Dimensions of high-speed camera image device;
(u 0, v 0) be the optical axis of high-speed camera and the intersection point of the plane of delineation;
R, T are respectively rotation matrix, the translation matrix of camera coordinate system and world coordinate system;
Utilize the position relationship of high-speed camera and video camera target, according to formula 2. calculate high-speed camera and world coordinate system X-axis azimuth angle alpha, with the angular altitude λ of surface level,
α = arctg ( X i - X 3 Z i - Z 3 ) λ = arctg ( Y j - Y 3 ( Z j - Z 3 ) 2 + ( X j - X 3 ) 2 ) ②
O j(x j, y j, z j) j=1,2 represent the coordinate of two high-speed cameras in world coordinate system;
O 3(x 3, y 3, z 3) coordinate of expression target in world coordinate system;
Step 3, the first high-speed camera and the second high-speed camera, under the synchronizing pulse effect of time terminal, obtain the dot image information of opening the cabin of target by network interface, process the miss distance information that obtains opening the cabin a little through image;
Step 4, controls computing machine and utilizes the parameter of two high-speed cameras and the azimuth angle alpha of high-speed camera and world coordinate system X-axis, and the angular altitude λ information of surface level, then according to formula, 3. calculate the positional information (x, y, z) of opening the cabin a little,
m 1 = cos α 1 ( x 1 - x 2 ) + tg λ 1 ( y 1 - y 2 ) + sin α 1 ( z 1 - z 2 ) m 2 = cos α 2 ( x 2 - x 1 ) + tg λ 2 ( y 2 - y 1 ) + sin α 2 ( z 2 - z 1 ) K = ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) 2 - sec 2 λ 1 sec 2 λ 2 l 1 = m 2 ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) + m 1 sec 2 λ 2 K l 2 = m 1 ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) + m 2 sec 2 λ 1 K x = 0.5 ( x 1 + l 1 cos α 1 + x 2 + l 2 cos α 2 ) y = 0.5 ( y 1 + l 1 tg λ 1 + y 2 + l 2 tg λ 2 ) z = 0.5 ( z 1 + l 1 sin α 1 + z 2 + l 2 sin α 2 ) ③
O j(x j, y j, z j) j=1,2 represent the coordinate of two high-speed cameras in world coordinate system;
(α j, λ j) j=1,2 position angles that represent two high-speed cameras and world coordinate system X-axis, and the angular altitude of surface level.
Utilize the open the cabin applied measurement mechanism of method of a position of high-speed camera measurement, time terminal relies on serial line interface to connect the first high-speed camera, and time terminal relies on serial line interface to connect the second high-speed camera; Control computing machine and rely on network interface to connect the first high-speed camera, control computing machine and rely on network interface to connect the second high-speed camera;
The demarcation target of video camera, its unique point all can become image clearly in the visual field of two high-speed cameras;
Time terminal, it provides synchronization pulse and temporal information by serial line interface for the first high-speed camera; It provides synchronization pulse and temporal information by serial line interface for the second high-speed camera;
Control computing machine, it receives the target of the first high-speed camera and the image information that shrapnel opens the cabin a little by network interface; It receives the target of the second high-speed camera and the image information that shrapnel opens the cabin a little by network interface; Control computing machine intersection after data processing and go out the positional information that shrapnel opens the cabin a little.
The invention has the beneficial effects as follows: utilize two high-speed cameras to gather the unique point image (two high-speed camera and target position known) of targets, calculate camera parameters, position angle and angular altitude; Under the effect of time terminal, two high-speed cameras obtain the image information of opening the cabin a little simultaneously, extract miss distance information, the intersection calculation positional information a little that goes out to open the cabin.The method is simple, measuring accuracy is higher, can effectively reduce measurement cost.
Accompanying drawing explanation
Fig. 1: the open the cabin schematic diagram of method equipment therefor of a position of two high-speed camera measurements of the present invention.
Fig. 2: the open the cabin workflow diagram of method of a position of two high-speed camera measurements of the present invention.
Fig. 3: the linear imaging model schematic diagram of high speed video camera of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
