摘要
针对信号弹测量的实际需求,增加了现有双目视觉系统的基线长度。使用标准尺寸的特征物来搭建外参数标定系统,利用最小二乘法拟合特征物轮廓,提取特征点像素坐标,建立约束方程组;使用LM优化算法分别计算出两相机与标定系统的旋转量与平移量,进而求解两相机之间的外部参数。利用五帧差分法提取信号弹目标,最终获得信号弹飞行高度。试验证明,该方法测量精度高,鲁棒性较好。
According to the actual demand of signal flare measurement,the baseline length of existing binocular vision system is increased. Use standard size features to build an external parameter calibration system,use the least squares method to fit the contours of the features,extract the pixel coordinates of the feature points,establish a constraint equation set. The LM optimization algorithm is used to calculate the rotation and translation of the two cameras and the calibration system,and then to solve the external parameters between the two cameras. The flares target was extracted using the five-frame difference method,and the flare flying height was finally obtained. Experiments prove that the method has high measurement accuracy and good robustness.
作者
孙立帅
王明泉
郝利华
SUN Li-shuai;WANG Ming-quan;HAO Li-hua(Key Laboratory of Instrumentation Science&Dynamic Measurement of Ministry of Education,North University of China,Taiyuan 030051,China)
出处
《自动化与仪表》
2020年第3期53-57,共5页
Automation & Instrumentation
基金
国家重大科学仪器设备开发专项项目(2013YQ240803)
山西省重点研发计划项目(201803D121069)
山西省应用基础研究项目面上自然基金项目(201801D121162)。
关键词
双目视觉
外参数标定
高度测量
五帧差分法
长基线
binocular vision
external parameter calibration
height measurement
five-frame difference method
long baseline
