CN106197265B - A kind of space free flight simulator precision visual localization method - Google Patents
A kind of space free flight simulator precision visual localization method Download PDFInfo
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Abstract
A kind of space free flight simulator precision visual localization method, belong to technical field of visual measurement, it is low that there are positioning accuracies in order to solve the prior art, it is more demanding to hardware device, and calculation amount is larger, the problem of influencing arithmetic speed, free flight simulator in space is arranged on workbench, video camera is fixed on the surface of workbench, and video camera is connected with host computer；Target is cooperated in design, and cooperation target is placed in the suitable position of space free flight simulator；It is shot by PC control video camera and obtains installation cooperative target target space free flight simulator image, extracted by the center of circle that digital image processing techniques carry out circular target to cooperation target, obtain coordinate of the center of circle in image coordinate system；Coordinate of the center of circle of acquisition in image coordinate system, the installation site according to known cooperation target relative to space free flight simulator determine the attained pose of space free flight simulator in conjunction with the corresponding relationship between each coordinate system.
Description
Technical field
The present invention relates to a kind of space free flight simulator precision visual localization methods, belong to vision measurement technology neck
Domain.
Background technique
Space free flight simulator is the peculiar device that the spacecrafts such as satellite are carried out with ground experiment, can be with approximate simulation
Spacecraft microgravity, zero space operation to rub under space environment out, are a kind of full physical simulation verification modes, overcome number
The problem in emulation to component Accurate Model difficulty in kind is learned, has ten for verifying Spacecraft Control mode and actual performance
Divide important meaning.
Carrying out rapidly and precisely positioning to space free flight simulator is to adjust the important prerequisite of its track and posture,
But due to the particularity of test, free flight simulator in space cannot have any physical connection, therefore its position with ground installation
It sets and posture information requires to obtain by non-contacting mode.
Traditional non-contact measurement system is obtained by devices such as integrated configuration laser, ultrasonic wave, radar and angular transducers
Posture information is obtained, the wasting of resources, technical problem at high cost, configuration process is complicated can be brought.
Vision measurement technology has that real-time is good, data acquisition and processing (DAP) is automatic as a kind of contactless measurement
The features such as change degree is high.The non-contact pose measurement method of monocular is an important branch of vision measurement technology, it is only necessary to a phase
The precision positioning of target object, simple, the at low cost, camera with structure can be completed in machine or visual sensor acquisition single image
The advantages that calibration is simple, strong real-time, positions for space free flight simulator precision visual and provides a kind of effective method.
Bibliography " computer vision of five degree of freedom air floating table posture assists determining ", Xu Jian, Yang Qingjun, Baogang, Lee
Army [J] Sichuan University journal (engineering science version), 2009,04:220-226. this method is in space free flight simulator
It fixes that position of sound production is red, green color positioning LED light on table top, acquires the fortune of space free flight simulator in real time by camera
Motion video, red, green two LED light centers is successively calculated by image processing algorithm in the coordinate of computer picture coordinate system, into
And calculate the translation displacements of space free flight simulator and the corner about the z axis of space free flight simulator.Wherein,
After image preprocessing, red, green LED light center is determined by centroid extraction algorithm, though the method is simple and efficient, due to
The luminous cross-section profile shape of LED has biggish error compared with its true form, affects positioning accuracy；Meanwhile it being adopted in image
Color Image Acquisition equipment must be relied on when collection, it is more demanding to hardware device, and calculation amount is larger, affects arithmetic speed.
Summary of the invention
That there are positioning accuracies in order to solve the prior art is low by the present invention, more demanding to hardware device, and calculation amount is larger,
The problem of influencing arithmetic speed, propose a kind of space free flight simulator precision visual localization method.
