CN110500954A - A kind of aircraft pose measuring method based on circle feature and P3P algorithm - Google Patents
A kind of aircraft pose measuring method based on circle feature and P3P algorithm Download PDFInfo
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- CN110500954A CN110500954A CN201910705090.7A CN201910705090A CN110500954A CN 110500954 A CN110500954 A CN 110500954A CN 201910705090 A CN201910705090 A CN 201910705090A CN 110500954 A CN110500954 A CN 110500954A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The present invention provides a kind of aircraft pose measuring method based on circle feature and P3P algorithm, comprising: S1, the image that aircraft is shot using monocular camera determine coordinate of the target center of carry-on four target discs in world coordinate system；S2, smothing filtering is carried out to image, and handle and obtain bianry image；S3, the profile for filtering out target；S4, coordinate of the target center in pixel coordinate system is calculated；S5, three targets are arbitrarily chosen, calculates pose parameter disaggregation using P3P algorithm；S6, construction minimize re-projection error function, using the coordinate information of the 4th target, verify pose parametric solution collection, obtain the unique solution closest to truth；The location parameter of S7, the attitude parameter of calculating aircraft and aircraft relative to camera.Beneficial effects of the present invention: having used the active target disc containing LED light, is easy to feature identification and extracts；Using P3P algorithm, and the information for substituting into the 4th characteristic point determines unique solution, and the algorithm speed of service is fast, and accuracy is high.
Description
Technical field
The present invention relates to technical field of visual measurement more particularly to a kind of aircraft positions based on circle feature and P3P algorithm
Gesture measuring method.
Background technique
Vision measurement technology has the series of advantages such as strong real-time, precision height, the degree of automation height, is widely used to
A series of fields such as industrial vision detection, intelligent transportation, remote sensing images analysis and aircraft visual navigation.Vision measurement it is main
Target is to realize under the premise of meeting certain precision index to geometric parameters such as the size of space three-dimensional object, position, postures
Measurement.The position of extraterrestrial target and posture are the Important Parameters for reflecting objective attribute target attribute, assemble and navigate in industrial large-sized device
The high-precision real-time measurement of completion extraterrestrial target pose is required during its aircraft Autonomous rendezvous and docking, therefore how quickly
Accurately obtaining the six-freedom degree pose parameter of extraterrestrial target is each field common problem urgently to be resolved, has great reason
By meaning and engineering practical value.
Using vision measurement system estimation extraterrestrial target point relative pose be broadly divided into monocular vision measurement and mostly visually
Feel measurement two major classes, relative to the disadvantages of multi-vision visual measurement field range is small, Stereo matching is difficult, monocular vision measurement has
Structure is simple, measurement visual field is big, strong real-time and the characteristics of can guarantee measurement accuracy, therefore wide is applied to two certainly
The field resolved by relative pose between coordinate system.Monocular vision measuring system is broadly divided into based on cooperative target and based on non-conjunction
Make two class of target, since the characteristic point of noncooperative target is not arranged according to measurement demand, can extract under different application background
Feature be not fixed, so one camera measurement method existing characteristics based on noncooperative target extract, difficulty is big, extraction accuracy compared with
Low, pose resolves the disadvantages of complicated.And the space constraint relationship in cooperative target pose measurement between target feature point is controllable,
Although limiting application range to a certain extent, noncooperative target measurement existed general problem is overcome.
Monocular vision measuring technique is broadly divided into based on point feature, based on linear feature and based on curvilinear characteristic at present
Localization method.When requiring to determine three straight line differences of object pose based on the localization method of linear feature it is parallel and not with optical center
It is coplanar, and then three nonlinear equations being made of three straight lines are established, it efficiently solves using how linear feature is regarded
The problem of feeling positioning.But Nonlinear System of Equations is complex, position error is bigger than normal.Positioning based on curvilinear characteristic generally requires
Complicated nonlinear system is solved, is positioned, is required to several high orders using coplanar curve and non-co-planar curve
Multinomial is solved, and algorithm is complex.
