CN113324538B - A long-distance high-precision six-degree-of-freedom pose measurement method for cooperative targets - Google Patents
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Abstract
本发明公开了一种合作目标远距离高精度六自由度位姿测量方法,包括如下步骤:(1)获取合作目标初始六自由度位姿和初始深度值;(2)计算激光光斑圆方程;(3)求取初始位置与相机光心两个三维空间点所确定空间直线的方程;(4)求取光斑圆与空间直线的交点,矫正初始位姿;(5)利用非线性优化方法对矫正结果进行进一步优化。该方法借助激光测距仪所提供的准确深度值来矫正单目视觉位姿测量视线方向上的较大误差,同时能够消除由激光测距仪激光光斑弥散而引入的干扰误差。
The invention discloses a long-distance high-precision six-degree-of-freedom pose measurement method of a cooperative target, comprising the following steps: (1) obtaining an initial six-degree-of-freedom pose and an initial depth value of the cooperative target; (2) calculating a laser spot circle equation; (3) Obtain the equation of the space line determined by the initial position and the two three-dimensional space points of the camera optical center; (4) Obtain the intersection of the spot circle and the space line to correct the initial pose; (5) Use the nonlinear optimization method to The correction results are further optimized. The method uses the accurate depth value provided by the laser range finder to correct the large error of the monocular vision pose measurement in the direction of sight, and at the same time can eliminate the interference error introduced by the laser spot dispersion of the laser range finder.
Description
技术领域technical field
本发明涉及基于多传感器融合的位姿测量的技术领域,具体涉及一种合作目标远距离高精度六自由度位姿测量方法。The invention relates to the technical field of pose measurement based on multi-sensor fusion, in particular to a long-distance high-precision six-degree-of-freedom pose measurement method for a cooperative target.
背景技术Background technique
目标高精度六自由度位姿测量有助于实现精确高效的机器操作,因此在自主机器人、精密加工和航天器对接等领域得到了广泛应用。单目视觉是一种非接触式的六自由度姿态测量方法,具有硬件复杂度低、精度高、测量范围广等优点,是目前最常用的六自由度姿态测量方法之一。然而,由于模型自身的限制,沿相机光轴的测量精度通常要比其他两个方向的测量精度低很多,根据赵连军等人《单目三点位置测量精度分析》(参见《光学精密工程》,2014年22卷(5)),沿相机光轴的测量精度只有其他两个方向的二十分之一。Targeted high-precision six-degree-of-freedom pose measurement helps to achieve precise and efficient machine operation, so it has been widely used in the fields of autonomous robots, precision machining, and spacecraft docking. Monocular vision is a non-contact 6-DOF attitude measurement method, which has the advantages of low hardware complexity, high precision, and wide measurement range. It is one of the most commonly used 6-DOF attitude measurement methods. However, due to the limitations of the model itself, the measurement accuracy along the optical axis of the camera is usually much lower than the measurement accuracy in the other two directions. 2014 Vol. 22 (5)), the measurement accuracy along the camera's optical axis is only one-twentieth of the other two directions.
根据晁志超等人的《单目摄像机-激光测距传感器位姿测量系统》(参见《光学学报》,2011年31卷(3)85-91页),利用了激光测距仪所提供的深度值直接替换了单目视觉位姿测量结果中视线方向的位移值,没有考虑激光光斑弥散所带来的的误差,因此它的矫正效果有限,只能达到毫米级精度。According to Chao Zhichao et al.'s "Monocular Camera-Laser Ranging Sensor Pose Measurement System" (see "Acta Optics", 2011, Vol. 31 (3) pp. 85-91), the depth value provided by the laser range finder is used. It directly replaces the displacement value of the line-of-sight direction in the monocular vision pose measurement result, and does not consider the error caused by the dispersion of the laser spot, so its correction effect is limited and can only achieve millimeter-level accuracy.