A kind of space free flight simulator precision visual localization method, characterized in that include the following steps：
Step 1, space free flight simulator are arranged on workbench, and video camera is fixed on the surface of workbench,
Video camera is connected with host computer；
Step 2, design is applied to the cooperation target of space free flight simulator positioning, and cooperation target is placed in sky
Between free flight simulator suitable position；
Step 3, cooperative target mark not with processing：It is shot by PC control video camera and obtains installation cooperative target target sky
Between free flight simulator image, by digital image processing techniques to cooperation target carry out circular target the center of circle extract, obtain
Obtain coordinate of the center of circle in image coordinate system；
The attained pose of step 4, space free flight simulator determines：It is sat by the center of circle obtained in step 3 in image
Coordinate in mark system, the installation site according to known cooperation target relative to space free flight simulator, in conjunction with each coordinate
Corresponding relationship between system determines the attained pose of space free flight simulator, realizes to space free flight simulator
Positioning.
The positive effect of the present invention：Plane visual positioning is carried out using video camera, including the positioning of two translation freedoms and
One rotary freedom positioning.
(1) present invention design is applied to the cooperation target of space free flight simulator positioning, cooperates target by black and white two
Kind color and circular feature composition.In Image Acquisition, equipment is acquired using black white image, is reduced to hardware device
It is required that；In image procossing, cooperates have higher contrast in target for positioning white circular target and background, be conducive to reality
Existing Target Segmentation, while three different circular targets of radius are easily achieved the detection of cooperative target target and identification, improve detection effect
Rate；
(2) present invention proposes the center of circle quick acquiring method of circular target, and this method is to including cooperative target target image
On the basis of binary conversion treatment, the center of circle is determined by pixels statistics and solution regression equation, without carrying out edge to circular target
It extracts, can accurately realize that center of circle positioning and radius are sought, improve measuring speed under conditions of guaranteeing measurement accuracy.In conjunction with
The riding position and relative coordinate system for cooperating target relative to space free flight simulator convert, and can obtain space in real time
The position of free flight simulator and posture.
(3) method that the present invention replaces traditional measurement using monocular vision measurement, and work at low cost using video camera are steady
Fixed feature simplifies and reduces measuring condition requirement.
Detailed description of the invention
Fig. 1 is the measurement scheme schematic diagram of the method for the present invention.
Fig. 2 is that cooperative target mark of the present invention is intended to.
Fig. 3 is localization method flow chart of the invention.
Fig. 4 is video camera acquisition of the present invention comprising cooperative target target image.
Fig. 5 is the bianry image BW that present invention pretreatment obtains.
Fig. 6 be present invention determine that cooperative target put on circular target region.
Fig. 7 is the curve graph that the present invention carries out pixels statistics to circular target in cooperation target.
Fig. 8 is positioning round feature of the present invention center of circle schematic diagram.
Fig. 9 is positioning target angle calculation schematic diagram of the present invention.
Figure 10 is each coordinate system schematic diagram of the present invention.
Specific embodiment
A kind of space free flight simulator precision visual localization method, this approach includes the following steps：
As shown in Figure 1, step 1, space free flight simulator 2 is arranged on workbench 1, and video camera 4 is fixed on work
The surface of platform 1, video camera 4 are connected with host computer 5.
Step 2, design is applied to the cooperation target 3 of space free flight simulator positioning, and cooperation target 3 is placed in
The suitable position of space free flight simulator 2.
As shown in Fig. 2, design cooperation target 3：Cooperation target 3 is circular contour, and background is black, thereon EDS maps three
The different white solid circles target of radius, black background are used to mutually unify with black marble workbench, provide and white
The biggish contrast of circular target.Specially cooperating target 3 is the black disk that radius is 15cm, thereon three radiuses of EDS maps
Different white solid circles target A, B, C, wherein round A radius is 3.5cm, circle B radius is 2.5cm, and circle C radius is 1.5cm, B
The center of circle with the circle center distance circle A of C is 50cm, and circle center line connecting AC is vertical with AB, and the center of circle of A, B, C constitute isosceles right angle trigonometry
Shape.
Determine the riding position of cooperation target 3：The center of circle of circle A is located at entire target disc centre, in space free flight
The cooperation target 3 of design is pasted on simulator 2, so that cooperation 3 central point of target and space free flight simulator central point weight
It closes, then justifies the central coordinate of circle (a of AA,bA) be space free flight simulator centre coordinate (x, y).
