Research On Measuring Technology Of Six Degree Of Freedom For Waving Compensation Based On Binocular Vision

With the continuous development of naval equipment,the demand for the equipment of offshore sealift is getting higher and higher.Six degree of freedom wave compensation equipment is the future direction of the development of the supply of ships,which consists of three parts: detection,control and execution.Six degree of freedom wave compensation equipment,puts forward a high demand for its detection system: it can carry out real-time,high precision and non-contact measurement for the position and attitude of the supply ship in the complicated and changeable weather.Fortunately,the detection system based on binocular vision can solve this problem effectively.This paper designed a detection system based on binocular vision to detect the position and attitude of the moving object.The methods of camera calibration and stereo rectification,image feature extraction,stereo matching and feature tracking,and the attitude and position calculation methods are studied.1.The calibration of camera is achieved by using the MATLAB calibration toolbox with high precision.Then,make the stereo rectification of the collected images of the camera using the calibration data.2.Select the corner points as the feature.The experiment of detecting the sub pixel corner of the chess board is carried out,and the effective extraction of the feature points is realized.3.The matching of the feature points in the left and right camera images is completed by FLANN and violence matching respectively.By using the optical flow algorithm based on sparse feature sets,the target feature points in the sequence images are effectively tracked.4.The position and attitude of the moving object are obtained by using the method of pose estimation based on the space vector.Based on the above research,the experimental platform of detection system is built,and the software to detect the motion parameters is developed.The real-time detection experiment of 6-DOF pose is designed,and the experimental data are analyzed in detail.The experimental results demonstrate the effectiveness of the proposed method.