发明内容SUMMARY OF THE INVENTION
本发明针对现有单目视觉测量中沿相机光轴方向的测量误差大的问题,提供了一种合作目标远距离高精度六自由度位姿测量方法,其是一种基于多传感器融合的解决方法。该方法可以利用激光测距仪得到的准确深度信息来矫正相机测得的初始位姿,同时能够消除因激光光斑弥散而引入的测量误差。本方法建立了光斑弥散圆,确定了初始测量位置与相机光心点所在直线,之后将两个传感器的融合问题转换成了求取一个空间圆面和一条空间直线的交点的几何问题。求取的交点即为矫正后的测量位姿,校正后,沿视线方向的位移测量精度高于其他两个方向。Aiming at the problem of large measurement error along the optical axis of the camera in the existing monocular vision measurement, the present invention provides a long-distance high-precision six-degree-of-freedom pose measurement method for a cooperative target, which is a solution based on multi-sensor fusion. method. The method can use the accurate depth information obtained by the laser rangefinder to correct the initial pose measured by the camera, and at the same time can eliminate the measurement error caused by the dispersion of the laser spot. This method establishes the light spot dispersion circle, determines the initial measurement position and the straight line where the optical center point of the camera is located, and then converts the fusion problem of two sensors into a geometric problem of finding the intersection of a space circle and a space straight line. The obtained intersection point is the corrected measurement pose. After correction, the displacement measurement accuracy along the line-of-sight direction is higher than the other two directions.
本发明采用的技术方案如下:一种合作目标远距离高精度六自由度位姿测量方法,包括如下步骤:The technical scheme adopted in the present invention is as follows: a long-distance high-precision six-degree-of-freedom pose measurement method for a cooperative target, comprising the following steps:
步骤(1)、获取合作目标图像,根据PnP算法解算合作目标初始位姿Ti=[Ri|ti],其中,R表示姿态信息,t表示位移信息,下标i代表这是初始结果;Step (1): Obtain the image of the cooperation target, and calculate the initial pose of the cooperation target according to the PnP algorithm T i =[R i |t i ], where R represents the attitude information, t represents the displacement information, and the subscript i represents this is the initial position. result;
所述步骤(1)的具体过程为:The concrete process of described step (1) is:
步骤(11)、利用相机成像获取合作目标图像,然后基于灰度重心法提取合作目标特征成像中心点亚像素坐标并进行合作目标上的3D合作特征点Pi T(i=1,2,3,4)与对应的图片上的2D成像点的匹配;Step (11), use camera imaging to obtain the image of the cooperation target, and then extract the sub-pixel coordinates of the center point of the characteristic imaging of the cooperation target based on the gray-scale centroid method And carry out the 3D cooperation feature points P i T (i=1, 2, 3, 4) on the cooperation target and the 2D imaging points on the corresponding pictures match;
步骤(12)、基于PnP算法,利用步骤(11)中的4对2D-3D匹配点进行位姿解算,得到合作目标坐标系相对于相机光心坐标系的位姿转换关系Ti=[Ri|ti]。Step (12), based on the PnP algorithm, use the 4 pairs of 2D-3D matching points in step (11) to calculate the pose, and obtain the pose transformation relationship T i =[ R i |t i ].
步骤(2)、利用激光测距仪测量准确深度信息Da。Step (2), use a laser rangefinder to measure the accurate depth information Da .
步骤(3)、利用步骤(2)中的准确深度信息Da矫正步骤(1)中的初始位姿Ti=[Ri|ti],获取矫正后的位姿Ta=[Ra|ta],其中,下标a代表这是矫正后的结果;Step (3), use the accurate depth information Da in step (2) to correct the initial pose Ti = [R i |t i ] in step (1 ) , and obtain the corrected pose Ta = [R a |t a ], where the subscript a represents the corrected result;
所述步骤(3)的具体过程为:The concrete process of described step (3) is:
步骤(31)、在相机坐标系中,通过相机所测初始位置坐标与相机光心坐标系原点O=[0 0 0]T可以确定一条直线LOT,其方程为其中,上标i代表这是初始结果,{l,m,n}表示直线的参数;Step (31), in the camera coordinate system, the initial position coordinates measured by the camera A straight line L OT can be determined with the origin of the camera optical center coordinate system O=[0 0 0] T , and its equation is Among them, the superscript i represents that this is the initial result, and {l,m,n} represents the parameters of the straight line;
步骤(32)、激光测距仪坐标系与相机光心坐标系的转换关系已事先标定,可以用一个空间三维点和一个空间方向向量表示:In step (32), the conversion relationship between the coordinate system of the laser rangefinder and the optical center coordinate system of the camera has been calibrated in advance, and can be represented by a three-dimensional point in space and a direction vector in space:
OLO=[xL,yL,zL]T O LO = [x L , y L , z L ] T
nLO=[nxL,nyL,nzL]T n LO =[n xL ,n yL ,n zL ] T
其中,xL、yL、zL分别为激光测距仪坐标系原点位置在相机坐标系X,Y,Z方向的坐标值,nxL、nyL、nzL从相机坐标系转到激光测距仪坐标系的欧拉旋转角。Among them, x L , y L , and z L are the coordinate values of the origin of the laser rangefinder coordinate system in the X, Y, and Z directions of the camera coordinate system, respectively, and n xL , nyL , and n zL from the camera coordinate system to the laser measuring The Euler rotation angle of the tachymeter coordinate system.