Step 3, cooperative target mark not with processing；The shooting of video camera 4 is controlled by host computer 5 and obtains installation cooperation target 3
The image of space free flight simulator 2, as shown in figure 3, by digital image processing techniques to cooperation target 3 carry out identification with
Positioning.
As shown in figure 4, cooperative target mark does not include the following steps with processing：
The first step, image preprocessing；
For acquisition installation cooperation target 3 space free flight simulator 2 image, by Gaussian smoothing template into
The processing of row image denoising carries out Threshold segmentation by OTSU algorithm and obtains binary image BW, as shown in Figure 5；
Second step, the identification of white solid circles target；
The eight connectivity region extracted in binary image BW is gradually gone according to the size, the ratio of width to height and distance of connected region
Except connected region invalid in background, so that it is determined that the connected region H of circular targetn, connected region quantity is n；
(1) cooperation 3 size and shape of target is fixed, and video camera is installed on fixed bit and postpones, and cooperates circular target in target 3
Within limits, magnitude range is arranged in size in the picture according to the actual situation, if each connected region meets this in Fig. 5
Magnitude range then retains the connected region, and otherwise the connected region is rejected；
(2) the ratio of width to height for cooperating circular target on target 3 is 1:1, it is contemplated that the distortion of image edge area is larger, so
The range of the ratio of width to height is usually between 0.8-1.2, if each connected region remained in previous step meets this aspect ratio range,
Then the connected region is retained, otherwise the connected region is rejected；
(3) cooperate that distance is fixed between circular target on target 3, video camera 4 is installed on fixed bit and postpones, circular target it
Between distance in a certain range.Distance range is set according to the actual situation, if each connected region remained in previous step is full
This aspect ratio range of foot, then retain the connected region, and otherwise the connected region is rejected；
To sum up, circular target connected region on cooperation target 3 is determined by the size of connected region, the ratio of width to height and distance range
Domain, as shown in Figure 6.
Third step, the center of circle and radius are sought；
(1) to n-th of connected region HnInterior image is retained, HnOuter image pixel value becomes 0, obtains retaining Hn's
Bianry image BWn；
(2) bianry image BW obtained to upper stepnIt is progressively scanned and is scanned by column, count pixel value in every a line
For 1 pixel quantity miAnd be stored in matrix M, count the pixel quantity n that pixel value is 1 in each columnjAnd it is stored in matrix N
In, pixel value statistic curve figure is as shown in Figure 7；
(3) it defines image coordinate system origin and is located at the image upper left corner, horizontal axis is x-axis, and the longitudinal axis is y-axis.Circular feature center
Point coordinate is (a, b), and radius r, circular contour pixel coordinate (i, j), above three groups of parameters meet formula (1),
(i-a)2+(j-b)2=r2 (1)。
When progressively scanning to connected region, the pixel coordinate that first pixel value is 1 in the i-th row is (ci_1,
jt), the pixel coordinate that the last one pixel value is 1 is (ci_t,jt), it brings this two o'clock into equation (1), obtains：
ci_1、ci_tWith miRelationship meets：
mi=ci_t-ci_1 (3)
Pixel quantity m is obtained with formula (2) simultaneousiRelationship with central coordinate of circle and radius is：
Equation two sides simultaneously square：
It enablesDraw out MiCurve, by observing Fig. 7 curve it is found that MiWith jtRelationship present parabolic shape,
Convolution (5), therefore M can be setiAbout jtRegression equation be
Unknown parameter c is solved using least square method0, c1, c2Estimated value, for this purpose, making sum of squares of deviations
It enables
Arrange normal equation group is：
The matrix representation forms of normal equation group are：
JC=Y (10)
Wherein：
If J is reversible, normal equation group has unique solution
It acquiresAs c0, c1, c2Least-squares estimation, obtain MiAbout jtRegression equationTheory analysis passes through centre point, that is, diametrical position m it is found that in progressive scaniValue is maximum, because
This, works as jtWhen for centre point ordinate, MiCurve obtains maximum, can be by MiAbout jtIt is vertical that regression equation solves centre point
Coordinate.Similarly, when being scanned by column, centre point abscissa is solved.