As shown in Figure 1, the open the cabin applied device of method of a position of two high-speed camera measurements, comprises that time terminal 3 relies on serial line interfaces 5 to connect the first high-speed cameras 1, and time terminal 3 relies on serial line interfaces 6 to connect the second high-speed cameras 2; Control computing machine 4 and rely on network interface 7 to connect the first high-speed camera 1, control computing machine 4 and rely on network interface 8 to connect the second high-speed camera 2.
Video camera target 9 unique points all can become image clearly in the intersection visual field of the first high-speed camera 1 and the second high-speed camera 2.
Time terminal 3 provides synchronization pulse and temporal information by serial line interface 5 for the first high-speed camera 1; Time terminal 3 provides synchronization pulse and temporal information by serial line interface 6 for the second high-speed camera 2.
Control computing machine 4 and receive the target of the first high-speed camera 1 and the image information that shrapnel opens the cabin a little by network interface 7; Control computing machine 4 and receive the target of the second high-speed camera 2 and the image information that shrapnel opens the cabin a little by network interface 8; Control computing machine 4 intersection after data processing and go out the positional information that shrapnel opens the cabin a little.
As shown in Figure 2, the open the cabin method of a position of two high-speed camera measurements, performing step is as follows:
Step 1, shown in Fig. 1, the visual field of the first high-speed camera 1 is the angle between ab, cd, the visual field of the second high-speed camera 2 is the angle between ac, bd, video camera target 9 and theory are opened the cabin and are a little arranged in quadrilateral abdc, and in world coordinate system, two high-speed cameras are positioned at coordinate O j(x j, y j, z j) j=1,2, target is positioned at coordinate O 3(x 3, y 3, z 3), in a distance, and target becomes image clearly at the first high-speed camera 1 with in the second high-speed camera 2 visual fields to three.
Step 2, controlling computing machine 4 utilizes network interface 7 to receive the image of the video camera target 9 of the first high-speed camera 1, and extract minutiae, control the image that computing machine 4 utilizes the video camera target 9 of network interface 8 reception the second high-speed cameras 2, and extract minutiae.By Fig. 3, can obtain the image coordinate system of video camera and world coordinate system relation suc as formula 1.,
Z c x y 1 = a u 0 u 0 0 a v v 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 R T 0 T 1 X W Y W Z W 1 ①
(a u, a v) be the Pixel Dimensions of high-speed camera image device;
(u 0, v 0) be the optical axis of high-speed camera and the intersection point of the plane of delineation;
R, T are respectively rotation matrix, the translation matrix of camera coordinate system and world coordinate system.
Utilize the position relationship of high-speed camera and video camera target calculate video camera and world coordinate system X-axis azimuth angle alpha, with the angular altitude λ of surface level,
α = arctg ( X i - X 3 Z i - Z 3 ) λ = arctg ( Y j - Y 3 ( Z j - Z 3 ) 2 + ( X j - X 3 ) 2 ) ②
O j(x j, y j, z j) j=1,2 represent the coordinate of two high-speed cameras in world coordinate system;
O 3(x 3, y 3, z 3) coordinate of expression video camera target 9 in world coordinate system.
Step 3, the first high-speed camera 1 and the second high-speed camera 2, under the synchronizing pulse effect of time terminal 3, obtain the dot image information of opening the cabin of target by network interface, process the miss distance information that obtains opening the cabin a little through image.
Step 4, controls computing machine 4 and utilizes the parameter of two high-speed cameras and the azimuth angle alpha of high-speed camera and world coordinate system X-axis, and the angular altitude λ information of surface level, 3. calculates the positional information (x, y, z) of opening the cabin a little according to formula,
m 1 = cos α 1 ( x 1 - x 2 ) + tg λ 1 ( y 1 - y 2 ) + sin α 1 ( z 1 - z 2 ) m 2 = cos α 2 ( x 2 - x 1 ) + tg λ 2 ( y 2 - y 1 ) + sin α 2 ( z 2 - z 1 ) K = ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) 2 - sec 2 λ 1 sec 2 λ 2 l 1 = m 2 ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) + m 1 sec 2 λ 2 K l 2 = m 1 ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) + m 2 sec 2 λ 1 K x = 0.5 ( x 1 + l 1 cos α 1 + x 2 + l 2 cos α 2 ) y = 0.5 ( y 1 + l 1 tg λ 1 + y 2 + l 2 tg λ 2 ) z = 0.5 ( z 1 + l 1 sin α 1 + z 2 + l 2 sin α 2 ) ③
O j(x j, y j, z j) j=1,2 represent the coordinate of two high-speed cameras in world coordinate system;
(α j, λ j) j=1,2 position angles that represent two high-speed cameras and world coordinate system X-axis, and the angular altitude of surface level.

