本文選題：路基沉降監(jiān)測 + 多頭像機標定　； 參考：《國防科學技術大學》2015年碩士論文

【摘要】：在水利水電、交通、高層建筑、采礦等領域大型工程建設中,這些基礎設施的路基會存在沉降變化。嚴重的路基沉降不僅影響工程的施工、運營安全,更可能造成不可挽回的損失。路基沉降的實時自動監(jiān)測需求大量存在,而位移傳遞像機鏈攝像測量方法是解決該類問題的有效途徑之一。高精度標定出像機鏈中這些固連關系的多頭像機間的安裝參數(shù)是準確監(jiān)測沉降變化的必要任務。本文系統(tǒng)調(diào)研了多像機系統(tǒng)外參數(shù)標定方法的歷史發(fā)展與研究現(xiàn)狀,著重對已有方法進行了分類和比較,從多方面綜合評價了各類方法的性能,總結(jié)和歸納出多頭像機標定待研究的關鍵問題。討論了路基沉降攝像測量監(jiān)測系統(tǒng)中的相關誤差來源,重點研究了雙頭像機光軸不重合引起的模型誤差,并通過仿真實驗分析了兩個像機光軸不重合對測量精度的影響。仿真結(jié)果表明雖然雙頭像機光軸不重合引起的合作標志像點變化是個小量,但是由于傳遞級數(shù)的增加會放大測量誤差,而且路基沉降測量精度一般都要求在亞毫米量級,即使微小的誤差也會影響沉降測量精度。因而,標定出雙頭像機間的固連關系,利用它們之間的相對關系消除這一誤差是很有必要的。為了解決路基沉降像機鏈中多頭像機間沒有公共視場的難題,本文研究了基于機器人手眼定標和利用平面鏡反射輔助視場的多頭像機標定方法。由于受到雙頭像機固連的約束,在標定過程中像機組能夠運動的范圍較小,這極大地限制了手眼定標方法的精度。與傳統(tǒng)的手眼定標方法相比,本文應用的兩種共軛旋轉(zhuǎn)平均的手眼定標方法對噪聲不敏感,在配置條件不太理想的情況下精度更高。為了使多頭像機的標定更加簡單易行,本文在平面鏡輔助視場位姿估計基礎上研究了基于平面鏡的多頭像機標定方法。利用克拉美羅下界知識推導了平面鏡輔助視場下位姿估計的理論誤差下界,并分析了像點誤差、視圖幅數(shù)以及平面鏡參數(shù)對位姿估計精度的影響。設計了兩種基于平面鏡的多頭像機標定方案,最后通過仿真實驗和實物實驗驗證了兩種標定方案的可行性與準確性。在路基沉降攝像測量中,多頭像機固連關系的標定是一個極其重要的基礎性環(huán)節(jié)。解決多頭像機的標定問題對于能夠有效減少沉降位移傳遞中的多級誤差累積、完善沉降監(jiān)測系統(tǒng),具有重要的研究意義。
[Abstract]:The subgrade of these infrastructure will change in the construction of large projects in the fields of water conservancy and hydropower, transportation, high-rise building, mining and so on.Serious subgrade settlement not only affects the construction and operation safety of the project, but also may cause irreparable losses.There is a large demand for real-time automatic monitoring of subgrade settlement, and one of the effective ways to solve this kind of problem is the camera measurement method of displacement transfer camera chain.It is necessary to accurately calibrate the installation parameters between the multiple cameras in the camera chain.In this paper, the historical development and research status of the calibration methods for external parameters of multi-camera systems are systematically investigated, and the existing methods are classified and compared, and the performance of various methods is comprehensively evaluated from many aspects.The key problems in the calibration of multi-head camera are summarized and summarized.This paper discusses the sources of relative errors in the monitoring system of subgrade settlement measurement by camera, focuses on the model error caused by the non-coincidence of the optical axis of the double-headed camera, and analyzes the influence of the non-coincidence of the optical axes of the two cameras on the measurement accuracy through the simulation experiment.The simulation results show that although the variation of cooperative symbol image points caused by the misalignment of optical axis of dual-headed camera is small, the measurement error will be magnified by the increase of transmission series, and the accuracy of submillimeter settlement measurement is generally required to be in the order of sub-millimeter.Even small errors can affect the accuracy of settlement measurement.Therefore, it is necessary to calibrate the fixed connection relationship between two head cameras and eliminate this error by using the relative relation between them.In order to solve the problem that there is no common field of view between multi-head cameras in roadbed settlement camera chain, this paper studies the calibration method of multi-head camera based on robot hand-eye calibration and using plane mirror reflection to assist the field of view.Due to the constraint of the binocular camera, the range of the image unit can move is small in the calibration process, which greatly limits the precision of the hand-eye calibration method.Compared with the traditional hand-eye calibration methods, the two conjugate rotation average hand-eye calibration methods used in this paper are not sensitive to noise, and the accuracy is higher when the collocation conditions are not ideal.In order to make the calibration of multi-head camera more simple and practical, this paper studies the calibration method of multi-head camera based on plane mirror based on plane mirror aided field of view orientation estimation.The lower bound of the theoretical error of the attitude estimation of view field assisted by plane mirror is derived by using the lower bound knowledge of Clemero. The effects of image point error, view amplitude and plane mirror parameters on the precision of pose estimation are analyzed.Two calibration schemes of multi-head camera based on plane mirror are designed. Finally, the feasibility and accuracy of the two calibration schemes are verified by simulation experiments and physical experiments.In the imaging measurement of subgrade settlement, the calibration of fixation relation of multi-head camera is an extremely important basic link.To solve the calibration problem of multi-head camera is of great significance to reduce the accumulation of multi-stage errors in the transfer of settlement displacement and to improve the settlement monitoring system.
【學位授予單位】：國防科學技術大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U418.5;P23

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