CN109785373A - A kind of six-freedom degree pose estimating system and method based on speckle - Google Patents
A kind of six-freedom degree pose estimating system and method based on speckle Download PDFInfo
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Abstract
The present invention provides a kind of six-freedom degree pose estimating system and method based on speckle, present system includes an infrared transmitter, one camera and the computer for carrying out algorithm process, camera is fixed on tripod, infrared transmitter is hand-holdable, when work, camera coverage intersects with infrared transmitter projection image；The method of the present invention includes: the reference picture for acquiring infrared transmitter projection, restores complete infrared transmitter reference picture in conjunction with connected domain algorithm, hash algorithm, ballot method, region growing algorithm, light-stream adjustment, panoramic mosaic algorithm and constructs LUT for it；Eigenmatrix E is calculated using 5 pose algorithm for estimating of RANSAC algorithm and Nister, obtains pose estimation parametric results.The present invention mainly utilizes the advantages of active vision, in conjunction with connected domain algorithm, hash algorithm, ballot method, region growing algorithm, light-stream adjustment, panoramic mosaic algorithm, RANSAC algorithm and Nister 5 pose algorithm for estimating, obtain the pose estimated result of an efficient robust.
Description
Technical field
The present invention relates to technical field of computer vision, specifically, more particularly to a kind of six degree of freedom based on speckle
Pose estimating system and method.
Background technique
Freedom degree tracking is an important research content of AR, and at this stage, most methods use the hardware of inertia measurement
Realize pose estimation, other then use method based on computer vision.The pose tracing system of existing view-based access control model, example
Such as Vicon and OptiTrack, need to position multiple labels on target object, these system costs are high and in parameter
Be arranged, the pretreatment stages such as the calibration of system it is cumbersome.SLAM system does not need by the label artificially designed and from scene
Middle acquisition pose, but the scene that its needs textures, this is simultaneously unfriendly for there is the texture-free scene of a large amount of planes.
Summary of the invention
According to technical problem set forth above, and provide a kind of six-freedom degree pose estimating system based on speckle and side
Method.The advantages of active vision is mainly utilized in the present invention, increases in conjunction with connected domain algorithm, hash algorithm, ballot method, region and calculates
Method, light-stream adjustment, panoramic mosaic algorithm, RANSAC algorithm and Nister 5 pose algorithm for estimating, obtain a height
Imitate the pose estimated result of robust.
The technological means that the present invention uses is as follows:
A kind of six-freedom degree pose estimation method based on speckle, comprising the following steps:
Step S1: speckle image is projected in plane, is pressed by video camera by the reference picture of acquisition infrared transmitter projection
5x5 matrix observes that the regulation of 1/9 size of entire image captures every time, obtains the part and front portion or several of 25 capture
There is the sequence chart of overlapping in part；
Step S2: restoring complete infrared transmitter reference picture and constructs LUT for it；
Detailed process is as follows in the step S2:
Step S21: denoising is filtered to the reference picture of collected infrared transmitter part, contrast normalizes in advance
Processing, the central point of speckle in local reference picture is detected using connected domain algorithm, obtains the coordinate of central point；
Step S22: Delaunay Triangulation is used to the central point detected, by adjacent Delaunay triangle
The quadrangle of shape composition is defined as one group of quad, using the tail of one group of quad point as the invariant features for defining quad, is defined as
One group of kite, i.e. { k1, k2, k3, k4, k5, wherein k1...4For four points of quad, k5For a series of tail points；
Step S23: using homography by all quad be mapped to unit rectangles coordinate (0,0), (0,1), (1,
1), (1,0) } under, a homography matrix H is obtained, all tail points are mapped using the homography matrix H, obtain the institute
Tail point k ' of some tail points under unit rectangles coordinate5；
Step S24: each group of kite after the pointto-set map under all unit rectangles coordinates is established using hash algorithm
LUT；
Step S25: matching 25 sequence charts of shooting using ballot method and region growing algorithm, find quad it
Between match point to find matching between point set, the homography matrix H under each posture j is calculated using match pointj,
It is optimized in conjunction with matched point set using light-stream adjustment, objective function is solved using Levenberg-Marquardt, is obtained
The pose of the internal reference of camera, camera relative target plane, uses the homography matrix HjWith matched point set, spelled using panorama
Algorithm is connect to obtain complete infrared transmitter reference picture and establish LUT for it；
Step S3: the video camera captured in real-time target object, at the step S21, step S22 and step S23
Manage camera and acquire picture, matching relationship is obtained using the matching algorithm in the step S25, using RANSAC algorithm and
5 pose algorithm for estimating of Nister calculate eigenmatrix E, therefrom extract spin matrix R and translation vector T, obtain in place
Appearance estimates parametric results.