Claims (2)

1. two high-speed camera measurements method of a position of opening the cabin, is characterized in that, comprise the following steps,
Step 1, the visual field of the first high-speed camera (1) is the angle between ab, cd, the visual field of the second high-speed camera (2) is the angle between ac, bd, and video camera target (9) and theory are opened the cabin and be a little arranged in quadrilateral abdc, the world coordinates O of two high-speed cameras j(x j, y j, z j) j=1,2, the world coordinates O of video camera target (9) 3(x 3, y 3, z 3), in a distance, and video camera target (9) becomes image clearly at the first high-speed camera (1) with in the second high-speed camera (2) visual field to three;
Step 2, controlling computing machine (4) utilizes network interface (7) to gather the image of the video camera target (9) of the first high-speed camera (1) shooting, and extract minutiae, controlling computing machine (4) utilizes network interface (8) to gather the image of the video camera target (9) of the second high-speed camera (2) shooting, and extract minutiae, utilize two high-speed camera parameters of linear imaging model calibration, utilize the position relationship of high-speed camera and video camera target (9) calculate video camera and world coordinate system X-axis azimuth angle alpha, with the angular altitude λ of surface level;
Wherein, the image coordinate system of high-speed camera and world coordinate system relation be suc as formula 1.,
Z c x y 1 = a u 0 u 0 0 a v v 0 0 0 1 1 0 0 0 0 1 0 0 0 0 1 0 R T 0 T 1 X W Y W Z W 1 ①
(a u, a v) be the Pixel Dimensions of high-speed camera image device;
(u 0, v 0) be the optical axis of high-speed camera and the intersection point of the plane of delineation;
R, T are respectively rotation matrix, the translation matrix of camera coordinate system and world coordinate system;
Utilize the position relationship of high-speed camera and video camera target, according to formula 2. calculate high-speed camera and world coordinate system X-axis azimuth angle alpha, with the angular altitude λ of surface level,
α = arctg ( X i - X 3 Z i - Z 3 ) λ = arctg ( Y j - Y 3 ( Z j - Z 3 ) 2 + ( X j - X 3 ) 2 ) ②
O j(x j, y j, z j) j=1,2 represent the coordinate of two high-speed cameras in world coordinate system;
O 3(x 3, y 3, z 3) coordinate of expression target in world coordinate system;
Step 3, the first high-speed camera (1) and the second high-speed camera (2), under the synchronizing pulse effect of time terminal (3), obtain the dot image information of opening the cabin of target by network interface, process the miss distance information that obtains opening the cabin a little through image;
Step 4, controls computing machine (4) and utilizes the parameter of two high-speed cameras and the azimuth angle alpha of high-speed camera and world coordinate system X-axis, and the angular altitude λ information of surface level, then according to formula, 3. calculate the positional information (x, y, z) of opening the cabin a little,
m 1 = cos α 1 ( x 1 - x 2 ) + tg λ 1 ( y 1 - y 2 ) + sin α 1 ( z 1 - z 2 ) m 2 = cos α 2 ( x 2 - x 1 ) + tg λ 2 ( y 2 - y 1 ) + sin α 2 ( z 2 - z 1 ) K = ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) 2 - sec 2 λ 1 sec 2 λ 2 l 1 = m 2 ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) + m 1 sec 2 λ 2 K l 2 = m 1 ( cos ( α 1 - α 2 ) + tg λ 1 tg λ 2 ) + m 2 sec 2 λ 1 K x = 0.5 ( x 1 + l 1 cos α 1 + x 2 + l 2 cos α 2 ) y = 0.5 ( y 1 + l 1 tg λ 1 + y 2 + l 2 tg λ 2 ) z = 0.5 ( z 1 + l 1 sin α 1 + z 2 + l 2 sin α 2 ) ③
O j(x j, y j, z j) j=1,2 represent the coordinate of two high-speed cameras in world coordinate system;
(α j, λ j) j=1,2 position angles that represent two high-speed cameras and world coordinate system X-axis, and the angular altitude of surface level.
2. utilize the open the cabin applied measurement mechanism of method of a position of high-speed camera measurement, it is characterized in that, time terminal (3) relies on serial line interface (5) to connect the first high-speed camera (1), and time terminal (3) relies on serial line interface (6) to connect the second high-speed camera (2); Control computing machine (4) and rely on network interface (7) to connect the first high-speed camera (1), control computing machine (4) and rely on network interface (7) to connect the second high-speed camera (2);
Video camera target (9), its unique point all can become image clearly in the visual field of two high-speed cameras;
Time terminal (3), it is that the first high-speed camera (1) provides synchronization pulse and temporal information by serial line interface (5); It is that the second high-speed camera (2) provides synchronization pulse and temporal information by serial line interface (6);
Control computing machine (4), it receives the target of the first high-speed camera (1) and the image information that shrapnel opens the cabin a little by network interface (7); It receives the target of the second high-speed camera (2) and the image information that shrapnel opens the cabin a little by network interface (8); Control computing machine (4) intersection after data processing and go out the positional information that shrapnel opens the cabin a little.
CN201410122961.XA 2014-03-28 2014-03-28 Two high-speed camera measurements are opened the cabin the method for a position and device Expired - Fee Related CN103925909B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410122961.XA CN103925909B (en) 2014-03-28 2014-03-28 Two high-speed camera measurements are opened the cabin the method for a position and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410122961.XA CN103925909B (en) 2014-03-28 2014-03-28 Two high-speed camera measurements are opened the cabin the method for a position and device