(4) after the central coordinate of circle for determining current region, by current connected region width value wnWith height value hnIt takes
Value, estimates that current circular feature radius is
(5) it repeats the above steps to each connected region, extracts each non-zero miAnd njIt is fitted, by each mi、
njAnd corresponding i, j carry out regression analysis and least-squares estimation, that is, solve central coordinate of circle (a, b), and then identify one by one
The center of circle of each circular target and radius out, as shown in Figure 8.
The attained pose of step 4, space free flight simulator 2 determines.According to the center of circle of circular target white in image
The installation site of position, centre point line direction and known cooperation target 3 relative to space free flight simulator 2, meter
Calculation obtains the position and angle of space free flight simulator 2 in the picture, in conjunction with the corresponding relationship between each coordinate system, determines
Attained pose of the free flight simulator 2 in space in world coordinate system.
(1) according to the size relation r of the radius of different circular targetsA>rB>rCRound A, B, C are judged, by step 2
Target installation site is it is found that justify the central coordinate of circle (a of AA,bA) be space free flight simulator centre coordinate (x, y), it is real
The position in image coordinate system for having showed space free flight simulator solves.
(2) AB and AC is connected, target angle shown in Fig. 4 is initialized location, and AB is parallel with y-axis, and AC is parallel with x-axis, when
When target motion, the angle α of AB and vertical direction are calculated, the angle β of AC and horizontal direction are calculated, as shown in figure 9, then obtaining sky
Between the practical rotation angle, θ of free flight simulator be：
(3) as shown in Figure 10, position coordinates (x, y) of the space free flight simulator 2 in image coordinate system 10 are obtained
Afterwards, it according to the actual installation position of video camera and calibration result, is combined between photo coordinate system 9 and image coordinate system 10
Transformational relation, world coordinate system 6 and camera coordinates between transformational relation, camera coordinate system 8 and imaging plane coordinate system 9
Be 8 transformational relation, space free flight simulator coordinate system 7 and world coordinate system 6 transformational relation, determine space free flight
Position of the row simulator 2 in world coordinate system 6, the attained pose for completing space free flight simulator determines, realizes to sky
Between free flight simulator precision positioning.
Claims (2)
1. a kind of space free flight simulator precision visual localization method, characterized in that include the following steps：
Step 1, space free flight simulator are arranged on workbench, and video camera is fixed on the surface of workbench, takes the photograph
Camera is connected with host computer；
Step 2, design is applied to the cooperation target of space free flight simulator positioning, and cooperation target is placed in space certainly
By the suitable position of flight simulator；
Step 3, cooperative target mark not with processing：It is shot by PC control video camera and obtains installation cooperative target target space certainly
By the image of flight simulator, is extracted, obtained by the center of circle that digital image processing techniques carry out circular target to cooperation target
Coordinate of the center of circle in image coordinate system；
The attained pose of step 4, space free flight simulator determines：By the center of circle that is obtained in step 3 in image coordinate system
In coordinate, the installation site according to known cooperation target relative to space free flight simulator, in conjunction with each coordinate system it
Between corresponding relationship, determine the attained pose of space free flight simulator, realize the positioning to space free flight simulator；
Cooperating target in the step 2 is black disk, thereon the different white solid circles target A, B of three radiuses of EDS maps,
C, circle center line connecting AC is vertical with AB, and the center of circle of A, B, C constitute isosceles right triangle；The center of circle of circle A is located at entire black disk
The cooperation target of design is pasted at center on space free flight simulator, so that cooperation target central point and space free flight
Row simulator central point is overlapped, then justifies the central coordinate of circle (a of AA,bA) be space free flight simulator centre coordinate (x,
y)；
The cooperative target mark of the step 3 does not include the following steps with processing：
The first step, image preprocessing；
For the image of the installation cooperative target target space free flight simulator of acquisition, image is carried out by Gaussian smoothing template