Further, in the step S2 further include image for being newly added, execute step S21, step S22 and step
S23, for the k ' being mapped under unit rectangles coordinate5, searched in established LUT in step s 24, pass through ballot method selection
The step of matching degree highest two quad.
Further, the tail point in the step S22 is the nearest adjoint point of four points of distance, and the adjoint point is one
While or the point that is connected at two, with one of four vertex.
It further, further include before mapping quad and tail point in the step S23, the Gauss that σ=0.25 is added makes an uproar
The step of acoustic simulation ambient noise and mutation.
Further, the LUT is a two-dimensional array, wherein the index that the first dimension is quad, the second dimension is quad
Relevant histogram, histogram are the corresponding all tail point k ' of the quad5Histogram under the unit rectangles coordinate at place
Summation.
Further, two stages, specific mistake are divided into using the process that light-stream adjustment optimizes in the step S25
Journey is as follows:
The light-stream adjustment of first stage, it is known that rnIndicate infrared transmitter with reference to n-th point on figure, infrared transmitter
It will point r under j-th of posenIt projects on objective plane, is defined as qjn, which is viewed as under camera normalized coordinate system
zjn, then relative to z under camera modeljnExist under its image coordinate system:
Wherein,Radial distortion model:
Wherein, φ (x, y, z) :=π-1(r (π (x, y, z))),
After matching relationship between the picture point for calculating all shootings, it is known that the homography matrix H under different positions and pose jj
With reference picture point coordinate rn, minimize objective function:
Use the Levenberg-Marquardt Optimization Solution objective function；
With the matrix P of 3x4cThe pose for indicating camera, with projection matrix Pj(j=1 ..., J) indicates the position of infrared transmitter
Appearance, by the matrix P of its 3x4cIt is decomposed into spin matrix i.e. Pc=[Rc,tc], by projection matrix PjIt is decomposed into translation vector i.e. Pj=
[Rj,tj], fixed world coordinate system plane is indicated with 4x3 matrix M, is givenThen j-th of homography matrix
HjMeet: Hj=PcM(PjM)-1；It is divided into spin matrix and translation vector by the homography matrix of optimization, for initializing the
Two bundle adjustment processes parameterized by video camera and infrared transmitter six-freedom degree pose；
The light-stream adjustment of second stage, the objective function of second stage are as follows:
Wherein,Use the Levenberg-Marquardt Optimization Solution target letter
Number；
After completing second stage, give up the parameter matrix P under multiple poses of infrared transmitterj, retain the calibration of system
Parameter (Rc,tc,cx,cy,f,k)。
Further, the method also includes the position when camera change redefine when, update calibrating parameters
Additional operand is far below entire calibration process, takes identical calibration process, but the internal reference of camera will not change, and need
The parameter of the change of estimation only has the process of the pose parameter of camera and infrared transmitter.
Further, if the scene in the step S3 further including shooting is plane, estimation homography matrix is calculated
H, thus the step of realizing estimation pose.
The present invention also provides a kind of six-freedom degree pose estimating system based on speckle, including an infrared transmitter,
One camera and the computer for carrying out algorithm process, the camera are fixed on tripod, and the infrared transmitter can hand
It holds, when work, the camera coverage intersects with infrared transmitter projection image.
Further, when the video camera is fixed on apart from the object position 1.0m, the removable model of the infrared transmitter
It encloses for 1.5m to 2.5m.
Compared with the prior art, the invention has the following advantages that
1, the six-freedom degree pose estimation method provided by the invention based on speckle, has restored infrared transmitter and has completely schemed
Picture extends the use of speckle Stereo Matching Algorithm, may further take the binoculars such as SAD, SSD, MSD, NCC, SSDA, SATD
Matching algorithm is matched applied to structure light, and the speckle which is applied to its resilient projection of Kinect is used with reference to figure
In the available more accurately reconstructed results of matching.