Summary of the invention
In view of this, the present invention provides it is a kind of based on circle feature and P3P algorithm aircraft pose measuring method, it is described
Method arranges four active targets containing LED light on board the aircraft, and target shape is circle, shoots aircraft using monocular camera
Image, Threshold segmentation and feature extraction are carried out to single-frame images, the central coordinate of circle of target circle is obtained, using based on point feature
P3P algorithm solves position orientation relation of the aircraft relative to camera, and introduces the information disambiguation solution of the 4th characteristic point, finally
It determines true value solution, obtains the posture information of aircraft, realize aircraft reliably accurately Autonomous landing.
The present invention provides a kind of aircraft pose measuring method based on circle feature and P3P algorithm, comprising the following steps:
S1, using the image of monocular camera shooting aircraft, on the aircraft arrangement there are four for feature identification and
The target of extraction, and determine coordinate of each target center in world coordinate system；
S2, smothing filtering is carried out to the image in step S1, then handles to obtain bianry image using threshold segmentation method；
The quantity of the pixel in profile in S3, the bianry image according to obtained in step S2 filters out the wheel of target
It is wide；
S4, in pixel coordinate system, using the profile of target obtained in the step S3, calculate the coordinate of target center；
S5, three targets are arbitrarily chosen, according to the coordinate of the target center in pixel coordinate system obtained in step S4 and phase
The coordinate of the target center in world coordinate system determined in machine intrinsic parameter, step S1 calculates pose parameter disaggregation；
S6, construction minimize re-projection error function, using the coordinate information of unselected target, in verification step S5
The pose parameter disaggregation of resolving, obtains the unique solution closest to truth；
S7, pass through unique solution obtained in step S6, the attitude parameter and aircraft of calculating aircraft are relative to camera
Location parameter.
Further, in the step S1, first the monocular camera is demarcated, obtains the internal reference of the monocular camera
Number, then carries out image taking using the calibrated monocular camera, and the image that the monocular camera is shot is gray scale
Figure；Wherein, the control of the distance between the monocular camera and the aircraft is in certain threshold value, and preferably 10 meters.
Further, in the step S1, the target arranged on the aircraft is the different circle of four radiuses containing LED
The active target of lamp, wherein according to the size of radius, to target number consecutively；The arrangement of the target are as follows: any three
The target center of target is not conllinear, the line parallelogram distribution of the target center of four targets.
Further, it in the step S2, is obtained using the double thresholding segmentation method processing image handled based on luminance proportion
To bianry image.
Further, in the step S3, the screening mode are as follows: the profile number N in the bianry image is calculated, with
And the pixel number [m on each profile including1, m2... mN], threshold value T is set1、T2If there is T1< mi< T2, wherein i is whole
Number and 1≤i≤N, then retain the profile, otherwise remove the profile.
Further, in the step S4, target center is sought in pixel coordinate system by the way of least square fitting circle
Coordinate.
Further, in the step S5, the pose parameter disaggregation of P3P algorithm calculating aircraft is utilized；The pose ginseng
Number solution is spin matrix and translation matrix of one group of world coordinate system relative to camera coordinates system.
Technical solution provided by the invention has the benefit that (1) present invention in terms of drone design, has used and contained
The active target disc of LED light, it is compact, easy to carry, and be easy to feature identification and extract；(2) in terms of pose resolving,
The P3P algorithm based on point feature being had chosen, and the information for substituting into the 4th characteristic point determines unique solution, the algorithm speed of service is fast,
High-efficient, accuracy is high.
