Research On The Method Of Meseasuring Moving Object's 6-DOF Parameters Based On The Image

In this paper, with a view of satisfying the actual demands , a method of measuring of moving object's 6-DOF(six degree of freedom) parameters based on the image measurement technology was studied.At first, some products were selected according to the project technology index in this paper, and these products were configured with fiber channel technology and RAID technology, finally a system for image capture and storage was completed. The problems of dual cameras synchronization, high speed capture of high resolution image and real-time storage of massive data were settled. This system is of high performance, good stability and reliability. And it is of excellent practicability in intersection measurement field.Then, the basic principle of the measuring system was introduced. The system is based on the principle of intersection measurement. Before measuring, 3 feature points should be set up on the object. And two cameras of the same performance and fixed location are used to capture images of the feature points synchronization from different angles, which will be saved in the high speed storage equipment for analysis afterwards.And then, an algorithm of calculating moving object's 6-DOF was introduced primarily. First of All, the captured images were processed with algorithms of noise filtering, separating feature points and background, contour extraction and searching center, then the 2-D image coordinates of the feature points could be obtained. Afterwards, equations of two space lines could be gained, each of which passed an feature point and the optical center of relative camera, the coordinates of the cross point of the two lines were the coordinates of the feature point. Considering there are errors in computing, the two lines probably do not cross, so the above linear equations were solved with the least squares method.Finally, taking the coordinates of the 3 feature points in the moving object coordinate system and the world coordinate system at the same time into the math modeling, then the transform matrix between the moving object coordinate and the world coordinate could be got, the 6-DOF parameters of the moving object in the world coordinate system would be obtained sequentially.