Denoising carries out Threshold segmentation by OTSU algorithm and obtains binary image BW；
Second step, the identification of white solid circles target；
The eight connectivity region in binary image BW is extracted, according to the size, the ratio of width to height and distance of connected region, gradually removal is carried on the back
Invalid connected region in scape, so that it is determined that the connected region H of circular targetn, connected region quantity is n；
Third step, the center of circle and radius are sought；
1) to n-th of connected region HnInterior image is retained, HnOuter image pixel value becomes 0, obtains retaining HnBinary map
As BWn；
2) bianry image BW obtained to upper stepnIt is progressively scanned and is scanned by column, counting pixel value in every a line is 1
Pixel quantity miAnd be stored in matrix M, count the pixel quantity n that pixel value is 1 in each columnjAnd it is stored in matrix N；
3) it defines image coordinate system origin and is located at the image upper left corner, horizontal axis is x-axis, and the longitudinal axis is y-axis；Circular feature center point coordinate
For (a, b), radius r, circular contour pixel coordinate (i, j), above three groups of parameters meet formula (1),
(i-a)2+(j-b)2=r2(1)；
When progressively scanning to connected region, the pixel coordinate that first pixel value is 1 in the i-th row is (ci_1,jt), finally
The pixel coordinate that one pixel value is 1 is (ci_t,jt), it brings this two o'clock into equation (1), obtains：
ci_1、ci_tWith miRelationship meets：
mi=ci_t-ci_1 (3)
Pixel quantity m is obtained with formula (2) simultaneousiRelationship with central coordinate of circle and radius is：
Equation two sides simultaneously square：
mi 2=4r2-4(jt-b)2 (5)
Enable Mi=mi 2, draw out MiCurve, MiWith jtRelationship parabolic shape, convolution (5), therefore M can be set is presentediAbout jt
Regression equation be
Unknown parameter c is solved using least square method0, c1, c2Estimated value, for this purpose, making sum of squares of deviations
It enables
Arrange normal equation group is：
The matrix representation forms of normal equation group are：
JC=Y (10)；
Wherein：
If J is reversible, normal equation group has unique solution
It acquiresAs c0, c1, c2Least-squares estimation, obtain MiAbout jtRegression equationTheory analysis passes through centre point, that is, diametrical position m it is found that in progressive scaniValue is maximum, because
This, works as jtWhen for centre point ordinate, MiCurve obtains maximum, can be by MiAbout jtIt is vertical that regression equation solves centre point
Coordinate；Similarly, when being scanned by column, centre point abscissa is solved；
4) after the central coordinate of circle for determining current region, by current connected region width value wnWith height value hnMean value is taken, is estimated
Currently circular feature radius is
5) it repeats the above steps to each connected region, extracts each non-zero miAnd njIt is fitted, by each mi、njAnd
Corresponding i, j carry out regression analysis and least-squares estimation, that is, solve central coordinate of circle (a, b), and then identify one by one each
The center of circle of circular target and radius.
2. a kind of space free flight simulator precision visual localization method according to claim 1, which is characterized in that institute
State the specific steps that the attained pose of step 4 space free flight simulator determines：
(1) according to the size relation r of the radius of different circular targetsA> rB> rCRound A, B, C are judged, by the step 2
Middle cooperation target installation site is it is found that justify the central coordinate of circle (a of AA,bA) be space free flight simulator centre coordinate (x,
Y), realize that the position in image coordinate system of space free flight simulator solves；
(2) AB and AC is connected, target angle is initialized location, and AB is parallel with y-axis, and AC is parallel with x-axis, when target motion,
The angle α of AB and vertical direction are calculated, the angle β of AC and horizontal direction is calculated, then obtains the reality of space free flight simulator
Border rotates angle, θ：
(3) after obtaining position coordinates (x, y) of the space free flight simulator in image coordinate system, according to the reality of video camera
Installation site and calibration result, transformational relation, the camera coordinate system being combined between photo coordinate system and image coordinate system
The transformational relation of transformational relation, world coordinate system and camera coordinate system between imaging plane coordinate system, space free flight
The transformational relation of row simulator coordinate system and world coordinate system determines position of the space free flight simulator in world coordinate system
It sets, the attained pose for completing space free flight simulator determines, realizes the precision positioning to space free flight simulator.
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