Research On The Key Technology Of Target Recognition And 3D Pose Determination Based On Vision

Recognition of target and determination its pose in 3D space play an important role in advanced manufacturing, homing weapon and spaceflight area. For vision guide vehicle, the technology of target recognization and pose determination is studied.A aim body's position and pose determination project is brought forward, in which straight line character is extracted and then is used to match object. The scheme takes full advantage of high level vision theory and image processing technology. The research work is focus mainly on studying object recognition and pose determination method with high intelligence, simple structure, high measuring precision.Because the camera imaging was greatly affected by light and noise, it is not suitable for recognition with Marr's three-dimensional reconstruction theory directly. An automatic project recognition system is proposed which conbine Zernike moments and BP net work. During the course of target recognition, its real-time quality and accuracy is taken fully account. CCD sensor shot target, then build up model library with images with rotation and scale change to different target. The recognition method of combination BP neural network with Zernike moments target has better recognition results.Straight line character is commonly used in artificial object recognition, however, illumination and occlusion often lead to straight line breaking and part lossing of pixels during the course of image processing. Straight line extraction method is deeply studied in the thesis, and a new straight line segment extraction method is proposed in which peaks in Hough space is used to extract straight line segment by reverse Hough transform. As vision-guided vehicle moved on the ground plane with two-dimensional motion, object's images change little between former and its following image, so a target registration method with one straight line is proposed with strong robust properties and it is easy to realize automate registration. The straight line extraction method is robust to discretization error, segment burst, and can extract straight line with strong disturb with higher registration precision.The real factor of vision guide vehicle moving on the ground plane was studied.On the base of accurate geometry model known before, a new pose determination scheme is presented, in which target body's three-dimensional positioning is determined by match a target's straight line and that of its model's. The method possesses higher pose determination precision, achieving target position's visualization.Binocular stereo vision measurement system is studied.A sort of stereo vision positioning method based on straight line is brought forward including the follow steps:hunting peaks in special angle range in Hough space to extract straight lines,matching straight lines between left and right image planes according to their straight line's middle points corrdinates relations.It takes the intersections of the straight line segments but not the straight lines themselves as characters to reconstructed straight lines in 3D space by the stereo vision.This method can get project's pose robustly and quickly.