Position And Attitude Measurement Method Research Based On2D/3D Data Fusion

Position and attitude measurement is an important research of machine visionand widely used in space on-orbit service, rendezvous and docking mission, as wellas industrial manufacturing. Aiming at the precision and real-time problem in theposition and attitude measurement process, this thesis designed and implementedspatial position and attitude measurement method based on2D/3D data fusion.This method fused the high-resolution grayscale images of the RGB camera and thedepth image of the TOF camera in order to improve detection accuracy and usedthe kalman filter algorithm to track moving target features so as to improve thedetection speed.This thesis includes the following contents:(1)We elaborated TOF principle and mathematical model of the camera,analyzed problems existing in the TOF camera calibration process, put forward thecorresponding solutions, implemented the TOF camera images calibration.(2)We designed and implemented position and attitude measurement methodresearch based on2D/3D data fusion, researched the stereo matching between thehigh-resolution grayscale images of the RGB camera and the depth image of theTOF camera based on the geometric transform, designed the image fusionalgorithm based on Delaunay neighborhood method, improved the resolution of thedepth image, implemented the space target position and attitude measurementalgorithm based on fusion image information. Experimental results showed thatthis position and attitude measurement method had higher measuring accuracy.(3)We designed and implemented position and attitude measurement methodbased on the kalman filter characteristic tracking, introduced the basic principle ofkalman filter, researched based on the kalman filter characteristic tracking process,implemented the position and attitude measurement algorithm based on featuretracking, finished feature tracking experiment and the time performanceanalysising experiment, the results show that this method improves the speed of theposition and attitude measurement process.