由于激光末端具有一定的弥散,所以激光光斑不是一个精确的点,而是有了一定的尺寸,不失一般性,我们假设激光光斑弥散成了一个半径为r的圆。由于我们已知激光测距仪坐标系在相机坐标系下的表示以及激光测距仪的所测的距离值,因此可以求出激光光斑面中心点的坐标P=[xr,yr,zr]T,进而通过以上条件求解出弥散圆的方程:Since the end of the laser has a certain dispersion, the laser spot is not a precise point, but has a certain size. Without loss of generality, we assume that the laser spot is dispersed into a circle with a radius of r. Since we know the representation of the laser rangefinder coordinate system in the camera coordinate system and the measured distance value of the laser rangefinder, the coordinates of the center point of the laser spot surface can be calculated P=[x r , y r , z r ] T , and then solve the equation of the circle of confusion through the above conditions:
步骤(33)、求步骤(31)中确定的直线LOT与本步骤(32)中所确定的圆面的交点,所得的交点坐标即为矫正后的合作目标位置。联合方程如下所示:In step (33), find the intersection of the straight line L OT determined in step (31) and the circular surface determined in this step (32), and the obtained intersection coordinates are the corrected cooperative target position. The joint equation looks like this:
解此方程将得到矫正后的合作目标位置坐标其中,上标a代表这是矫正后的结果;用ta更新Ti=[Ri|ti]中的位移分量,得到初步矫正后的位姿Ta=[Ra|ta]。Solving this equation will get the corrected cooperative target position coordinates Wherein, the superscript a represents the corrected result; update the displacement component in T i = [R i |t i ] with ta to obtain the initially corrected pose Ta =[R a | ta ].
步骤(4)、利用非线性优化方法对通过步骤(3)中得到的矫正后的位姿Ta=[Ra|ta]进行进一步优化,具体优化模型为:Step (4), use the nonlinear optimization method to further optimize the corrected pose T a =[R a | ta ] obtained in step (3), and the specific optimization model is:
其中,为图片上2D成像点,pro(Pi T)表示空间合作目标上特征点的重投影函数,λ是权重因子,一般设为5,表示矫正后的Z方向位移值,表示初始的Z方向位移值,最小化上式,将得到一个更加精确的位姿T′a=[R′a|t′a]。in, is the 2D imaging point on the picture, pro(P i T ) represents the reprojection function of the feature point on the spatial cooperation target, λ is the weight factor, generally set to 5, represents the corrected Z-direction displacement value, Represents the initial Z-direction displacement value, and by minimizing the above formula, a more accurate pose T' a =[R' a |t' a ] will be obtained.
本发明与现有技术相比的优点在于:The advantages of the present invention compared with the prior art are:
(1)本发明解决现有单目位姿测量方法中视线方向上误差较大的问题;(1) the present invention solves the problem of large error in the line of sight direction in the existing monocular pose measurement method;
(2)本发明消除了现有的相机与激光测距仪融合方法中因激光光斑弥散而引入的误差;(2) The present invention eliminates the error introduced by the dispersion of the laser spot in the existing fusion method of the camera and the laser rangefinder;
(3)本发明具有极高的精度,计算量小,稳定性高。(3) The present invention has extremely high precision, small calculation amount and high stability.
