中国光学（中英文）2024，Vol.17Issue(3)：605-616,12.DOI:10.37188/CO.2023-0106
基于双自由度转台的全向空间单目视觉室内定位测量方法
Omnidirectional spatial monocular vision indoor localization measurement based on a two-degree-of-freedom rotary platform
摘要
Abstract
To address the problem of limited field of view measurement in traditional monocular vision meas-urement systems,we propose an omnidirectional spatial monocular vision measurement method based on a two-degree-of-freedom rotary platform.First,the rotating axis parameters of the double-degree-of-freedom rotary platform are calibrated.Then,the pictures of the checkerboard calibration plate fixed with the two-de-gree-of-freedom rotary platform are captured by using an auxiliary camera.Position coordinates of the check-erboard corner points are extracted and converted to the same camera coordinate system.The direction vec-tor of the rotating axis parameters in the initial position is obtained through PCA(principal component ana-lysis)plane fitting,and the position parameter of the rotating axis parameters in the initial position is determ-ined using the method of spatial least squares circle fitting.The camera data acquired at various angles is transformed into the same coordinate system using the rotation angle of the rotary platform and the Rodrig-ues formula.This enables measurement of the target in the horizontal and vertical omnidirectional space.Fi-nally,the measurement accuracy of the proposed method is verified using a high-precision laser rangefinder.Additionally,experiments comparing the omnidirectional spatial measurement ability of the proposed meth-od with the binocular vision measurement system and wMPS measurement system are conducted.The res-ults indicate that the method achieves a measurement accuracy comparable to that of a binocular vision sys-tem.However,it also surpasses the binocular vision system in term of measurement range,making it applic-able for omnidirectional spatial measurements.关键词
双自由度转台/单目视觉/全向空间测量/室内定位Key words
two-degree-of-freedom rotary platform/monocular vision/omnidirectional spatial measurement/indoor positioning分类
通用工业技术引用本文复制引用
吴军,王豪爽,单腾飞,郭润夏,张晓瑜,陈玖圣..基于双自由度转台的全向空间单目视觉室内定位测量方法[J].中国光学（中英文）,2024,17(3):605-616,12.基金项目
国家自然科学基金(No.52375557,No.52005500,No.62173331) （No.52375557,No.52005500,No.62173331）
中央高校基本科研业务费高水平成果培育专项(No.3122023PY06,No.3122023044)Supported by National Natural Science Foundation of China(No.52375557,No.52005500,No.62173331) （No.3122023PY06,No.3122023044）
Special Project for the Cultivation of High-Level Achievements in the Basic Scientific Research Business Funds of Central Universities(No.3122023PY06,No.3122023044) （No.3122023PY06,No.3122023044）
