Rigid object position and orientation measurement based on monocular sequence
ZHAO Li-ke1,2, ZHENG Shun-yi1,3, WANG Xiao-nan1, HUANG Xia1
1. School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China;
2. College of Information Science and Engineering, Henan University of Technology, Zhengzhou 450001, China;
3. Collaborative Innovation Center for Geospatial Technology, Wuhan University, Wuhan 430079, China
An automatic method for the position and orientation achievement of moving object based on contour was proposed, since the monocular camera cannot construct the cooperative target and the position and orientation measurement to the moving object on the plane is required. The proposed method was under the prior condition of three-dimensional geometric model of the rigid object and the camera parameters. OpenGL technology was used to generate the simulated images of the moving objects located in different positions and orientations. The position and orientation were solved by the relationship between the simulated images and the real images. Firstly, the moving object contour set was obtained according to the simulation of discrete position and orientation sets, and the initial position and orientation of the moving object was determined from the relationship between the moving object contour of real image and the contour in the discrete position and orientation contour set. Then, the distance cost function between the object contour of the simulated image of initial value and the object contour of the real image was constructed, and the precise position and orientation of the moving object was solved by iterative nonlinear optimization algorithm. The experimental results show that the proposed method can effectively measure the position and orientation of the moving object, and obtain reliable measurement results of the image with complex texture and shadow.
Received: 23 November 2017
Published: 13 December 2018
ZHAO Li-ke, ZHENG Shun-yi, WANG Xiao-nan, HUANG Xia. Rigid object position and orientation measurement based on monocular sequence. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2018, 52(12): 2372-2381.
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