附图说明Description of drawings
图1为本发明一种合作目标远距离高精度六自由度位姿测量方法具体流程图;Fig. 1 is a kind of concrete flow chart of a kind of cooperative target long-distance high-precision six-degree-of-freedom pose measurement method of the present invention;
图2为本发明的靶标坐标设计图;Fig. 2 is the target coordinate design drawing of the present invention;
图3为本发明的合作目标特征在相机平面上的成像点;Fig. 3 is the imaging point of the cooperative target feature of the present invention on the camera plane;
图4为本发明的融合方法示意图。FIG. 4 is a schematic diagram of the fusion method of the present invention.
具体实施方式Detailed ways
以下结合具体实施例对本发明作进一步详细描述。The present invention will be further described in detail below with reference to specific embodiments.
本发明一种合作目标远距离高精度六自由度位姿测量方法具体流程图如图1所示,设测试距离为10米。合作目标设计见图2,经三坐标仪标定后的六个LED的准确坐标如表1所示。A specific flow chart of a method for measuring a long-distance high-precision six-degree-of-freedom pose of a cooperative target of the present invention is shown in FIG. 1 , and the test distance is set to be 10 meters. The design of the cooperation target is shown in Figure 2, and the exact coordinates of the six LEDs after calibration by the three-coordinate instrument are shown in Table 1.
表1六个LED的准确坐标Table 1 The exact coordinates of the six LEDs
本发明具体步骤如下:The concrete steps of the present invention are as follows:
步骤(1)、获取合作目标图像,根据PnP算法解算合作目标初始位姿Ti=[Ri|ti],所述步骤(1)的具体过程为:In step (1), an image of the cooperation target is acquired, and the initial pose of the cooperation target is calculated according to the PnP algorithm T i =[R i |t i ], and the specific process of the step (1) is:
步骤(11)、相机成像,然后基于灰度重心法提取合作目标特征成像中心点亚像素坐标(图3为某次实验中合作目标特征所成的像,表2为成像点的亚像素图像坐标),并进行合作目标上的3D合作特征点Pi T(i=1,2,3,4)与对应的图片上2D成像点的匹配;Step (11), camera imaging, and then extract the sub-pixel coordinates of the center point of the cooperative target feature imaging based on the gray-scale centroid method (Fig. 3 is the image formed by the characteristics of the cooperative target in a certain experiment, and Table 2 is the sub-pixel image coordinates of the imaging point), and carry out the 3D cooperative feature point P i T (i=1,2,3, 4) 2D imaging point on the corresponding picture match;
表2成像点的亚像素坐标Table 2 Subpixel coordinates of imaging points
步骤(12)、基于PnP算法,利用步骤(11)中的4对2D-3D匹配点进行位姿解算,得到合作目标坐标系相对于相机光心坐标系的位姿转换关系Ti=[Ri|ti]。表3为此次测量所得的初始位姿。Step (12), based on the PnP algorithm, use the 4 pairs of 2D-3D matching points in step (11) to calculate the pose, and obtain the pose transformation relationship T i =[ R i |t i ]. Table 3 shows the initial poses obtained from this measurement.
表3测量所得的初始位姿Table 3. Initial poses measured
步骤(2)、利用激光测距仪测量准确深度信息Da。Step (2), use a laser rangefinder to measure the accurate depth information Da .
