Research On Automatic Measurement Method Of Monocular Visual Attitude

Monocular vision measurement technology has become a research hotspot in the fields of intelligent manufacturing,aerospace,artificial intelligence,etc.due to its high precision,non-contact and simple structure.High-precision attitude measurement technology has become one of the most urgent problems and key research directions in monocular vision measurement field.Aiming at the problems of time-consuming and non-automatic existing in the current monocular attitude measurement method based on cooperative targets,which requires manual matching of the corresponding relationship between feature points and image points,this paper proposes an automatic monocular vision attitude measurement method based on cooperative stereo targets,researches the automatic attitude measurement algorithm,the design of cooperative targets and image feature extraction,and builds a system software and hardware platform to verify the accuracy of attitude measurement.The main research work is as follows:Firstly,the relationship between coordinate systems in the camera imaging model is described,and the pinhole imaging model and the nonlinear model are introduced and analyzed.On this basis,an automatic attitude measurement method based on optimal combination algorithm is proposed,which uses the complementary advantages of the two algorithms to realize automatic attitude measurement.The principle is explained and the effectiveness of automatic measurement is verified.Secondly,based on the automatic attitude measurement algorithm,a cooperative stereo target is designed,and the size design of the target,the number of feature points and the selection of feature markers are designed and analyzed.Based on the target design,each image processing link is determined through theoretical analysis and experimental verification,and then the target feature points are identified and extracted.On this basis,the automatic measurement of the attitude is realized.Finally,in order to verify the accuracy of the automatic attitude measurement method in this paper,the software and hardware platform of the system is built,the attitude measurement software is designed and developed to obtain the experimental measurement data,and the high-precision two-dimensional turntable is used to evaluate the experimental measurement results.The experimental results show that when the measurement angle range is [-30°,30°],the measurement accuracy of the attitude angle is better than 0.28°.In addition,the main sources of measurement errors are analyzed to lay the foundation for further improving the accuracy of attitude measurement.