基于单视图像的球体姿态估计
doi: 10.3724/SP.J.1146.2005.01506
Estimate of Ball Pose by Monocular Vision Image
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摘要: 该文给出一种基于图像信息估计3D目标球体及其中心轴孔空间姿态的视觉检测技术。若相机焦距已知，且给定球体与圆特征形状参数，则可由单视方法估计球心与圆特征中心位置及其法向方向，从而可由球及中轴构成的多个圆特征给出对目标球体姿态的初步估计。由于图像噪声及投影椭圆拟合误差的存在，每一个特征的独立估计结果并不完全一致，进一步引入非线性最小二乘方法对上述初步结果进行优化以改善估计精度。仿真及实际图像处理结果验证了算法的有效性。Abstract: A vision inspection technique is provided, which can be used to estimate the position and orientation of the ball and its center axis hole by its projected image. When the focus length of digital camera is given, with the size of circular and spherical feature is also known, their position and/or orientation can be estimated using monocular vision. Thus, the ball pose is acquired from several spherical and circular features shaped by the contour of the ball and its axis. Besides, with the existence of image noise and fitting error of the projection ellipses, the solution base on sole feature is not concurrent with each other. The non-linear least squares algorithm is used to refine above rough solutions and to improve the estimate precise。Experiments with simulated data as well as real image is also presented to validate the algorithms.
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