3D Visual Methods for Object Pose Measurement

摘要

The related pose between two space objects can be determined if the coordinates of a group marks at two reference frames are measured. The precondition of the above method is that the site relationship among the marks must be changeless at the two reference frames, but this relationship will be destroyed by the computational error. So two model based visual methods include model based monocular vision method and model based binocular stereo method are introduced. The model based monocular vision method starts with the physical meaning of vision, and get the 3D space coordinates of marks by simple restrictive iterative. The model based binocular stereo method inoculates the model based monocular vision and advanced least square method to realize the model restriction. The compare analysis between the two methods and the experiment result will be given at last. Using these method, the model based monocular vision can reach very high measurement precise, and the model based binocular stereo has a little higher measure than the model based monocular vision. For any method, the size of quantization error will effect the measurement precise of visual method directly. These method has been used in mobile robot visual guided experiment at our laboratory successfully, the speed of image grabbing is 0 3 second per frame.