Publications (2)

Publication Number Publication Date
CN103925909A true CN103925909A (en) 2014-07-16
CN103925909B CN103925909B (en) 2016-06-15

Family

ID=51144210

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410122961.XA Expired - Fee Related CN103925909B (en) 2014-03-28 2014-03-28 Two high-speed camera measurements are opened the cabin the method for a position and device

Country Status (1)

Country Link
CN (1) CN103925909B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106643306A (en) * 2016-12-30 2017-05-10 中国科学院长春光学精密机械与物理研究所 High-speed imaging method and system for light screen target trajectory measuring system
CN107976146A (en) * 2017-11-01 2018-05-01 中国船舶重工集团公司第七〇九研究所 The self-calibrating method and measuring method of a kind of linear array CCD camera
CN117516481A (en) * 2024-01-08 2024-02-06 北京奥博泰科技有限公司 Dynamic image intersection measuring method and device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000028332A (en) * 1998-07-07 2000-01-28 Mitsubishi Heavy Ind Ltd Three-dimensional measuring device and method therefor
CN101970985A (en) * 2008-02-29 2011-02-09 特林布尔公司 Determining coordinates of a target in relation to a survey instrument having at least two cameras
CN103512559A (en) * 2013-10-08 2014-01-15 北京理工大学 Shot monocular video pose measurement method and target pattern

