摘要
P3P问题的求解是视觉坐标测量系统建模的数学理论基础,传统上利用通用余弦定理和正弦定理求解。为快速精确地求取控制点三维坐标,提出一种利用参数法求解P3P模型解析解的计算方法,并将该模型应用到视觉坐标测量过程中,通过精确求解共线三控制点在摄像机坐标系下的坐标,进而求出与其位置关系已知的被测点三维坐标。介绍了该测量系统的结构、测量原理、计算模型、实验过程以及实验结果,并与传统的利用通用余弦求解模型的计算结果进行了比较,说明本计算方法不仅简单直观,而且精度较高,非常适合应用在视觉坐标测量过程中。
The solution of Perspective 3 Points（P3P） problem is the mathematically theoretic foundation in the vision coordinate measurement system.Traditionally,this problem can be solved by use of conventional cosine and sine theorem.In order to get the 3-dimensional coordinates of control points accurately and quickly,a new computing method,which uses the parameter method to obtain the analytical solution of P3P problem,is proposed and applied in vision coordinate measurement process.By exactly solving the coordinates of three control points which are on the same line in the camera coordinate system,the 3-dimensional coordinates of the measured point,of which the position relative to the three control points is known,can be obtained.The structure of the measurement system,the measurement principle,the computing model,and experimental process and results are introduced in this paper.And compared with those from the conventional model based on the generalized cosines solving model,it is shown that the new method is simpler,but its precision is higher,so that it is appropriate to be applied in the vision coordinate measurement.
出处
《红外与激光工程》
EI
CSCD
北大核心
2010年第1期151-155,共5页
Infrared and Laser Engineering
基金
国家自然科学基金资助项目(50775160,60602050)
关键词
视觉测量
坐标测量
参数法P3P模型
Vision measurement
Coordinates measurement
Parameter′s P3P model
