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《Acta Optica Sinica》 2017-08
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Plane Pose Measurement Method Based on Monocular Vision and Checkerboard Target

Su Jiandong;Qi Xiaohui;Duan Xiusheng;Department of Unmanned Aerial Vehicles Engineering,Ordnance Engineering College;Department of Optics and Electronics Engineering,Ordnance Engineering College;  
Aiming at the problem of plane target pose measurement,a monocular vision measurement method is proposed based on the checkerboard target.The method does not need to design and install complexly,and simplifies the measurement process while ensuring the measurement precision.Firstly,the camera is calibrated based on the checkerboard target.Then,to obtain the three pose angles,the external parameter matrix is solved by taking advantage of the homography condition,hereafter,it is decomposed with Givens matrix.Finally,when the target is installed arbitrarily the self-calibration method of the target installation deviations is studied based on the constraint conditions of the rotation matrix.Experimental results show that with a distance of 3 m,the static measurement precision of the pose angle which is perpendicular to the optical axis is 0.02°,and the measurement precision of two other pose angles is 0.05°.The dynamic measurement precision of the pose angle which is perpendicular to the optical axisis is 0.1°,and the measurement precision of two other pose angles is 0.5°.
【Key Words】: machine vision vision measurement installation deviation PnP problem pose measurement checkerboard target
【CateGory Index】: TP391.41
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