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000028332A (en) * 1998-07-07 2000-01-28 Mitsubishi Heavy Ind Ltd Three-dimensional measuring device and method therefor
CN101970985A (en) * 2008-02-29 2011-02-09 特林布尔公司 Determining coordinates of a target in relation to a survey instrument having at least two cameras
CN103512559A (en) * 2013-10-08 2014-01-15 北京理工大学 Shot monocular video pose measurement method and target pattern

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
吴能伟: "光电经纬仪目标异面交会测量的误差分析", 《中国仪器仪表》, no. 6, 30 June 2006 (2006-06-30) *
赵立荣: "光电经纬仪单站空间余弦即多站面面交汇的飞机姿态测量", 《光学 精密工程》, vol. 17, no. 11, 30 November 2009 (2009-11-30) *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106643306A (en) * 2016-12-30 2017-05-10 中国科学院长春光学精密机械与物理研究所 High-speed imaging method and system for light screen target trajectory measuring system
CN106643306B (en) * 2016-12-30 2018-07-06 中国科学院长春光学精密机械与物理研究所 A kind of high speed imaging method and its system for light curtain target trajectory measurement system
CN107976146A (en) * 2017-11-01 2018-05-01 中国船舶重工集团公司第七〇九研究所 The self-calibrating method and measuring method of a kind of linear array CCD camera
CN107976146B (en) * 2017-11-01 2019-12-10 中国船舶重工集团公司第七一九研究所 Self-calibration method and measurement method of linear array CCD camera
CN117516481A (en) * 2024-01-08 2024-02-06 北京奥博泰科技有限公司 Dynamic image intersection measuring method and device
CN117516481B (en) * 2024-01-08 2024-04-16 北京奥博泰科技有限公司 Dynamic image intersection measuring method and device

Also Published As

Publication number Publication date
CN103925909B (en) 2016-06-15

Similar Documents

Publication Publication Date Title
CN103175485A (en) Method for visually calibrating aircraft turbine engine blade repair robot
CN106526551A (en) Radar antenna dynamic performance testing system and method
CN103925842B (en) Electro-optic theodolite is utilized to measure method and the device of Tank Gun Barrel spatial direction
CN108177143A (en) A kind of robot localization grasping means and system based on laser vision guiding
CN106331684B (en) A kind of 3-dimensional image acquisition methods based on small drone video recording in engineering geological survey
CN104359406B (en) A kind of quasi-distributed displacement structure measuring method
CN109272532A (en) Model pose calculation method based on binocular vision
CN105957096A (en) Camera extrinsic parameter calibration method for three-dimensional digital image correlation
CN104165750A (en) Measurement method for pose of wind tunnel model combining stereoscopic vision with gyroscope
CN203038129U (en) Photoelectric tracking system dynamic tracking precision calibrating device
CN104570764A (en) Verification platform for airborne target indicating system
CN109813526B (en) Astronomical positioning-based optical telescope external field tracking precision detection method
CN106643670B (en) Unmanned aerial vehicle aerial photography site coordinate solving device and method
CN110645921A (en) Ice-shaped three-dimensional measurement method based on polarization imaging
CN103528520A (en) Binocular vision-based synchronous operation lifting system detection system and method
CN102230758A (en) Method and device for testing tracking stability precision during travel of self-propelled gun
CN107421462A (en) Object three-dimensional contour outline measuring system based on line laser structured light
CN103925909A (en) Method and device for measuring position of chamber-opening point by two high-speed cameras
CN105513128A (en) Kinect-based three-dimensional data fusion processing method
CN105373011A (en) Real-time simulation system for detection of photoelectric tracking device and computer comprising the same
CN103278142B (en) Optoelectronic system-based continuous-tracking automatic-switching method
CN110322462B (en) Unmanned aerial vehicle visual landing method and system based on 5G network
CN104786227A (en) Drop type switch replacing control system and method based on high-voltage live working robot
CN103267517B (en) Man-controlled rendezvous and docking measurement method based on television cameras and target
CN106353756A (en) Descending track spotlight SAR (synthetic aperture radar) positioning method based on image matching

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160615

Termination date: 20180328

CF01 Termination of patent right due to non-payment of annual fee