步骤(3)、利用步骤(2)中的准确深度信息Da矫正步骤(1)中的初始位姿Ti=[Ri|ti],获取矫正后的准确位姿Ta=[Ra|ta],所述步骤(3)的具体过程为:Step (3), use the accurate depth information Da in step (2) to correct the initial pose T i =[R i |t i ] in step (1 ) , and obtain the corrected accurate pose T a =[R a | t a ], the concrete process of described step (3) is:
步骤(31)、在相机坐标系中,通过相机所测初始位置坐标与相机光心坐标系原点O=[0 0 0]T可以确定一条直线LOT,其方程为 Step (31), in the camera coordinate system, the initial position coordinates measured by the camera A straight line L OT can be determined with the origin of the camera optical center coordinate system O=[0 0 0] T , and its equation is
步骤(32)、激光测距仪坐标系与相机光心坐标系的转换关系已事先标定,可以用一个空间三维点和一个空间方向向量表示:In step (32), the conversion relationship between the coordinate system of the laser rangefinder and the optical center coordinate system of the camera has been calibrated in advance, and can be represented by a three-dimensional point in space and a direction vector in space:
OLO=[xL,yL,zL]T O LO = [x L , y L , z L ] T
nLO=[nxL,nyL,nzL]T n LO =[n xL ,n yL ,n zL ] T
其中,xL、yL、zL分别为激光测距仪坐标系原点位置在相机坐标系X,Y,Z方向的坐标值,nxL、nyL、nzL从相机坐标系转到激光测距仪坐标系的欧拉旋转角。Among them, x L , y L , and z L are the coordinate values of the origin of the laser rangefinder coordinate system in the X, Y, and Z directions of the camera coordinate system, respectively, and n xL , nyL , and n zL from the camera coordinate system to the laser measuring The Euler rotation angle of the tachymeter coordinate system.
由于激光末端具有一定的弥散,所以激光光斑不是一个精确的点,而是有了一定的尺寸,不失一般性,假设激光光斑弥散成了一个半径为r的圆。由于已知测距仪坐标系在相机坐标系下的表示以及激光测距仪的所测的距离长度,因此可以求出激光光斑中心点的坐标P=(xr,yr,zr),进而通过以上条件求解出弥散圆的方程:Since the end of the laser has a certain dispersion, the laser spot is not a precise point, but has a certain size. Without loss of generality, it is assumed that the laser spot is dispersed into a circle with a radius of r. Since the representation of the rangefinder coordinate system in the camera coordinate system and the measured distance length of the laser rangefinder are known, the coordinates P=(x r , y r , z r ) of the center point of the laser spot can be obtained, And then through the above conditions to solve the equation of the circle of confusion:
步骤(33)、求步骤(31)中确定的直线LOT与步骤(32)中所确定的圆面的交点,所得的交点坐标即为矫正后的合作目标位置坐标。联合方程如下所示:In step (33), find the intersection of the straight line L OT determined in step (31) and the circular surface determined in step (32), and the obtained intersection coordinates are the corrected cooperative target position coordinates. The joint equation looks like this:
解此方程将得到矫正后的合作目标位置坐标用ta更新Ti=[Ri|ti]中的位移分量,得到初步矫正后的位姿Ta=[Ra|ta]。表4为对此次测量值进行矫正所得的位姿。Solving this equation will get the corrected cooperative target position coordinates The displacement component in Ti =[R i |t i ] is updated with ta to obtain the initially corrected pose Ta = [R a | ta ]. Table 4 shows the poses obtained by correcting the measured values.
表4对测量值进行矫正所得的位姿Table 4. The poses obtained by correcting the measured values
步骤(4)、利用非线性优化方法对通过步骤(3)中得到的矫正后的位姿Ta=[Ra|ta]进行进一步优化提升精度,具体优化模型为:Step (4), use the nonlinear optimization method to further optimize the corrected pose Ta = [R a | ta ] obtained in step (3) to improve the accuracy, and the specific optimization model is:
最小化上式,将得到一个更加精确的位姿T′a=[R′a|t′a]。表5为对此次矫正结果进行进一步优化所得的位姿,利用AT460激光测距仪测量的位姿(可以视为真实值)以及此次的测量误差。By minimizing the above formula, a more accurate pose T' a =[R' a |t' a ] will be obtained. Table 5 shows the pose obtained by further optimizing the correction results, the pose measured by the AT460 laser rangefinder (can be regarded as the true value) and the measurement error this time.
表5对矫正结果进行进一步优化所得的位姿Table 5. The poses obtained by further optimizing the correction results
本发明未详述部分属于本技术领域的公知技术。以上所述仅为本发明的具体实例而已,并不用于以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。The parts not described in detail in the present invention belong to the well-known technology in the technical field. The above descriptions are only specific examples of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. within.
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