本文選題：立體視覺 + 高速實時測量　； 參考：《哈爾濱工業(yè)大學》2017年碩士論文

【摘要】：目標運動參數(shù)測量作為國內(nèi)外測試技術(shù)研究的前沿領(lǐng)域,其可為試驗測試和技術(shù)分析提供重要的數(shù)據(jù)校對來源,在國防軍工、航空航天以及交通運輸?shù)阮I(lǐng)域,發(fā)揮著不可替代的作用。視覺測量作為應用最為廣泛的非接觸測量方法之一,具有良好的適應性和較高的測量精度,但是大多數(shù)的目標運動參數(shù)視覺測量系統(tǒng)都采用離線數(shù)據(jù)處理,不具備在線實時提供目標姿態(tài)和位置等運動參數(shù)的手段,只能在視覺傳感器采集信息后進行數(shù)據(jù)處理。這種方式只能作為輔助驗證手段,參考價值有限,無法滿足實時測量的需要。因此,本課題對基于雙目視覺的目標運動參數(shù)高速實時測量方法進行了研究,設(shè)計一套基于雙目視覺的目標運動參數(shù)高速實時測量系統(tǒng)。本課題的主要研究內(nèi)容如下:首先,針對雙目視覺測量原理問題進行方法研究,詳細闡述單目和雙目攝像機成像模型和畸變模型,并根據(jù)雙目攝像機成像原理和立體視覺標定方法,提出了基于雙目攝像機標定重構(gòu)誤差的多步迭代誤差補償方法,提高雙目攝像機標定精度,并根據(jù)本課題的雙目攝像機系統(tǒng)的實際需要,提出適用于本課題的目標點三維重構(gòu)解算方法。其次,針對目標運動參數(shù)高速實時測量問題進行方法研究,提出基于特征面的目標運動參數(shù)測量方法,利用三個獨立非共線的配合目標構(gòu)建空間特征面,根據(jù)特征面在左攝像機坐標系下的姿態(tài)和位置變化解算得到目標運動參數(shù),并針對目標定位提取與跟蹤匹配問題提出可行的解決方案。進一步結(jié)合實驗室硬件完成系統(tǒng)設(shè)計,其中包括圖像高速采集和處理系統(tǒng)以及雙目攝像機同步外觸發(fā)方案。最后,針對本課題的測量系統(tǒng)設(shè)計了雙目攝像機立體視覺標定實驗,完成了雙目攝像機高精度立體視覺標定,驗證本課題提出的多步迭代誤差補償方法的有效性;進一步設(shè)計并完成測量系統(tǒng)的性能評估實驗,對前文中所提出的技術(shù)解決方案進行了實驗驗證,在測量系統(tǒng)精度檢測實驗中,利用運動模擬裝置模擬目標在空間中二自由度的轉(zhuǎn)動,分別將靜態(tài)測量結(jié)果和動態(tài)測量結(jié)果與激光測距儀測量數(shù)據(jù)和運動模擬裝置反饋數(shù)據(jù)進行比對和分析,實現(xiàn)基于雙目視覺的目標運動參數(shù)高速實時測量。
[Abstract]:Target motion parameter measurement, as a frontier field of test technology research at home and abroad, can provide an important source of data proofreading for test and technical analysis. It can be used in the fields of national defense military industry, aviation and aerospace, transportation and so on. Play an irreplaceable role. As one of the most widely used non-contact measurement methods, visual measurement has good adaptability and high measurement accuracy. It does not have the means to provide real-time motion parameters such as target attitude and position, and can only be processed after the information is collected by the visual sensor. This method can only be used as an auxiliary verification method with limited reference value and can not meet the needs of real-time measurement. Therefore, this paper studies the method of high-speed real-time measurement of target motion parameters based on binocular vision, and designs a high-speed real-time measurement system of target motion parameters based on binocular vision. The main contents of this thesis are as follows: firstly, the method of binocular vision measurement is studied, and the imaging model and distortion model of monocular and binocular cameras are described in detail. According to the imaging principle of binocular camera and the method of stereo vision calibration, a multi-step iterative error compensation method based on calibration reconstruction error of binocular camera is proposed to improve the calibration accuracy of binocular camera. According to the practical needs of the binocular camera system, a method of 3D reconstruction of the target point is proposed. Secondly, aiming at the problem of high speed real-time measurement of target motion parameters, a method based on feature surface is proposed to measure target motion parameters, and three independent non-collinear cooperative targets are used to construct spatial feature surface. According to the change of attitude and position of the feature surface in the left camera coordinate system, the motion parameters of the target are calculated, and a feasible solution to the problem of target location extraction and tracking matching is proposed. Furthermore, the system is designed with laboratory hardware, including the high-speed image acquisition and processing system and the external trigger scheme of binocular camera synchronization. Finally, the binocular camera stereo vision calibration experiment is designed for the measurement system of this topic, and the high-precision stereo vision calibration of binocular camera is completed, which verifies the effectiveness of the multi-step iterative error compensation method proposed in this paper. Furthermore, the performance evaluation experiment of the measurement system is designed and completed, and the technical solution proposed in the previous paper is verified experimentally. The motion simulation device is used to simulate the rotation of the target in space. The static and dynamic measurement results are compared and analyzed with the laser rangefinder data and the motion simulation device feedback data, respectively. High speed and real-time measurement of target motion parameters based on binocular vision is realized.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP391.41

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