光学精密工程2025，Vol.33Issue(19)：3043-3057,15.DOI:10.37188/OPE.20253319.3043
基于惯性-视觉融合姿态解算的隐藏点坐标测量
Hidden point coordinate measurement based on inertial-visual fused attitude estimation
摘要
Abstract
In response to the need for high-precision geometric feature measurement under complex inter-visibility conditions in large-scale advanced precision manufacturing,a hidden-point coordinate measure-ment method based on inertial-visual fused attitude estimation is proposed.The system architecture and measurement principles for hidden-point coordinate determination are analyzed,and Monte Carlo simula-tions are conducted to identify the principal factors influencing measurement uncertainty.An attitude-fu-sion approach employing spherical linear interpolation(slerp)for quaternions is introduced to optimize in-terpolation paths during quaternion fusion,addressing challenges associated with attitude interpolation.On this basis,an inertial-visual fused attitude estimation algorithm is developed.Calibration procedures for the parameters of the hidden-point measurement system are then formulated.An experimental setup is im-plemented to validate the effectiveness and reliability of the proposed method through parameter calibration and hidden-point coordinate measurement experiments.Experimental results indicate that the repeated cali-bration deviation of the coordinate transformation matrix remains below 0.03°,and the repeated calibration deviation of the structural parameter of the hidden-point target remains below 45 μm,confirming the stabil-ity and reliability of the calibration procedures.Based on the calibration results,the inertial-visual fusion method reduces the mean hidden-point coordinate measurement error by 60.63%relative to the monocu-lar-vision method,with the maximum spatial coordinate error kept within 130 μm over a 10 m range.These findings demonstrate that the proposed method meets the geometric measurement requirements of typical high-precision manufacturing environments and exhibits substantial practical potential.关键词
单目视觉/隐藏点坐标测量/惯性测量单元/融合姿态解算Key words
monocular vision/hidden point coordinate measurement/inertial measurement unit/fused attitude estimation分类
机械工程引用本文复制引用
黄云鹏,李洋,邱启帆,董登峰,高豆豆,姜行健,崔成君,周维虎..基于惯性-视觉融合姿态解算的隐藏点坐标测量[J].光学精密工程,2025,33(19):3043-3057,15.基金项目
国家重点研发计划资助项目(No.2023YFB3407900) （No.2023YFB3407900）
XXX激光跟踪仪 （）