2, the invention proposes a kind of general variable baseline matching algorithms to construct specified for random point set
Rule can realize matching, the efficient robust of the algorithm, energy using hash algorithm by the way of LUT under the complexity of (1) O
Situations such as enough handling perspective transform, point detection loss and putting error of coordinate present in detection, and can be used in other scenes
Corresponding relationship between two frames for finding pseudorandom testing image.
3, the present invention in pose estimation procedure, twice use BA algorithm, while eliminating residual error, obtained internal reference,
The series of parameters such as outer ginseng and scene structure, realize the self-calibration of system, the system is in determination while estimating pose
After ginseng, single image can determine pose of the camera relative to scene, provide in practice using multiple image for estimating to pose
Meter provides additional restraint.
4, the present invention may act on low illumination and texture-free plane, and speckle image projects texture-free surface, provides for it
Can matched texture, the matching algorithm proposed can operate normally plane, for sectional plan scene structure can also be steady
Fixed operation.The present invention fixes camera, and non-static geometric scene can be solved by absolute pose that every frame provides
Offset problem existing for SLAM system, though camera relocate, also only camera outer ginseng it needs to be determined that, be able to achieve quickly
Self-calibration.
5, for the present invention by proper choice of the position of infrared transmitter and video camera, single camera can be around an axis completion
It realizes 360 degree of full freedom degrees, can also be combined by additional camera, infrared transmitter or both and realize 360 degree of all standings, on
Existing ambiguity when can also eliminate multiple infrared transmitters while use of stating matching algorithm.
6, the present invention has good tracking accuracy, and will not shift with the time, is not needing object to be tracked
On wide baseline label in the case where be also able to achieve good running accuracy, for small geometric characteristic and block, exist
Higher robustness, the present invention is at low cost, and the Attitude Tracking component as AR can large-scale popularization.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is system flow schematic diagram of the invention.
Fig. 2 is system construction drawing of the invention and operating distance of the invention.
Fig. 3 is variable baseline matching algorithm of the invention.
Fig. 4 is transmitter of the invention with reference to figure recovery flow chart.
Fig. 5 is that present invention calibration and pose rebuild flow chart.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.It is real to the description of at least one exemplary embodiment below
It is merely illustrative on border, never as to the present invention and its application or any restrictions used.Based on the reality in the present invention
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the scope of protection of the invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be clear that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.Technology known for person of ordinary skill in the relevant, side
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, appointing should be construed as merely illustratively to occurrence, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention: the noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under its device or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
As shown in Figure 1, the present invention provides a kind of six-freedom degree pose estimation method based on speckle, including following step
It is rapid:
Step S1: speckle image is projected in plane, is pressed by video camera by the reference picture of acquisition infrared transmitter projection
5x5 matrix observes that the regulation of 1/9 size of entire image captures every time, obtains the part and front portion or several of 25 capture
There is the sequence chart of overlapping in part；
Step S2: restoring complete infrared transmitter reference picture and constructs LUT for it；
As shown in figure 3, in the step S2, detailed process is as follows:
Step S21: denoising is filtered to the reference picture of collected infrared transmitter part, contrast normalizes in advance
Processing, the central point of speckle in local reference picture is detected using connected domain algorithm, obtains the coordinate of central point；
Step S22: Delaunay Triangulation is used to the central point detected, by adjacent Delaunay triangle
The quadrangle of shape composition is defined as one group of quad, using the tail of one group of quad point as the invariant features for defining quad, is defined as
One group of kite, i.e. { k1,k2,k3,k4,k5, wherein k1...4For four points of quad, k5For a series of tail points；
Step S23: using homography by all quad be mapped to unit rectangles coordinate (0,0), (0,1), (1,
1), (1,0) } under, a homography matrix H is obtained, all tail points are mapped using the homography matrix H, obtain the institute
Tail point k ' of some tail points under unit rectangles coordinate5；
Step S24: each group of kite after the pointto-set map under all unit rectangles coordinates is established using hash algorithm
LUT；
As a preferred embodiment of the present invention, in step S2 further include image for being newly added, execute step S21,
Step S22 and step S23, for the k being mapped under unit rectangles coordinate5, it is searched in established LUT in step s 24, it should
Search procedure is O (1) complexity, selects highest two quad of matching degree by ballot method, and take region on this basis
Growth algorithm, quad of the satisfaction more than 50 couples meet same mapping homography matrix and are then considered finally to match.Determine matching
Afterwards, homography matrix H of the 5x5 captured reference picture Local map at different positions and pose j is obtainedj, rnIndicate infrared transmitter
With reference to n-th point on figure, parameter H is usedjAnd rn, take panoramic mosaic algorithm to restore whole picture infrared transmitter reference picture,
Think that the image under first infrared transmitter pose is parallel with plane, remaining picture is then added, due to global measurement quilt
The internal reference of camera limits, and this definition will not influence the precision of final convergence coordinate.
