Non-cooperative Object Pose Measurement Based On The Fusion Of Depth Image And Color Image

Vision-based pose measurement is a hot topic in the computer vision, and the position and attitude measurement based on the optical sensor can acquire the target’s position and orientation information without touching the target directly. Now it is widely used in national defense, aerospace, industrial, medical, and other areas. I mainly focus on the pose measurement of non-cooperative target based on computer vision research. In order to solve the ambiguity problem of circle pose based on monocular vision, we designed a circle pose measurement algorithm which is base on the fusion of depth image and color image. The experiment verification the feasibility and effectiveness of the algorithm.This thesis includes the following contents:(1) Have an introduction about pose measurement of non-cooperative target based on vision and the basic measurement principle, the math model and imaging model. We study the calibration of the PMD camera, and complete the PMD camera calibration experiments. By using the rotation and translation between PMD and RGB camera, we implement the registration between depth image and color image.(2) The methods of ellipse detection were researched and analyzed. We realize ellipse detection based on arcs combination. In the process of arcs combination, we design a new arc combination method by jointing distance, angle and convexity between arcs. It effectively reduces the unnecessary arc of arc combination, and the error of ellipse detection.(3)Due to the ambiguity of circle pose estimation based on monocular vision, we obtain a high-resolution depth image by the fusion of color image and depth image, and then we get 3D point cloud of target. By using these information, we can remove the false solution of circle pose estimation based on monocular vision. By building the experimental environment and collecting experimental data, we calculation and analysis of experimental results pose.