A Preliminary Study Of Coordinate Positioning Measurement Based On Omni Directional Vision For Large Spatial Orientation

As a basis measuring technology for huge and advanced equipment manufacturing, the measuring technology on large space and high-precision coordinate measuring provides the original measurement information for many huge equipment in programs design and improvement, products processing improvement and the security monitoring of products manufacturing processing and controlling. The project (51275149), which is one of the National Natural Science Foundation of China, is based on laser ranging network to achieve large-square spatial positioning measurements, and one of the key researching point of the project is how to lead a laser ranging to aiming at the target. Omni directional vision sensor (ODVS), which has a large view field was introduced into the large-square spatial positioning measurements in this thesis. This thesis explores the feasibility of leading laser ranging based on ODVS. The basic idea being put forward is:integrate the laser target with an ODVS and take the image of beacon nodes distributed in the large space through the ODVS imaging system, then self-positioning will be achieved in the global coordinate system by image analysis, which will be used in guiding the laser tracker, finally solve the laser ranging guiding problem in a simple and cheap way.This thesis, starting from the omni directional vision sensor which is based on hyperbolic catadioptric, elaborated omni directional vision sensor imaging theory, designing method and calibration method to find the right imaging model:average angular resolution omni directional vision sensor imaging model; proves the approximate linear relationship between radial distance of the image and the angle of incidence in a certain angle range by studying its secondary catadioptric curved mirror design method; studying the beacon node detection method and its coordinate positioning method; proposed a omni directional vision system self-positioning principles and algorithms process based on a combined beacon nodes, the simulation experiment proved the correctness of omni directional vision system self-positioning theory. Some valuable conclusions were found by the further simulation study on the influence of image corner detection error to the positioning accuracy of the omni directional vision system. Finally, this thesis, through the experimental study, give the self-positioning accuracy of the omni directional vision system in both translation experiments and deflection experiments, which is in a specific measurement range, and are give the technology path to improve the accuracy of self-positioning.