As shown in figure 4, step S25: 25 sequence charts of shooting are matched using ballot method and region growing algorithm,
The match point between quad is found to find the matching between point set, the list under each posture j is calculated using match point
Answering property matrix Hj, optimized in conjunction with matched point set using light-stream adjustment, mesh solved using Levenberg-Marquardt
Scalar functions obtain the internal reference of camera, the pose of camera relative target plane, use the homography matrix HjWith matched point
Collection, uses panoramic mosaic algorithm to obtain complete infrared transmitter reference picture and establishes LUT for it；
As a preferred embodiment of the present invention, as shown in figure 5, using light-stream adjustment to optimize in step S25
Process is divided into two stages, and detailed process is as follows:
The light-stream adjustment of first stage, it is known that rnIndicate infrared transmitter with reference to n-th point on figure, infrared transmitter
It will point r under j-th of posenIt projects on objective plane, is defined as qin, which is viewed as under camera normalized coordinate system
zjn, then relative to z under camera modeljnExist under its image coordinate system:
Wherein,Radial distortion model:
Wherein, φ (x, y, z) :=π-1(r (π (x, y, z))),
After matching relationship between the picture point for calculating all shootings, it is known that the homography matrix H under different positions and pose jj
With reference picture point coordinate rn, minimize objective function:
Use the Levenberg-Marquardt Optimization Solution objective function；
With the matrix P of 3x4cThe pose for indicating camera, with projection matrix Pj(j=1 ..., J) indicates the position of infrared transmitter
Appearance, by the matrix P of its 3x4cIt is decomposed into spin matrix i.e. Pc=[Rc,tc], by projection matrix PjIt is decomposed into translation vector i.e. Pj=
[Rj,tj], fixed world coordinate system plane is indicated with 4x3 matrix M, is givenThen j-th of homography matrix
HjMeet: Hj=PcM(PjM)-1；It is divided into spin matrix and translation vector by the homography matrix of optimization, for initializing the
Two bundle adjustment processes parameterized by video camera and infrared transmitter six-freedom degree pose；
The light-stream adjustment of second stage, the objective function of second stage are as follows:
Wherein,Use the Levenberg-Marquardt Optimization Solution target letter
Number；
After completing second stage, give up the parameter matrix P under multiple poses of infrared transmitterj, retain the calibration of system
Parameter (Rc,tc,cx,cy,f,k)。
As a preferred embodiment of the present invention, when the position of camera, which changes, to be redefined, calibrating parameters are updated
Additional operand be far below entire calibration process, take identical calibration process, but the internal reference of camera will not change, need
The parameter of the change to be estimated only has the pose parameter of camera and infrared transmitter.
Step S3: the video camera captured in real-time target object, at the step S21, step S22 and step S23
Manage camera and acquire picture, matching relationship is obtained using the matching algorithm in the step S25, using RANSAC algorithm and
5 pose algorithm for estimating of Nister calculate eigenmatrix E, therefrom extract spin matrix R and translation vector T, obtain in place
Appearance estimates parametric results.
As a preferred embodiment of the present invention, step S3: the video camera captured in real-time target object, using the step
Rapid S21, step S22 and step S23 processing camera acquire picture, are matched using the matching algorithm in the step S25
Relationship calculates eigenmatrix E using 5 pose algorithm for estimating of RANSAC algorithm and Nister, therefrom extracts spin moment
Battle array R and translation vector T calculates estimation homography matrix H, to realize the estimation of pose if the scene of shooting is plane.
As shown in Fig. 2, the present invention also provides a kind of six-freedom degree pose estimating system based on speckle, including one red
External transmitter, a camera and the computer for carrying out algorithm process, the camera are fixed on tripod, the infrared hair
Emitter is hand-holdable, and when work, the camera coverage intersects with infrared transmitter projection image.
