Omnidirectional spatial monocular vision indoor localization measurement based on a two-degree-of-freedom rotary platform
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摘要:
针对传统单目视觉测量系统测量视场有限的问题，本文提出一种基于双自由度旋转平台的全向空间单目视觉测量方法。首先，对双自由度旋转平台的转轴参数进行标定，用副相机拍摄固定在双自由度转台上的棋盘格标定板，提取棋盘格角点的位置坐标，并将其转化到同一相机坐标系下。利用PCA（主成分分析）平面拟合得到初始位置转轴参数中的方向向量，使用空间最小二乘圆拟合方法得到初始位置下转轴参数中的位置参数。然后，通过转台转动的角度以及罗德里格斯公式将不同位置下相机获取的数据进行坐标系统一，实现水平和竖直方向全向空间下的目标测量。最后，通过高精度激光测距仪验证了本方法的测量精度，并通过与双目视觉测量系统、wMPS测量系统进行比对实验，验证了本方法的全向空间测量能力。实验结果表明，本方法测量精度基本达到双目视觉测量系统水平，但测量范围远大于双目视觉测量，可以满足全向空间测量要求。
Abstract:To address the problem of limited field of view measurement in traditional monocular vision measurement 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-degree-of-freedom rotary platform are captured by using an auxiliary camera. Position coordinates of the checkerboard corner points are extracted and converted to the same camera coordinate system. The direction vector of the rotating axis parameters in the initial position is obtained through PCA (principal component analysis) plane fitting, and the position parameter of the rotating axis parameters in the initial position is determined 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 Rodrigues formula. This enables measurement of the target in the horizontal and vertical omnidirectional space. Finally, 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 method with the binocular vision measurement system and wMPS measurement system are conducted. The results indicate that the method achieves a measurement accuracy comparable to that of a binocular vision system. However, it also surpasses the binocular vision system in term of measurement range, making it applicable for omnidirectional spatial measurements.
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图 4 转轴参数标定原理图
Figure 4. Schematic diagram for the calibration of the rotating axis parameters
图 6 wMPS与圆形标定板连接装置
Figure 6. The connection device between wMPS and circular calibration plate
图 8 角点位姿转换坐标系后拟合结果
Figure 8. Fitting result after transforming the corner point pose data to a coordinate system
图 9 在初始位置竖直方向圆拟合结果
Figure 9. Circle fitting result in the vertical direction at the initial position
图 11 wMPS、双目与本实验方法目标点路径对比
Figure 11. Comparison of target point paths for wMPS, binocular and this experimental method
图 12 各个相邻位置的目标点之间的距离误差结果
Figure 12. Distance error results between target points at each neighboring location
图 13 本文测量方法与wMPS测量系统各个目标点位置误差结果
Figure 13. Comparison of the measurement method proposed in this paper with the wMPS measurement system for the position error results of each location target point
表 1 拟合转台参数
Table 1. Fitting of rotary platform parameters
Rotor parameters Experimental results/mm Error/mm Direction of vector (−0.0161, 0.9998,−0.0110) 0.24 Rotor position (−45.0081, −121.0576, −24.8642) 0.54 Direction of vector (−0.0347, −0.0171, −0.9993) 0.21 Rotor position (−20.4812, 111.8834, 75.6437) 0.43 
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表 2 测量结果对比
Table 2. Comparison of measurement results
Location Laser ranging/mm The ranging method in this paper/mm Error/mm 1 78.50 78.81 0.31 2 166.80 167.25 0.45 3 273.40 273.76 0.36 4 403.70 403.98 0.28 5 1424.50 1424.13 0.37 6 1501.80 1501.32 0.48 7 1612.30 1611.91 0.39 8 1740.60 1740.25 0.35 9 1871.40 1871.11 0.29
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表 3 wMPS测量系统详细参数
Table 3. Detailed parameters of the wMPS measurement system
Content Parameter Working distance 5~25 m System measurement accuracy 10 m working area 0.25 mm 39 m working area 0.50 mm Frequency 30 Hz
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