Detailed description of the invention
Fig. 1 is the process of the aircraft pose measuring method provided in an embodiment of the present invention based on circle feature and P3P algorithm
Figure；
Fig. 2 is pixel in the aircraft pose measuring method provided in an embodiment of the present invention based on circle feature and P3P algorithm
The relation schematic diagram of coordinate system and image physical coordinates system；
Fig. 3 is camera in the aircraft pose measuring method provided in an embodiment of the present invention based on circle feature and P3P algorithm
The relation schematic diagram of coordinate system and image physical coordinates system.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Referring to FIG. 1, the embodiment provides a kind of based on the aircraft pose measurement for justifying feature and P3P algorithm
Method includes the following steps:
S1, using the image of monocular camera shooting aircraft, on the aircraft arrangement there are four for feature identification and
The target of extraction, and determine coordinate of each target center in world coordinate system；
Specifically, the monocular camera is located at ground, first demarcate to monocular camera the intrinsic parameter of determining camera, described
The image of monocular camera shooting is grayscale image；The target arranged on the aircraft is that the different circle of four radiuses contains LED light
Active target, according to the size of radius to target number consecutively；The arrangement of the target are as follows: the target of any three targets
The heart is not conllinear, and the line parallelogram distribution of the target center of four targets resolves convenient for the pose in subsequent step；Due to phase
The shooting distance of machine is limited, and distance is remoter, bigger to the identification difficulty of the target in image, and measurement error is also bigger, therefore
By the control of the distance between the monocular camera and the aircraft in 10 meters.
It should be noted that the world coordinate system used in the embodiment of the present invention are as follows: using the mass center of aircraft as origin,
Tri- axis of xyz is respectively directed to the preceding lower right of aircraft, the three-dimensional cartesian coordinate system of foundation, as unit of rice.On board the aircraft
After arranging target, position coordinates of the target center of available four targets under the world coordinate system.
S2, smothing filtering is carried out to the image in step S1, then handles to obtain bianry image using threshold segmentation method；
Specifically, using the double thresholding segmentation method handled based on luminance proportion, monocular camera in step S1 is clapped first
The grayscale image taken the photograph carries out luminance proportion processing, is then split, is finally obtained by the way of dual threshold according to processing result
Bianry image.
Pixel number [the m for including on profile number N and each profile in S3, the calculating bianry image1,
m2... mN], threshold value T is set1、T2If there is T1< mi< T2, wherein i is integer and 1≤i≤N, then retains the profile, otherwise go
Fall the profile, wherein using the profile remained as the profile of target；
The profile of target obtained in S4, the step S3 is round or ellipse, in pixel coordinate system, using most
Small two modes for multiplying fitting circle seek the central coordinate of circle (A, B) of characteristic circle；
Specifically, the process of least square fitting circle are as follows: using the upper left corner of the bianry image as origin, u axis is towards right, v
Axis establishes pixel coordinate system downward, unit pixel, related with image resolution ratio；Pixel in bianry image on circle contour
Coordinate can be expressed as (Xi, Yi), wherein i is integer, and 1≤i≤N then has di 2=(Xi-A)2+(Yi-B)2, diIndicate pixel
To the distance in the center of circle；Least square requires the quadratic sum of range error minimum, thus establishes:
When Q (a, b, c) is minimized, can in the hope of the value of parameter a, b, c, and then the central coordinate of circle that is fitted and
Radius:
Thus coordinate of the target center of four targets under pixel coordinate system is obtained.
S5, arbitrarily choose three targets, according in the pixel coordinate system being fitted in step S4 target center coordinate and
The target center coordinate in world coordinate system determined in camera intrinsic parameter, step S1 calculates pose parameter disaggregation using P3P algorithm；
It should be noted that the pose parameter for the aircraft being calculated includes that R indicates that spin matrix, dimension are 3 × 3, T
It indicates translation matrix, arbitrarily chooses three targets, according to coordinate of the target center of three targets in world coordinate system and in picture
Coordinate in plain coordinate system determines that three groups of 3D-2D coordinate points, the relationship of the 3D-2D coordinate points are as follows:
Wherein, [Xw, Yw, Zw] indicate coordinate of the target center determined in step S1 in world coordinate system；(u, v) indicates step
Coordinate of the target center being calculated in rapid S4 in pixel coordinate system；R indicates that spin matrix, dimension are that 3 × 3, T indicates translation square
Battle array, dimension are 3 × 1, and matrix R, T are the pose parameter of aircraft；F indicates camera focus；Dx, dy and image pixel are related,
Realize the conversion of pixel to actual distance numerical value；(u0, v0) indicate projection of the optical center of camera camera in pixel coordinate system
Position.