As a preferred embodiment of the present invention, since the sight of infrared transmitter to be guaranteed and video camera is overlapped, when taking the photograph
When camera is fixed on apart from the object position 1.0m, the mobile range of infrared transmitter is 1.5m to 2.5m.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of six-freedom degree pose estimation method based on speckle, which comprises the following steps:
Step S1: speckle image is projected in plane, presses 5x5 by video camera by the reference picture of acquisition infrared transmitter projection
Matrix observes that the regulation of 1/9 size of entire image captures every time, obtains the part and front portion or a few portions of 25 capture
Divide the sequence chart for having overlapping；
Step S2: restoring complete infrared transmitter reference picture and constructs LUT for it；
Detailed process is as follows in the step S2:
Step S21: denoising, the pre- place of contrast normalization are filtered to the reference picture of collected infrared transmitter part
Reason, the central point of speckle in local reference picture is detected using connected domain algorithm, obtains the coordinate of central point；
Step S22: Delaunay Triangulation is used to the central point detected, by adjacent Delaunay triangle sets
At quadrangle be defined as one group of quad, using the tail of one group of quad point as define quad invariant features, be defined as one group
Kite, i.e. { k1,k2,k3,k4,k5, wherein k1...4For four points of quad, k5For a series of tail points；
Step S23: using homography by all quad be mapped to unit rectangles coordinate (0,0), (0,1), (1,1),
(1,0) } under, a homography matrix H is obtained, all tail points are mapped using the homography matrix H, are obtained described all
Tail point k ' of the tail point under unit rectangles coordinate5；
Step S24: each group of kite after the pointto-set map under all unit rectangles coordinates is established into LUT using hash algorithm；
Step S25: 25 sequence charts of shooting are matched using ballot method and region growing algorithm, are found between quad
The homography matrix H under each posture j is calculated using match point to find the matching between point set in match pointj, in conjunction with
Matched point set is optimized using light-stream adjustment, is solved objective function using Levenberg-Marquardt, is obtained camera
Internal reference, camera relative target plane pose, use the homography matrix HjWith matched point set, calculated using panoramic mosaic
Method obtains complete infrared transmitter reference picture and establishes LUT for it；
Step S3: the video camera captured in real-time target object is handled using the step S21, step S22 and step S23 and is taken the photograph
Camera acquires picture, matching relationship is obtained using the matching algorithm in the step S25, using RANSAC algorithm and Nister
5 pose algorithm for estimating calculate eigenmatrix E, therefrom extract spin matrix R and translation vector T, obtain pose estimation ginseng
Number result.
2. the six-freedom degree pose estimation method according to claim 1 based on speckle, which is characterized in that the step S2
In further include image for being newly added, step S21, step S22 and step S23 are executed, for being mapped to unit rectangles coordinate
Under k '5, searched in established LUT in step s 24, the step of highest two quad of matching degree selected by ballot method
Suddenly.
3. the six-freedom degree pose estimation method according to claim 1 or 2 based on speckle, which is characterized in that the step
The tail point in rapid S22 is the nearest adjoint point of four points of distance, the adjoint point be a line or two sides and four vertex it
Connected point.
4. the six-freedom degree pose estimation method according to claim 1 or 2 based on speckle, which is characterized in that the step
It further include the step for the Gaussian noise simulated environment noise and mutation that σ=0.25 is added before mapping quad and tail point in rapid S23
Suddenly.
5. the six-freedom degree pose estimation method according to claim 1 based on speckle, which is characterized in that the LUT is
One two-dimensional array, wherein the index that the first dimension is quad, the second dimension is the relevant histogram of quad, and histogram is described
The corresponding all tail point k ' of quad5The summation of histogram under the unit rectangles coordinate at place.
