| Laser absolute distance measurement has the characteristics of high precision,large range,non-contact and so on.It is widely used in the measurement of large size.With the continuous improvement of the intelligent degree of industrial measurement,the automatic aiming of measurement points is a problem to be solved.In this paper,the method of automatic target aiming based on visual guidance is studied.The main contents are as follows:1.The target tracking algorithm based on the kernel correlation filter is studied,and the target tracking process is analyzed in detail.A multi-scale target tracking method based on scale pool technology and an adaptive learning rate template updating method based on peak sidelobe ratio are proposed.Experiment on the standard dataset OTB100 and datasets made from real-world scenes,compared with KCF,CSK,BACF,DSST、LCT2、KCFlab、and stable,the improved algorithm has a tracking accuracy of 90.02% on OTB100 dataset,the tracking accuracy rate on the produced data set is91.15%,and the tracking speed is 19.5 frames per second.2.Three types of targets for laser ranging are analyzed,including ball target with laser tracker,non-cooperative target with gray-scale feature and non-gray-scale feature target.In this paper,a scheme is proposed to detect the target points of laser tracker by combining the correlation filter with color and shape constraints,based on the correlation filter and feature point description matching,the non-cooperative target points with gray-level feature are detected,and the system calibration scheme is used to locate the non-gray-level feature points.Experiments show that the maximum error of the three methods is 0.36 mm,the maximum error of the non-cooperative point with gray feature is 0.24 mm,and the maximum error of the non-gray feature is 5.29 points.3.This paper discusses the scheme of vision guided laser aiming system,designs the principle diagram of system function structure,and sets up the hardware structure of the system.The composition of the system is introduced in detail,the fixing and adjusting mechanism of each component is designed,and the coaxial adjustment scheme based on laser horizontal scanning is put forward.The control flow chart of the system is designed,the control program is written,and the visual guidance laser aiming experiment is carried out.In the range of 20 m,the maximum of the aiming error of the laser ball tracker with approximate aiming scheme is 1.65 mm,the maximum of the aiming error of the non-cooperative target with gray-scale characteristics is 1.46 mm,and the maximum of the aiming error of the non-gray-scale characteristics point with absolute aiming scheme is 5.00 mm. |