Referring to Fig. 2, o-xy coordinate system indicates that image physical coordinates system, described image physical coordinates system are with camera shooting in figure
Projection (u of the head optical center on imaging plane0, v0) it is origin, xy axis is parallel with the uv axis of pixel coordinate system, and the plane of foundation is sat
Mark system, in millimeters, image physical coordinates system and pixel coordinate system are contacted by dx, dy foundation；Referring to Fig. 3, Oc-
XcYcZc coordinate system indicates camera coordinates system, and camera coordinates system is using the optical center of camera camera as origin, Zc axis and optical axis coincidence,
Front projection model is taken, Xc, Yc axis are parallel with the xy axis of plane of delineation coordinate system, and unit is rice.
Wherein, the target center [X in world coordinate systemw, Yw, Zw] the available phase after spin matrix R, translation matrix T transformation
Coordinate under machine coordinate system:
Using the scaling of camera focus f, projection coordinate of the available target center in image physical coordinates system:
The coordinate in image physical coordinates system can be finally transformed into pixel coordinate system according to dx, dy, to obtain three
The relational expression of 3D-2D coordinate points is organized, spin matrix R and translation matrix T in the relational expression are the pose ginsengs of aircraft
Number.It should be noted that at most there may be 4 groups of solutions for the pose parameter that acquires of P3P algorithm.
S6, construction minimize re-projection error function, using the coordinate information of unselected target, in verification step S5
The pose parameter disaggregation of resolving, obtains the unique solution closest to truth；
The re-projection error refers to the error of the point and the measurement point on image that theoretically project, special using the 4th circle
Target is levied, according to the description of front, the coordinate in world coordinate system and pixel coordinate system is it is known that by above-mentioned 4th target
Target center coordinate substitute into the obtained different solutions of step S5, resolving obtains taking off in difference theoretic in pixel coordinate system
Subpoint, and calculate the difference of the theoretical value Yu coordinate (i.e. measured value) of known 4th target in pixel coordinate system
Value, the size of the difference that more different solutions obtain, the corresponding solution of minimum value are true solution.
S7, by the attitude parameter of unique solution calculating aircraft and aircraft obtained in step S6 relative to camera
Location parameter.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of aircraft pose measuring method based on circle feature and P3P algorithm, which comprises the following steps:
S1, using the image of monocular camera shooting aircraft, there are four identify and extract for feature for arrangement on the aircraft
Target, wherein determine coordinate of each target center in world coordinate system；
S2, smothing filtering is carried out to the image in step S1, then handles to obtain bianry image using threshold segmentation method；
The quantity of the pixel in profile in S3, the bianry image according to obtained in step S2 filters out the profile of target；
S4, in pixel coordinate system, using the profile of target obtained in the step S3, calculate the coordinate of target center；
S5, three targets are arbitrarily chosen, according in the coordinate of the target center in pixel coordinate system obtained in step S4 and camera
The coordinate of the target center in world coordinate system determined in parameter, step S1 calculates pose parameter disaggregation；
S6, construction are minimized re-projection error function and are resolved in verification step S5 using the coordinate information of unselected target
Pose parameter disaggregation, obtain the unique solution closest to truth；
S7, pass through unique solution obtained in step S6, position of the attitude parameter and aircraft of calculating aircraft relative to camera
Set parameter.