6. the six-freedom degree pose estimation method according to claim 1 based on speckle, which is characterized in that the step
Two stages are divided into using the process that light-stream adjustment optimizes in S25, detailed process is as follows:
The light-stream adjustment of first stage, it is known that rnInfrared transmitter is indicated with reference to n-th point on figure, infrared transmitter is in jth
It will point r under a posenIt projects on objective plane, is defined as qjn, which is viewed as z under camera normalized coordinate systemjn, then exist
Relative to z under camera modeljnExist under its image coordinate system:
Wherein,Radial distortion model:
Wherein, φ (x, y, z) :=π-1(r (π (x, y, z))),
After matching relationship between the picture point for calculating all shootings, it is known that the homography matrix H under different positions and pose jjAnd reference
Picture point coordinate rn, minimize objective function:
Use the Levenberg-Marquardt Optimization Solution objective function；
With the matrix P of 3x4cThe pose for indicating camera, with projection matrix Pj(j=1 ..., J) indicates the pose of infrared transmitter,
By the matrix P of its 3x4cIt is decomposed into spin matrix i.e. Pc=[Rc,tc], by projection matrix PjIt is decomposed into translation vector i.e. Pj=[Rj,
tj], fixed world coordinate system plane is indicated with 4x3 matrix M, is givenThen j-th of homography matrix HjIt is full
Foot: Hj=PcM(PjM)-1；It is divided into spin matrix and translation vector by the homography matrix of optimization, for initializing second
The bundle adjustment process parameterized by video camera and infrared transmitter six-freedom degree pose；
The light-stream adjustment of second stage, the objective function of second stage are as follows:
Wherein,Use the Levenberg-Marquardt Optimization Solution objective function；
After completing second stage, give up the parameter matrix P under multiple poses of infrared transmitterj, retain the calibrating parameters of system
(Rc,tc,cx,cy,f,k)。
7. the six-freedom degree pose estimation method according to claim 6 based on speckle, which is characterized in that the method is also
It is changed when redefining including the position when camera, the additional operand for updating calibrating parameters is calibrated far below entire
Journey takes identical calibration process, but the internal reference of camera will not change, the parameter for the change for needing to estimate only have camera and
The process of the pose parameter of infrared transmitter.
8. the six-freedom degree pose estimation method according to claim 1 based on speckle, which is characterized in that the step S3
If the scene in further including shooting is plane, calculates estimation homography matrix H, thus the step of realizing estimation pose.
9. a kind of six-freedom degree pose estimating system based on speckle, which is characterized in that including an infrared transmitter, one is taken the photograph
As the computer of head and progress algorithm process, the camera is fixed on tripod, and the infrared transmitter is hand-holdable, work
When, the camera coverage intersects with infrared transmitter projection image.
10. the six-freedom degree pose estimating system according to claim 9 based on speckle, which is characterized in that the camera shooting
When machine is fixed on apart from the object position 1.0m, the mobile range of the infrared transmitter is 1.5m to 2.5m.
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| CN110455279A (en) * | 2019-08-28 | 2019-11-15 | 燕山大学 | A kind of indirect measuring instrument of six degree of freedom |
| CN110930454A (en) * | 2019-11-01 | 2020-03-27 | 北京航空航天大学 | Six-degree-of-freedom pose estimation algorithm based on boundary box outer key point positioning |
| CN111028125A (en) * | 2019-11-14 | 2020-04-17 | 天津大学 | Beam adjustment method FPGA accelerator with known self pose for SLAM |
| CN111667535A (en) * | 2020-06-04 | 2020-09-15 | 电子科技大学 | Six-degree-of-freedom pose estimation method for occlusion scene |
| CN111710002A (en) * | 2020-05-27 | 2020-09-25 | 华中科技大学 | Camera external parameter calibration method based on Optitrack system |
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| CN110455279A (en) * | 2019-08-28 | 2019-11-15 | 燕山大学 | A kind of indirect measuring instrument of six degree of freedom |
| CN110930454A (en) * | 2019-11-01 | 2020-03-27 | 北京航空航天大学 | Six-degree-of-freedom pose estimation algorithm based on boundary box outer key point positioning |
| CN110930454B (en) * | 2019-11-01 | 2022-11-22 | 北京航空航天大学 | Six-degree-of-freedom pose estimation algorithm based on boundary box outer key point positioning |
| CN111028125A (en) * | 2019-11-14 | 2020-04-17 | 天津大学 | Beam adjustment method FPGA accelerator with known self pose for SLAM |
| CN111028125B (en) * | 2019-11-14 | 2023-04-28 | 天津大学 | Beam adjustment method FPGA accelerator for SLAM with known self pose |
| CN111710002A (en) * | 2020-05-27 | 2020-09-25 | 华中科技大学 | Camera external parameter calibration method based on Optitrack system |
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| CN111667535A (en) * | 2020-06-04 | 2020-09-15 | 电子科技大学 | Six-degree-of-freedom pose estimation method for occlusion scene |
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