2. the aircraft pose measuring method according to claim 1 based on circle feature and P3P algorithm, which is characterized in that
In the step S1, first the monocular camera is demarcated, obtains the intrinsic parameter of the monocular camera, then utilizes the mark
Monocular camera after fixed carries out image taking, and the image that the monocular camera is shot is grayscale image；Wherein, the monocular phase
The distance between machine and the aircraft control in certain threshold value, and preferably 10 meters.
3. the aircraft pose measuring method according to claim 1 based on circle feature and P3P algorithm, which is characterized in that
In the step S1, the target arranged on the aircraft is the different round active target containing LED light of four radiuses,
In, according to the size of radius, to target number consecutively；The arrangement of the target are as follows: the target center of any three targets is not total
Line, the line parallelogram distribution of the target center of four targets.
4. the aircraft pose measuring method according to claim 1 based on circle feature and P3P algorithm, which is characterized in that
In the step S2, bianry image is obtained using the double thresholding segmentation method processing image handled based on luminance proportion.
5. the aircraft pose measuring method according to claim 1 based on circle feature and P3P algorithm, which is characterized in that
In the step S3, the screening mode are as follows: calculate on profile number N and each profile in the bianry image and include
Pixel number [m1, m2... mN], threshold value T is set1、T2If there is T1< mi< T2, wherein i is integer and 1≤i≤N, then protects
The profile is stayed, the profile is otherwise removed.
6. the aircraft pose measuring method according to claim 1 based on circle feature and P3P algorithm, which is characterized in that
In the step S4, coordinate of the target center in pixel coordinate system is sought by the way of least square fitting circle.
7. the aircraft pose measuring method according to claim 1 based on circle feature and P3P algorithm, which is characterized in that
In the step S5, the pose parameter disaggregation of P3P algorithm calculating aircraft is utilized；The pose parameter solution is one group of world coordinates
It is the spin matrix and translation matrix relative to camera coordinates system.
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| CN111504276A (en) * | 2020-04-30 | 2020-08-07 | 哈尔滨博觉科技有限公司 | Visual projection scale factor set-based joint target function multi-propeller attitude angle acquisition method |
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| CN110954067B (en) * | 2019-12-28 | 2023-02-07 | 长安大学 | Monocular vision excavator pose measurement system and method based on target |
| CN111504276B (en) * | 2020-04-30 | 2022-04-19 | 哈尔滨博觉科技有限公司 | Visual projection scale factor set-based joint target function multi-propeller attitude angle acquisition method |
| CN111504276A (en) * | 2020-04-30 | 2020-08-07 | 哈尔滨博觉科技有限公司 | Visual projection scale factor set-based joint target function multi-propeller attitude angle acquisition method |
| CN111681283A (en) * | 2020-05-11 | 2020-09-18 | 哈尔滨工业大学 | Monocular stereoscopic vision-based relative pose calculation method applied to wireless charging alignment |
| CN111595289A (en) * | 2020-05-25 | 2020-08-28 | 湖北三江航天万峰科技发展有限公司 | Three-dimensional angle measurement system and method based on image processing |
| CN111750849A (en) * | 2020-06-05 | 2020-10-09 | 武汉大学 | Target contour positioning and attitude-fixing adjustment method and system under multiple visual angles |
| CN111750849B (en) * | 2020-06-05 | 2022-02-01 | 武汉大学 | Target contour positioning and attitude-fixing adjustment method and system under multiple visual angles |
| CN112308916A (en) * | 2020-09-21 | 2021-02-02 | 广东电网有限责任公司广州供电局 | Target pose identification method based on image target |
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| CN113223095A (en) * | 2021-05-25 | 2021-08-06 | 中国人民解放军63660部队 | Internal and external parameter calibration method based on known camera position |
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| CN113298882B (en) * | 2021-06-07 | 2022-12-20 | 四川大学 | Camera calibration device and method for microscopic three-dimensional topography measurement system |
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